2025-06-11T20:31:44.271Z,1749673904.271 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-06-11T20:31:44.271Z,1749673904.271 [lineCaptureHoming:BA.Execute] Stopped
2025-06-11T20:31:44.271Z,1749673904.271 [lineCaptureHoming:InitialDive] Running Loop=1
2025-06-11T20:31:44.271Z,1749673904.271 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-06-11T20:31:44.271Z,1749673904.271 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-11T20:31:44.271Z,1749673904.271 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-06-11T20:31:44.271Z,1749673904.271 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-11T20:31:44.271Z,1749673904.271 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-06-11T20:31:44.276Z,1749673904.276 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-06-11T20:31:44.276Z,1749673904.276 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-06-11T20:31:44.305Z,1749673904.305 [CommandExec](IMPORTANT): got command restart logs
2025-06-11T20:31:44.647Z,1749673904.647 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-11T20:31:44.647Z,1749673904.647 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-11T20:31:46.149Z,1749673906.149 [CTD_Seabird](ERROR): Failed to parse device response: -0.01,11.9896,3.848.84
2025-06-11T20:31:54.566Z,1749673914.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:31:54.729Z,1749673914.729 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:31:54.729Z,1749673914.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:31:54.981Z,1749673914.981 [DAT](INFO): DAT read: user:374>
2025-06-11T20:31:54.982Z,1749673914.982 [DAT](INFO): DAT read: Tx time:20:31:56.6956
2025-06-11T20:31:54.982Z,1749673914.982 [DAT](INFO): Ping request sent.
2025-06-11T20:31:54.982Z,1749673914.982 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:31:54.982Z,1749673914.982 [DAT](INFO): publishing transmit ping time
2025-06-11T20:31:54.985Z,1749673914.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002273
2025-06-11T20:31:55.233Z,1749673915.233 [DAT](INFO): DAT read: TxSync time:20:31:56.6948
2025-06-11T20:31:55.234Z,1749673915.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251737
2025-06-11T20:31:55.235Z,1749673915.235 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:31:55.485Z,1749673915.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796
2025-06-11T20:31:55.737Z,1749673915.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754670
2025-06-11T20:31:55.991Z,1749673915.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008737
2025-06-11T20:31:56.039Z,1749673916.039 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T20:31:56.241Z,1749673916.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259076
2025-06-11T20:31:56.493Z,1749673916.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510901
2025-06-11T20:31:56.745Z,1749673916.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762774
2025-06-11T20:31:56.997Z,1749673916.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014802
2025-06-11T20:31:57.249Z,1749673917.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266915
2025-06-11T20:31:57.501Z,1749673917.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518737
2025-06-11T20:31:57.754Z,1749673917.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772353
2025-06-11T20:31:58.005Z,1749673918.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022881
2025-06-11T20:31:58.257Z,1749673918.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274768
2025-06-11T20:31:58.509Z,1749673918.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526990
2025-06-11T20:31:58.761Z,1749673918.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778905
2025-06-11T20:31:59.014Z,1749673919.014 [DAT](INFO): DAT read: Rx Time:20:32:00.1731
2025-06-11T20:31:59.014Z,1749673919.014 [DAT](INFO): Rx dataTimestamp_ set to:1749673919.013745
2025-06-11T20:31:59.015Z,1749673919.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032566
2025-06-11T20:31:59.265Z,1749673919.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282828
2025-06-11T20:31:59.523Z,1749673919.523 [DAT](INFO): DAT read: 20:32:00.1731 LVL= 18320, 24049, 15490, 26179, AGC= 78, IDX= 155,-0.08, 2.584, 0.602, 1.344, 1.879, PHS= 0.793,-1.231,-0.539, RAW= 109.7, 11.0, CAL= 118.8, 8.7, ROT= 31.2, -8.7
2025-06-11T20:31:59.527Z,1749673919.527 [DAT](INFO): got valid direction response:
20:32:00.1731 LVL= 18320, 24049, 15490, 26179, AGC= 78, IDX= 155,-0.08, 2.584, 0.602, 1.344, 1.879, PHS= 0.793,-1.231,-0.539, RAW= 109.7, 11.0, CAL= 118.8, 8.7, ROT= 31.2, -8.7
2025-06-11T20:31:59.531Z,1749673919.531 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:31:59.536Z,1749673919.536 [DAT](INFO): Received a bad header
2025-06-11T20:31:59.551Z,1749673919.551 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:31:59.555Z,1749673919.555 [DAT](INFO): direction in FSK: [0.845522,0.512067,0.151261]
2025-06-11T20:32:05.060Z,1749673925.060 [DAT](INFO): Reached modem response timeout
2025-06-11T20:32:05.817Z,1749673925.817 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:32:05.817Z,1749673925.817 [DAT](INFO): response not received
2025-06-11T20:32:05.817Z,1749673925.817 [DAT](ERROR): No response from remote modem.
2025-06-11T20:32:06.210Z,1749673926.210 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -665, 97,A
2025-06-11T20:32:09.256Z,1749673929.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:32:15.577Z,1749673935.577 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-11T20:32:28.136Z,1749673948.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:32:54.934Z,1749673974.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:32:55.057Z,1749673975.057 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:32:55.057Z,1749673975.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:32:55.311Z,1749673975.311 [DAT](INFO): DAT read:
2025-06-11T20:32:55.312Z,1749673975.312 [DAT](INFO): DAT read: Tx time:20:32:57.0460
2025-06-11T20:32:55.312Z,1749673975.312 [DAT](INFO): Ping request sent.
2025-06-11T20:32:55.312Z,1749673975.312 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:32:55.313Z,1749673975.313 [DAT](INFO): publishing transmit ping time
2025-06-11T20:32:55.313Z,1749673975.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000775
2025-06-11T20:32:55.565Z,1749673975.565 [DAT](INFO): DAT read: TxSync time:20:32:57.0453
2025-06-11T20:32:55.566Z,1749673975.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253376
2025-06-11T20:32:55.817Z,1749673975.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504419
2025-06-11T20:32:56.069Z,1749673976.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756401
2025-06-11T20:32:56.321Z,1749673976.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008631
2025-06-11T20:32:56.573Z,1749673976.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260370
2025-06-11T20:32:56.825Z,1749673976.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512616
2025-06-11T20:32:57.077Z,1749673977.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764412
2025-06-11T20:32:57.329Z,1749673977.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016439
2025-06-11T20:32:57.581Z,1749673977.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268395
2025-06-11T20:32:57.833Z,1749673977.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520493
2025-06-11T20:32:58.085Z,1749673978.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772376
2025-06-11T20:32:58.337Z,1749673978.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024430
2025-06-11T20:32:58.590Z,1749673978.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277368
2025-06-11T20:32:58.841Z,1749673978.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528381
2025-06-11T20:32:59.093Z,1749673979.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780391
2025-06-11T20:32:59.345Z,1749673979.345 [DAT](INFO): DAT read: Rx Time:20:33:00.5314
2025-06-11T20:32:59.345Z,1749673979.345 [DAT](INFO): Rx dataTimestamp_ set to:1749673979.345012
2025-06-11T20:32:59.346Z,1749673979.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033514
2025-06-11T20:32:59.597Z,1749673979.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284420
2025-06-11T20:32:59.710Z,1749673979.710 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:32:59.856Z,1749673979.856 [DAT](INFO): DAT read: 20:33:00.5314 LVL= 18384, 32753, 22562, 32755, AGC= 82, IDX= 508,-0.23, 2.967, 1.388, 1.011, 1.743, PHS= 1.312,-0.308,-0.735, RAW= 78.6, -2.9, CAL= 86.1, -8.7, ROT= 63.9, 8.7
2025-06-11T20:32:59.858Z,1749673979.858 [DAT](INFO): got valid direction response:
20:33:00.5314 LVL= 18384, 32753, 22562, 32755, AGC= 82, IDX= 508,-0.23, 2.967, 1.388, 1.011, 1.743, PHS= 1.312,-0.308,-0.735, RAW= 78.6, -2.9, CAL= 86.1, -8.7, ROT= 63.9, 8.7
2025-06-11T20:32:59.858Z,1749673979.858 [DAT](INFO): DAT read: Bearing 63.9, 8.7 (Local)
2025-06-11T20:32:59.859Z,1749673979.859 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.9, 8.7 (Local)
2025-06-11T20:32:59.861Z,1749673979.861 [DAT](INFO): DAT read: Range 10 to 50 : 810.9 m (Round-trip 1081.2 ms) speed 0.0 m/s
2025-06-11T20:32:59.861Z,1749673979.861 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:32:59.862Z,1749673979.862 [DAT](INFO): direction in FSK: [0.434877,0.887695,-0.151261]
2025-06-11T20:32:59.863Z,1749673979.863 [DAT](INFO): publishing direction and range info
2025-06-11T20:33:27.833Z,1749674007.833 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.700241
2025-06-11T20:33:28.099Z,1749674008.099 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-11T20:33:28.099Z,1749674008.099 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-11T20:33:28.100Z,1749674008.100 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-11T20:33:28.100Z,1749674008.100 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T20:33:28.100Z,1749674008.100 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-11T20:33:28.100Z,1749674008.100 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-11T20:33:28.101Z,1749674008.101 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-11T20:33:28.836Z,1749674008.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:33:34.808Z,1749674014.808 [Radio_Surface](INFO): Powering down
2025-06-11T20:33:55.137Z,1749674035.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:33:55.340Z,1749674035.340 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:33:55.341Z,1749674035.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:33:55.593Z,1749674035.593 [DAT](INFO): DAT read: user:376>
2025-06-11T20:33:55.594Z,1749674035.594 [DAT](INFO): DAT read: Tx time:20:33:57.2964
2025-06-11T20:33:55.594Z,1749674035.594 [DAT](INFO): Ping request sent.
2025-06-11T20:33:55.594Z,1749674035.594 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:33:55.595Z,1749674035.595 [DAT](INFO): DAT read: TxSync time:20:33:57.2957
2025-06-11T20:33:55.595Z,1749674035.595 [DAT](INFO): publishing transmit ping time
2025-06-11T20:33:55.596Z,1749674035.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001587
2025-06-11T20:33:55.845Z,1749674035.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250684
2025-06-11T20:33:56.097Z,1749674036.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503138
2025-06-11T20:33:56.351Z,1749674036.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756473
2025-06-11T20:33:56.601Z,1749674036.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006634
2025-06-11T20:33:56.853Z,1749674036.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258666
2025-06-11T20:33:57.105Z,1749674037.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510718
2025-06-11T20:33:57.357Z,1749674037.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762629
2025-06-11T20:33:57.609Z,1749674037.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014563
2025-06-11T20:33:57.861Z,1749674037.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266692
2025-06-11T20:33:58.113Z,1749674038.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518626
2025-06-11T20:33:58.366Z,1749674038.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771504
2025-06-11T20:33:58.617Z,1749674038.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022699
2025-06-11T20:33:58.869Z,1749674038.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274618
2025-06-11T20:33:58.958Z,1749674038.958 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:33:59.121Z,1749674039.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526610
2025-06-11T20:33:59.373Z,1749674039.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778649
2025-06-11T20:33:59.569Z,1749674039.569 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-11T20:33:59.625Z,1749674039.625 [DAT](INFO): DAT read: Rx Time:20:34:00.7636
2025-06-11T20:33:59.625Z,1749674039.625 [DAT](INFO): Rx dataTimestamp_ set to:1749674039.625121
2025-06-11T20:33:59.626Z,1749674039.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031872
2025-06-11T20:33:59.877Z,1749674039.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282613
2025-06-11T20:33:59.962Z,1749674039.962 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-11T20:33:59.962Z,1749674039.962 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:34:00.134Z,1749674040.134 [DAT](INFO): DAT read: 20:34:00.7636 LVL= 16912, 32753, 22354, 30035, AGC= 75, IDX= 258, 0.32,-2.720, 2.285, 2.267, 2.418, PHS= 1.234,-0.085,-0.153, RAW= 87.5, -14.6, CAL= 98.0, -23.9, ROT= 52.0, 23.9
2025-06-11T20:34:00.135Z,1749674040.135 [DAT](INFO): got valid direction response:
20:34:00.7636 LVL= 16912, 32753, 22354, 30035, AGC= 75, IDX= 258, 0.32,-2.720, 2.285, 2.267, 2.418, PHS= 1.234,-0.085,-0.153, RAW= 87.5, -14.6, CAL= 98.0, -23.9, ROT= 52.0, 23.9
2025-06-11T20:34:00.136Z,1749674040.136 [DAT](INFO): DAT read: Bearing 52.0, 23.9 (Local)
2025-06-11T20:34:00.137Z,1749674040.137 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.0, 23.9 (Local)
2025-06-11T20:34:00.138Z,1749674040.138 [DAT](INFO): DAT read: Range 10 to 50 : 797.2 m (Round-trip 1063.0 ms) speed 0.3 m/s
2025-06-11T20:34:00.139Z,1749674040.139 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:34:00.140Z,1749674040.140 [DAT](INFO): direction in FSK: [0.562871,0.720442,-0.405142]
2025-06-11T20:34:00.140Z,1749674040.140 [DAT](INFO): publishing direction and range info
2025-06-11T20:34:30.096Z,1749674070.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:34:31.100Z,1749674071.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:34:55.443Z,1749674095.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:34:55.637Z,1749674095.637 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:34:55.637Z,1749674095.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:34:55.889Z,1749674095.889 [DAT](INFO): DAT read: user:377>
2025-06-11T20:34:55.890Z,1749674095.890 [DAT](INFO): DAT read: Tx time:20:34:57.5968
2025-06-11T20:34:55.890Z,1749674095.890 [DAT](INFO): Ping request sent.
2025-06-11T20:34:55.890Z,1749674095.890 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:34:55.891Z,1749674095.891 [DAT](INFO): DAT read: TxSync time:20:34:57.5960
2025-06-11T20:34:55.891Z,1749674095.891 [DAT](INFO): publishing transmit ping time
2025-06-11T20:34:55.892Z,1749674095.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001863
2025-06-11T20:34:56.141Z,1749674096.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250717
2025-06-11T20:34:56.393Z,1749674096.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502696
2025-06-11T20:34:56.646Z,1749674096.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755591
2025-06-11T20:34:56.897Z,1749674096.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772
2025-06-11T20:34:57.149Z,1749674097.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258673
2025-06-11T20:34:57.401Z,1749674097.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510588
2025-06-11T20:34:57.653Z,1749674097.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762690
2025-06-11T20:34:57.905Z,1749674097.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015048
2025-06-11T20:34:58.157Z,1749674098.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266958
2025-06-11T20:34:58.409Z,1749674098.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518737
2025-06-11T20:34:58.662Z,1749674098.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772260
2025-06-11T20:34:58.913Z,1749674098.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022645
2025-06-11T20:34:59.165Z,1749674099.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274724
2025-06-11T20:34:59.417Z,1749674099.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526828
2025-06-11T20:34:59.669Z,1749674099.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778691
2025-06-11T20:34:59.921Z,1749674099.921 [DAT](INFO): DAT read: Rx Time:20:35:01.0466
2025-06-11T20:34:59.921Z,1749674099.921 [DAT](INFO): Rx dataTimestamp_ set to:1749674099.921087
2025-06-11T20:34:59.922Z,1749674099.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032167
2025-06-11T20:35:00.173Z,1749674100.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282659
2025-06-11T20:35:00.432Z,1749674100.432 [DAT](INFO): DAT read: 20:35:01.0466 LVL= 11088, 26465, 18242, 26387, AGC= 77, IDX= 256,-0.13,-2.860, 1.846, 1.680, 2.246, PHS= 1.265,-0.354,-0.570, RAW= 83.8, -4.0, CAL= 92.1, -10.6, ROT= 57.9, 10.6
2025-06-11T20:35:00.433Z,1749674100.433 [DAT](INFO): got valid direction response:
20:35:01.0466 LVL= 11088, 26465, 18242, 26387, AGC= 77, IDX= 256,-0.13,-2.860, 1.846, 1.680, 2.246, PHS= 1.265,-0.354,-0.570, RAW= 83.8, -4.0, CAL= 92.1, -10.6, ROT= 57.9, 10.6
2025-06-11T20:35:00.434Z,1749674100.434 [DAT](INFO): DAT read: Bearing 57.9, 10.6 (Local)
2025-06-11T20:35:00.435Z,1749674100.435 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.9, 10.6 (Local)
2025-06-11T20:35:00.445Z,1749674100.445 [DAT](INFO): DAT read: Range 10 to 50 : 784.2 m (Round-trip 1045.7 ms) speed 0.2 m/s
2025-06-11T20:35:00.446Z,1749674100.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:35:00.447Z,1749674100.447 [DAT](INFO): direction in FSK: [0.522330,0.832666,-0.183951]
2025-06-11T20:35:00.447Z,1749674100.447 [DAT](INFO): publishing direction and range info
2025-06-11T20:35:01.220Z,1749674101.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:35:02.224Z,1749674102.224 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:35:14.401Z,1749674114.401 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-06-11T20:35:14.402Z,1749674114.402 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-06-11T20:35:14.402Z,1749674114.402 [lineCaptureHoming:InitialDive] Stopped
2025-06-11T20:35:14.402Z,1749674114.402 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-06-11T20:35:14.402Z,1749674114.402 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-06-11T20:35:14.402Z,1749674114.402 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-06-11T20:35:14.403Z,1749674114.403 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-06-11T20:35:14.403Z,1749674114.403 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-06-11T20:35:14.403Z,1749674114.403 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-06-11T20:35:14.403Z,1749674114.403 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-06-11T20:35:14.403Z,1749674114.403 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-06-11T20:35:14.823Z,1749674114.823 [lineCaptureHoming:RepeatHack] Stopped
2025-06-11T20:35:14.823Z,1749674114.823 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-06-11T20:35:14.823Z,1749674114.823 [lineCaptureHoming:RepeatHack:A] Stopped
2025-06-11T20:35:14.823Z,1749674114.823 [lineCaptureHoming:Lap] Running Loop=1
2025-06-11T20:35:14.823Z,1749674114.823 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-06-11T20:35:14.823Z,1749674114.823 [lineCaptureHoming:Lap:A] Running Loop=1
2025-06-11T20:35:15.208Z,1749674115.208 [lineCaptureHoming:Lap:A] Stopped
2025-06-11T20:35:15.208Z,1749674115.208 [lineCaptureHoming:Lap:B] Running Loop=1
2025-06-11T20:35:15.209Z,1749674115.209 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-06-11T20:35:15.623Z,1749674115.623 [lineCaptureHoming:LineCapture] Running Loop=1
2025-06-11T20:35:15.623Z,1749674115.623 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-06-11T20:35:15.623Z,1749674115.624 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-11T20:35:15.624Z,1749674115.624 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-11T20:35:15.624Z,1749674115.624 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-11T20:35:15.624Z,1749674115.624 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-11T20:35:15.624Z,1749674115.624 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-11T20:35:15.624Z,1749674115.624 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-11T20:35:15.624Z,1749674115.624 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-11T20:35:15.625Z,1749674115.625 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-11T20:35:15.626Z,1749674115.626 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-06-11T20:35:15.626Z,1749674115.626 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-11T20:35:15.626Z,1749674115.626 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-11T20:35:15.626Z,1749674115.626 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-11T20:35:15.626Z,1749674115.626 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-11T20:35:15.627Z,1749674115.627 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-11T20:35:15.627Z,1749674115.627 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-11T20:35:15.627Z,1749674115.627 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-11T20:35:15.627Z,1749674115.627 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-11T20:35:15.627Z,1749674115.627 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-11T20:35:15.628Z,1749674115.628 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-11T20:35:15.628Z,1749674115.628 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-11T20:35:15.629Z,1749674115.629 [lineCaptureHoming:LineCapture:A] Stopped
2025-06-11T20:35:15.630Z,1749674115.630 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-06-11T20:35:16.017Z,1749674116.017 [lineCaptureHoming:LineCapture:B] Stopped
2025-06-11T20:35:16.017Z,1749674116.017 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-06-11T20:35:16.407Z,1749674116.407 [lineCaptureHoming:LineCapture:D] Stopped
2025-06-11T20:35:16.407Z,1749674116.407 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-06-11T20:35:16.859Z,1749674116.859 [lineCaptureHoming:LineCapture:E] Stopped
2025-06-11T20:35:16.859Z,1749674116.859 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-06-11T20:35:17.235Z,1749674117.235 [lineCaptureHoming:LineCapture:F] Stopped
2025-06-11T20:35:17.235Z,1749674117.235 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-06-11T20:35:17.236Z,1749674117.236 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-11T20:35:17.236Z,1749674117.236 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-11T20:35:17.236Z,1749674117.236 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-11T20:35:17.236Z,1749674117.236 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-06-11T20:35:17.236Z,1749674117.236 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-11T20:35:17.237Z,1749674117.237 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-06-11T20:35:17.237Z,1749674117.237 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-11T20:35:17.237Z,1749674117.237 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-11T20:35:17.237Z,1749674117.237 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-11T20:35:17.237Z,1749674117.237 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-11T20:35:17.237Z,1749674117.237 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-11T20:35:17.237Z,1749674117.237 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-11T20:35:17.237Z,1749674117.237 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-11T20:35:17.238Z,1749674117.238 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-11T20:35:17.238Z,1749674117.238 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-11T20:35:17.238Z,1749674117.238 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-11T20:35:17.238Z,1749674117.238 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-11T20:35:17.238Z,1749674117.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-11T20:35:17.238Z,1749674117.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-11T20:35:17.238Z,1749674117.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-11T20:35:17.238Z,1749674117.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-11T20:35:17.238Z,1749674117.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-11T20:35:17.239Z,1749674117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-11T20:35:17.657Z,1749674117.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-11T20:35:17.657Z,1749674117.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-11T20:35:17.657Z,1749674117.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-11T20:35:17.657Z,1749674117.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-11T20:35:17.657Z,1749674117.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-11T20:35:17.658Z,1749674117.658 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-11T20:35:17.659Z,1749674117.659 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-11T20:35:17.659Z,1749674117.659 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-11T20:35:17.659Z,1749674117.659 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-11T20:35:17.659Z,1749674117.659 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-11T20:35:17.659Z,1749674117.659 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-11T20:35:17.659Z,1749674117.659 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-11T20:35:17.673Z,1749674117.673 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.297775 m.
2025-06-11T20:35:17.721Z,1749674117.721 [DockingStepper](INFO): Resume
2025-06-11T20:35:18.157Z,1749674118.157 [DockingStepper](INFO): Resuming
2025-06-11T20:35:18.513Z,1749674118.513 [DockingStepper](INFO): Start
2025-06-11T20:35:18.514Z,1749674118.514 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-11T20:35:18.629Z,1749674118.629 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-11T20:35:19.044Z,1749674119.044 [DockingStepper](INFO): Starting
2025-06-11T20:35:19.321Z,1749674119.321 [DockingStepper](INFO): Starting
2025-06-11T20:35:19.733Z,1749674119.733 [DockingStepper](INFO): Starting
2025-06-11T20:35:19.780Z,1749674119.780 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-11T20:35:20.220Z,1749674120.220 [DockingStepper](INFO): Starting
2025-06-11T20:35:20.610Z,1749674120.610 [DockingStepper](INFO): Starting
2025-06-11T20:35:20.917Z,1749674120.917 [DockingStepper](INFO): Starting
2025-06-11T20:35:21.329Z,1749674121.329 [DockingStepper](INFO): Starting
2025-06-11T20:35:21.357Z,1749674121.357 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-11T20:35:21.794Z,1749674121.794 [DockingStepper](INFO): Starting
2025-06-11T20:35:22.117Z,1749674122.117 [DockingStepper](INFO): Changing to mode: 3
2025-06-11T20:35:22.117Z,1749674122.117 [DockingStepper](INFO): Detach mode.
2025-06-11T20:35:22.184Z,1749674122.184 [DockingStepper](INFO): Commanding negative:54593
2025-06-11T20:35:28.124Z,1749674128.124 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-11T20:35:32.344Z,1749674132.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:35:33.348Z,1749674133.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:35:48.417Z,1749674148.417 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 784.20 m. Transitioning docking module to standby.
2025-06-11T20:35:48.793Z,1749674148.793 [DockingStepper](INFO): Changing to mode: 1
2025-06-11T20:35:48.793Z,1749674148.793 [DockingStepper](INFO): Standby mode.
2025-06-11T20:35:48.856Z,1749674148.856 [DockingStepper](INFO): Commanding positive:54593
2025-06-11T20:35:54.789Z,1749674154.789 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-06-11T20:35:55.219Z,1749674155.219 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-06-11T20:35:55.219Z,1749674155.219 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-06-11T20:35:55.220Z,1749674155.220 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-06-11T20:35:55.594Z,1749674155.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:35:55.595Z,1749674155.595 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-06-11T20:35:55.595Z,1749674155.595 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-06-11T20:35:55.608Z,1749674155.608 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-06-11T20:35:55.657Z,1749674155.657 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:35:55.657Z,1749674155.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:35:55.661Z,1749674155.661 [DockingStepper](INFO): Pause
2025-06-11T20:35:55.909Z,1749674155.909 [DAT](INFO): DAT read: user:378>
2025-06-11T20:35:55.909Z,1749674155.909 [DAT](INFO): DAT read: Tx time:20:35:57.6472
2025-06-11T20:35:55.910Z,1749674155.910 [DAT](INFO): Ping request sent.
2025-06-11T20:35:55.910Z,1749674155.910 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:35:55.910Z,1749674155.910 [DAT](INFO): publishing transmit ping time
2025-06-11T20:35:55.911Z,1749674155.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764
2025-06-11T20:35:56.006Z,1749674156.006 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-06-11T20:35:56.006Z,1749674156.006 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-11T20:35:56.007Z,1749674156.007 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-06-11T20:35:56.007Z,1749674156.007 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-11T20:35:56.007Z,1749674156.007 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-11T20:35:56.161Z,1749674156.161 [DAT](INFO): DAT read: TxSync time:20:35:57.6464
2025-06-11T20:35:56.162Z,1749674156.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251796
2025-06-11T20:35:56.413Z,1749674156.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503309
2025-06-11T20:35:56.425Z,1749674156.425 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-11T20:35:56.426Z,1749674156.426 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-11T20:35:56.426Z,1749674156.426 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-11T20:35:56.426Z,1749674156.426 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-11T20:35:56.426Z,1749674156.426 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-11T20:35:56.426Z,1749674156.426 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-11T20:35:56.426Z,1749674156.426 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-11T20:35:56.426Z,1749674156.426 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-11T20:35:56.426Z,1749674156.426 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-11T20:35:56.426Z,1749674156.426 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-11T20:35:56.427Z,1749674156.427 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-11T20:35:56.427Z,1749674156.427 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-11T20:35:56.428Z,1749674156.428 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-06-11T20:35:56.429Z,1749674156.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-11T20:35:56.429Z,1749674156.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-06-11T20:35:56.429Z,1749674156.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-11T20:35:56.430Z,1749674156.430 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-06-11T20:35:56.665Z,1749674156.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754911
2025-06-11T20:35:56.828Z,1749674156.828 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-06-11T20:35:56.917Z,1749674156.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006749
2025-06-11T20:35:57.173Z,1749674157.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262488
2025-06-11T20:35:57.421Z,1749674157.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510881
2025-06-11T20:35:57.673Z,1749674157.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762910
2025-06-11T20:35:57.925Z,1749674157.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015551
2025-06-11T20:35:58.179Z,1749674158.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268822
2025-06-11T20:35:58.429Z,1749674158.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519172
2025-06-11T20:35:58.681Z,1749674158.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770851
2025-06-11T20:35:58.934Z,1749674158.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023378
2025-06-11T20:35:59.204Z,1749674159.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289457
2025-06-11T20:35:59.437Z,1749674159.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527005
2025-06-11T20:35:59.689Z,1749674159.689 [DAT](INFO): DAT read: Rx Time:20:36:01.0847
2025-06-11T20:35:59.690Z,1749674159.690 [DAT](INFO): Rx dataTimestamp_ set to:1749674159.689669
2025-06-11T20:35:59.691Z,1749674159.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780919
2025-06-11T20:35:59.941Z,1749674159.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031337
2025-06-11T20:36:00.195Z,1749674160.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284903
2025-06-11T20:36:00.451Z,1749674160.451 [DAT](INFO): DAT read: 20:36:01.0847 LVL= 24144, 32753, 30098, 32755, AGC= 80, IDX= 318,-0.00, 0.963,-0.885,-0.229, 0.190, PHS= 0.861,-1.028,-0.422, RAW= 108.3, 7.1, CAL= 118.6, 4.7, ROT= 31.4, -4.7
2025-06-11T20:36:00.452Z,1749674160.452 [DAT](INFO): got valid direction response:
20:36:01.0847 LVL= 24144, 32753, 30098, 32755, AGC= 80, IDX= 318,-0.00, 0.963,-0.885,-0.229, 0.190, PHS= 0.861,-1.028,-0.422, RAW= 108.3, 7.1, CAL= 118.6, 4.7, ROT= 31.4, -4.7
2025-06-11T20:36:00.453Z,1749674160.453 [DAT](INFO): DAT read: Bearing 31.4, -4.7 (Local)
2025-06-11T20:36:00.453Z,1749674160.453 [DAT](INFO): Local bearing/azimuth received:
Bearing 31.4, -4.7 (Local)
2025-06-11T20:36:00.455Z,1749674160.455 [DAT](INFO): DAT read: Range 10 to 50 : 774.9 m (Round-trip 1033.3 ms) speed 0.0 m/s
2025-06-11T20:36:00.455Z,1749674160.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:36:00.457Z,1749674160.457 [DAT](INFO): direction in FSK: [0.850681,0.519258,0.081939]
2025-06-11T20:36:00.458Z,1749674160.458 [DAT](INFO): publishing direction and range info
2025-06-11T20:36:03.469Z,1749674163.469 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:36:04.472Z,1749674164.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:36:34.604Z,1749674194.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:36:35.608Z,1749674195.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:36:55.874Z,1749674215.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:36:55.929Z,1749674215.929 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:36:55.929Z,1749674215.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:36:56.181Z,1749674216.181 [DAT](INFO): DAT read: user:379>
2025-06-11T20:36:56.182Z,1749674216.182 [DAT](INFO): DAT read: Tx time:20:36:57.8978
2025-06-11T20:36:56.182Z,1749674216.182 [DAT](INFO): Ping request sent.
2025-06-11T20:36:56.182Z,1749674216.182 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:36:56.182Z,1749674216.182 [DAT](INFO): publishing transmit ping time
2025-06-11T20:36:56.184Z,1749674216.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000957
2025-06-11T20:36:56.438Z,1749674216.438 [DAT](INFO): DAT read: TxSync time:20:36:57.8970
2025-06-11T20:36:56.438Z,1749674216.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256377
2025-06-11T20:36:56.685Z,1749674216.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503283
2025-06-11T20:36:56.938Z,1749674216.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755628
2025-06-11T20:36:57.189Z,1749674217.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006806
2025-06-11T20:36:57.441Z,1749674217.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258829
2025-06-11T20:36:57.693Z,1749674217.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511060
2025-06-11T20:36:57.946Z,1749674217.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763318
2025-06-11T20:36:58.197Z,1749674218.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014828
2025-06-11T20:36:58.449Z,1749674218.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266761
2025-06-11T20:36:58.701Z,1749674218.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518822
2025-06-11T20:36:58.953Z,1749674218.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771117
2025-06-11T20:36:59.206Z,1749674219.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023702
2025-06-11T20:36:59.457Z,1749674219.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274817
2025-06-11T20:36:59.709Z,1749674219.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526698
2025-06-11T20:36:59.961Z,1749674219.961 [DAT](INFO): DAT read: Rx Time:20:37:01.2962
2025-06-11T20:36:59.961Z,1749674219.961 [DAT](INFO): Rx dataTimestamp_ set to:1749674219.961097
2025-06-11T20:36:59.962Z,1749674219.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779939
2025-06-11T20:37:00.213Z,1749674220.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030769
2025-06-11T20:37:00.468Z,1749674220.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285351
2025-06-11T20:37:00.723Z,1749674220.723 [DAT](INFO): DAT read: 20:37:01.2962 LVL= 24208, 25777, 32754, 32755, AGC= 85, IDX= 49, 0.28,-1.198,-2.711,-1.846,-1.653, PHS= 0.543,-1.010,-0.196, RAW= 121.6, 9.9, CAL= 129.6, 5.7, ROT= 20.4, -5.7
2025-06-11T20:37:00.724Z,1749674220.724 [DAT](INFO): got valid direction response:
20:37:01.2962 LVL= 24208, 25777, 32754, 32755, AGC= 85, IDX= 49, 0.28,-1.198,-2.711,-1.846,-1.653, PHS= 0.543,-1.010,-0.196, RAW= 121.6, 9.9, CAL= 129.6, 5.7, ROT= 20.4, -5.7
2025-06-11T20:37:00.725Z,1749674220.725 [DAT](INFO): DAT read: Bearing 20.4, -5.7 (Local)
2025-06-11T20:37:00.725Z,1749674220.725 [DAT](INFO): Local bearing/azimuth received:
Bearing 20.4, -5.7 (Local)
2025-06-11T20:37:00.727Z,1749674220.727 [DAT](INFO): DAT read: Range 10 to 50 : 745.7 m (Round-trip 994.3 ms) speed 0.4 m/s
2025-06-11T20:37:00.727Z,1749674220.727 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:37:00.728Z,1749674220.728 [DAT](INFO): direction in FSK: [0.932648,0.346849,0.099320]
2025-06-11T20:37:00.729Z,1749674220.729 [DAT](INFO): publishing direction and range info
2025-06-11T20:37:05.728Z,1749674225.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:37:06.732Z,1749674226.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:37:09.596Z,1749674229.596 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3268,V
2025-06-11T20:37:36.852Z,1749674256.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:37:37.856Z,1749674257.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:37:56.040Z,1749674276.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:37:56.201Z,1749674276.201 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:37:56.201Z,1749674276.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:37:56.453Z,1749674276.453 [DAT](INFO): DAT read: user:380>
2025-06-11T20:37:56.454Z,1749674276.454 [DAT](INFO): DAT read: Tx time:20:37:58.1982
2025-06-11T20:37:56.454Z,1749674276.454 [DAT](INFO): Ping request sent.
2025-06-11T20:37:56.454Z,1749674276.454 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:37:56.454Z,1749674276.454 [DAT](INFO): publishing transmit ping time
2025-06-11T20:37:56.455Z,1749674276.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-06-11T20:37:56.705Z,1749674276.705 [DAT](INFO): DAT read: TxSync time:20:37:58.1974
2025-06-11T20:37:56.706Z,1749674276.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251688
2025-06-11T20:37:56.959Z,1749674276.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504821
2025-06-11T20:37:57.209Z,1749674277.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754824
2025-06-11T20:37:57.461Z,1749674277.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006994
2025-06-11T20:37:57.713Z,1749674277.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258794
2025-06-11T20:37:57.967Z,1749674277.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512793
2025-06-11T20:37:58.217Z,1749674278.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763041
2025-06-11T20:37:58.481Z,1749674278.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027316
2025-06-11T20:37:58.733Z,1749674278.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278753
2025-06-11T20:37:58.987Z,1749674278.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532651
2025-06-11T20:37:59.237Z,1749674279.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782877
2025-06-11T20:37:59.489Z,1749674279.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034766
2025-06-11T20:37:59.741Z,1749674279.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286757
2025-06-11T20:37:59.995Z,1749674279.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541025
2025-06-11T20:38:00.245Z,1749674280.245 [DAT](INFO): DAT read: Rx Time:20:38:01.5543
2025-06-11T20:38:00.246Z,1749674280.246 [DAT](INFO): Rx dataTimestamp_ set to:1749674280.245624
2025-06-11T20:38:00.247Z,1749674280.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792803
2025-06-11T20:38:00.497Z,1749674280.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042815
2025-06-11T20:38:00.754Z,1749674280.754 [DAT](INFO): DAT read: 20:38:01.5543 LVL= 27920, 32753, 32754, 32755, AGC= 79, IDX= 516,-0.34,-1.571,-0.337,-0.866,-1.724, PHS= 0.241, 1.434, 0.854, RAW= 299.1, -40.9, CAL= 289.3, -52.4, ROT= 220.7, 52.4
2025-06-11T20:38:00.755Z,1749674280.755 [DAT](INFO): got valid direction response:
20:38:01.5543 LVL= 27920, 32753, 32754, 32755, AGC= 79, IDX= 516,-0.34,-1.571,-0.337,-0.866,-1.724, PHS= 0.241, 1.434, 0.854, RAW= 299.1, -40.9, CAL= 289.3, -52.4, ROT= 220.7, 52.4
2025-06-11T20:38:00.757Z,1749674280.757 [DAT](INFO): DAT read: Bearing 220.7, 52.4 (Local)
2025-06-11T20:38:00.757Z,1749674280.757 [DAT](INFO): Local bearing/azimuth received:
Bearing 220.7, 52.4 (Local)
2025-06-11T20:38:00.758Z,1749674280.758 [DAT](INFO): DAT read: Range 10 to 50 : 713.9 m (Round-trip 951.9 ms) speed 0.0 m/s
2025-06-11T20:38:00.759Z,1749674280.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:38:00.760Z,1749674280.760 [DAT](INFO): direction in FSK: [-0.462572,-0.397875,-0.792290]
2025-06-11T20:38:00.760Z,1749674280.760 [DAT](INFO): publishing direction and range info
2025-06-11T20:38:07.980Z,1749674287.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:38:08.981Z,1749674288.981 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:38:39.100Z,1749674319.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:38:40.104Z,1749674320.104 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:38:56.207Z,1749674336.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:38:56.224Z,1749674336.224 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:38:56.225Z,1749674336.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:38:56.477Z,1749674336.477 [DAT](INFO): DAT read: user:381>
2025-06-11T20:38:56.477Z,1749674336.477 [DAT](INFO): DAT read: Tx time:20:38:58.1986
2025-06-11T20:38:56.478Z,1749674336.478 [DAT](INFO): Ping request sent.
2025-06-11T20:38:56.478Z,1749674336.478 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:38:56.479Z,1749674336.479 [DAT](INFO): publishing transmit ping time
2025-06-11T20:38:56.481Z,1749674336.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002341
2025-06-11T20:38:56.729Z,1749674336.729 [DAT](INFO): DAT read: TxSync time:20:38:58.1978
2025-06-11T20:38:56.730Z,1749674336.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252026
2025-06-11T20:38:56.989Z,1749674336.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510832
2025-06-11T20:38:57.241Z,1749674337.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762831
2025-06-11T20:38:57.493Z,1749674337.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014912
2025-06-11T20:38:57.745Z,1749674337.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266824
2025-06-11T20:38:57.997Z,1749674337.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519104
2025-06-11T20:38:58.249Z,1749674338.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770916
2025-06-11T20:38:58.501Z,1749674338.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022825
2025-06-11T20:38:58.753Z,1749674338.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274947
2025-06-11T20:38:59.005Z,1749674339.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526984
2025-06-11T20:38:59.258Z,1749674339.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780126
2025-06-11T20:38:59.509Z,1749674339.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031498
2025-06-11T20:38:59.761Z,1749674339.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282887
2025-06-11T20:39:00.013Z,1749674340.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534833
2025-06-11T20:39:00.266Z,1749674340.266 [DAT](INFO): DAT read: Rx Time:20:39:01.5129
2025-06-11T20:39:00.266Z,1749674340.266 [DAT](INFO): Rx dataTimestamp_ set to:1749674340.265919
2025-06-11T20:39:00.267Z,1749674340.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788857
2025-06-11T20:39:00.517Z,1749674340.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038957
2025-06-11T20:39:00.774Z,1749674340.774 [DAT](INFO): DAT read: 20:39:01.5129 LVL= 26800, 27825, 31218, 32755, AGC= 80, IDX= 20, 0.01, 2.170, 0.809, 1.389, 1.671, PHS= 0.587,-0.815,-0.285, RAW= 112.0, 8.4, CAL= 121.7, 5.5, ROT= 28.3, -5.5
2025-06-11T20:39:00.775Z,1749674340.775 [DAT](INFO): got valid direction response:
20:39:01.5129 LVL= 26800, 27825, 31218, 32755, AGC= 80, IDX= 20, 0.01, 2.170, 0.809, 1.389, 1.671, PHS= 0.587,-0.815,-0.285, RAW= 112.0, 8.4, CAL= 121.7, 5.5, ROT= 28.3, -5.5
2025-06-11T20:39:00.776Z,1749674340.776 [DAT](INFO): DAT read: Bearing 28.3, -5.5 (Local)
2025-06-11T20:39:00.777Z,1749674340.777 [DAT](INFO): Local bearing/azimuth received:
Bearing 28.3, -5.5 (Local)
2025-06-11T20:39:00.778Z,1749674340.778 [DAT](INFO): DAT read: Range 10 to 50 : 682.5 m (Round-trip 910.1 ms) speed 0.5 m/s
2025-06-11T20:39:00.779Z,1749674340.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:39:00.780Z,1749674340.780 [DAT](INFO): direction in FSK: [0.876424,0.471906,0.095846]
2025-06-11T20:39:00.780Z,1749674340.780 [DAT](INFO): publishing direction and range info
2025-06-11T20:39:10.237Z,1749674350.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:39:11.240Z,1749674351.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:39:29.410Z,1749674369.410 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061112405149,35.0, +100,1491.6, 0
2025-06-11T20:39:41.368Z,1749674381.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:39:42.372Z,1749674382.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:39:56.426Z,1749674396.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:39:56.541Z,1749674396.541 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:39:56.541Z,1749674396.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:39:56.795Z,1749674396.795 [DAT](INFO): DAT read: user:382>
2025-06-11T20:39:56.798Z,1749674396.798 [DAT](INFO): DAT read: Tx time:20:39:58.5491
2025-06-11T20:39:56.799Z,1749674396.799 [DAT](INFO): Ping request sent.
2025-06-11T20:39:56.799Z,1749674396.799 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:39:56.800Z,1749674396.800 [DAT](INFO): publishing transmit ping time
2025-06-11T20:39:56.802Z,1749674396.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002541
2025-06-11T20:39:57.045Z,1749674397.045 [DAT](INFO): DAT read: TxSync time:20:39:58.5483
2025-06-11T20:39:57.046Z,1749674397.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246806
2025-06-11T20:39:57.297Z,1749674397.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497800
2025-06-11T20:39:57.549Z,1749674397.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749844
2025-06-11T20:39:57.804Z,1749674397.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005013
2025-06-11T20:39:58.053Z,1749674398.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254013
2025-06-11T20:39:58.305Z,1749674398.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505845
2025-06-11T20:39:58.557Z,1749674398.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757876
2025-06-11T20:39:58.813Z,1749674398.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013440
2025-06-11T20:39:59.061Z,1749674399.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261907
2025-06-11T20:39:59.313Z,1749674399.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513931
2025-06-11T20:39:59.565Z,1749674399.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765866
2025-06-11T20:39:59.819Z,1749674399.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020166
2025-06-11T20:40:00.069Z,1749674400.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270216
2025-06-11T20:40:00.321Z,1749674400.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521850
2025-06-11T20:40:00.573Z,1749674400.573 [DAT](INFO): DAT read: Rx Time:20:40:01.8198
2025-06-11T20:40:00.573Z,1749674400.573 [DAT](INFO): Rx dataTimestamp_ set to:1749674400.572984
2025-06-11T20:40:00.574Z,1749674400.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774937
2025-06-11T20:40:00.829Z,1749674400.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029280
2025-06-11T20:40:01.083Z,1749674401.083 [DAT](INFO): DAT read: 20:40:01.8198 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 503,-0.17,-0.505,-2.014,-1.306,-1.160, PHS= 0.743,-0.807,-0.149, RAW= 115.0, 3.2, CAL= 125.3, -0.9, ROT= 24.7, 0.9
2025-06-11T20:40:01.084Z,1749674401.084 [DAT](INFO): got valid direction response:
20:40:01.8198 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 503,-0.17,-0.505,-2.014,-1.306,-1.160, PHS= 0.743,-0.807,-0.149, RAW= 115.0, 3.2, CAL= 125.3, -0.9, ROT= 24.7, 0.9
2025-06-11T20:40:01.085Z,1749674401.085 [DAT](INFO): DAT read: Bearing 24.7, 0.9 (Local)
2025-06-11T20:40:01.085Z,1749674401.085 [DAT](INFO): Local bearing/azimuth received:
Bearing 24.7, 0.9 (Local)
2025-06-11T20:40:01.087Z,1749674401.087 [DAT](INFO): DAT read: Range 10 to 50 : 649.9 m (Round-trip 866.6 ms) speed 0.1 m/s
2025-06-11T20:40:01.087Z,1749674401.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:40:01.089Z,1749674401.089 [DAT](INFO): direction in FSK: [0.908396,0.417816,-0.015707]
2025-06-11T20:40:01.089Z,1749674401.089 [DAT](INFO): publishing direction and range info
2025-06-11T20:40:01.685Z,1749674401.685 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-11T20:40:01.685Z,1749674401.685 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T20:40:01.686Z,1749674401.686 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-11T20:40:01.687Z,1749674401.687 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 649.900024 m (mode 0.000000 count ).
2025-06-11T20:40:01.687Z,1749674401.687 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-11T20:40:01.687Z,1749674401.687 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-11T20:40:01.690Z,1749674401.690 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-06-11T20:40:01.690Z,1749674401.690 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-11T20:40:01.690Z,1749674401.690 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-06-11T20:40:01.691Z,1749674401.691 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 649.900024 m
2025-06-11T20:40:01.691Z,1749674401.691 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-06-11T20:40:01.691Z,1749674401.691 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-06-11T20:40:02.113Z,1749674402.113 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-11T20:40:02.113Z,1749674402.113 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-11T20:40:02.113Z,1749674402.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:02.120Z,1749674402.120 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-06-11T20:40:02.120Z,1749674402.120 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-11T20:40:02.120Z,1749674402.120 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-06-11T20:40:02.120Z,1749674402.120 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-11T20:40:02.337Z,1749674402.337 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:02.337Z,1749674402.337 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:02.337Z,1749674402.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:02.483Z,1749674402.483 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-11T20:40:02.483Z,1749674402.483 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-11T20:40:02.483Z,1749674402.483 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-11T20:40:02.483Z,1749674402.483 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-11T20:40:02.483Z,1749674402.483 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-11T20:40:02.486Z,1749674402.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-11T20:40:02.487Z,1749674402.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-11T20:40:02.487Z,1749674402.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-11T20:40:02.487Z,1749674402.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-11T20:40:02.487Z,1749674402.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-11T20:40:02.487Z,1749674402.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-11T20:40:02.487Z,1749674402.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-11T20:40:02.487Z,1749674402.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-11T20:40:02.488Z,1749674402.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-11T20:40:02.488Z,1749674402.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-11T20:40:02.488Z,1749674402.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-11T20:40:02.488Z,1749674402.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-11T20:40:02.488Z,1749674402.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-11T20:40:02.489Z,1749674402.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-11T20:40:02.489Z,1749674402.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-06-11T20:40:02.489Z,1749674402.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-11T20:40:02.489Z,1749674402.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-06-11T20:40:02.490Z,1749674402.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-06-11T20:40:02.490Z,1749674402.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-11T20:40:02.490Z,1749674402.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-11T20:40:02.490Z,1749674402.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-06-11T20:40:02.491Z,1749674402.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-06-11T20:40:02.491Z,1749674402.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-11T20:40:02.491Z,1749674402.491 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-11T20:40:02.492Z,1749674402.492 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-11T20:40:02.492Z,1749674402.492 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-11T20:40:02.492Z,1749674402.492 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-11T20:40:02.492Z,1749674402.492 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-11T20:40:02.492Z,1749674402.492 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-11T20:40:02.492Z,1749674402.492 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-11T20:40:02.492Z,1749674402.492 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-06-11T20:40:02.492Z,1749674402.492 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-11T20:40:02.589Z,1749674402.589 [DAT](INFO): DAT read: user:383>
2025-06-11T20:40:02.590Z,1749674402.590 [DAT](INFO): DAT read: Tx time:20:40:04.2991
2025-06-11T20:40:02.590Z,1749674402.590 [DAT](INFO): Ping request sent.
2025-06-11T20:40:02.590Z,1749674402.590 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:40:02.591Z,1749674402.591 [DAT](INFO): DAT read: TxSync time:20:40:04.2983
2025-06-11T20:40:02.591Z,1749674402.591 [DAT](INFO): publishing transmit ping time
2025-06-11T20:40:02.592Z,1749674402.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001704
2025-06-11T20:40:02.844Z,1749674402.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252732
2025-06-11T20:40:02.968Z,1749674402.968 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-11T20:40:02.968Z,1749674402.968 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T20:40:02.968Z,1749674402.968 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-11T20:40:02.968Z,1749674402.968 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T20:40:02.971Z,1749674402.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 649.900024 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-06-11T20:40:02.974Z,1749674402.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 644.406128 m,
bearing: 335.134065 deg,
lat: 36.906604 deg,
lon: -122.115052 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-06-11T20:40:02.975Z,1749674402.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:02.994Z,1749674402.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 643.142944 m,
bearing: 335.152409 deg,
approach rate: nan m/s,
LOS rate: nan deg/s,
cmd heading: 310.441223 deg,
new cmd heading: 335.152409 deg.
2025-06-11T20:40:02.995Z,1749674402.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849513 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:03.023Z,1749674403.023 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-06-11T20:40:03.029Z,1749674403.029 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-06-11T20:40:03.089Z,1749674403.089 [DockingStepper](INFO): Resume
2025-06-11T20:40:03.095Z,1749674403.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504581
2025-06-11T20:40:03.349Z,1749674403.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758608
2025-06-11T20:40:03.396Z,1749674403.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:03.398Z,1749674403.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 642.911011 m,
bearing: 335.156517 deg,
approach rate: -0.545803 m/s,
LOS rate: nan deg/s,
cmd heading: 335.152410 deg,
new cmd heading: 335.156517 deg.
2025-06-11T20:40:03.399Z,1749674403.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849585 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:03.434Z,1749674403.434 [DockingStepper](INFO): Resuming
2025-06-11T20:40:03.601Z,1749674403.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010528
2025-06-11T20:40:03.705Z,1749674403.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:03.707Z,1749674403.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 642.742676 m,
bearing: 335.159527 deg,
approach rate: -0.546413 m/s,
LOS rate: nan deg/s,
cmd heading: 335.156508 deg,
new cmd heading: 335.159527 deg.
2025-06-11T20:40:03.708Z,1749674403.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849637 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:03.857Z,1749674403.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266536
2025-06-11T20:40:03.863Z,1749674403.863 [DockingStepper](INFO): Start
2025-06-11T20:40:03.864Z,1749674403.864 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-11T20:40:03.986Z,1749674403.986 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-11T20:40:04.105Z,1749674404.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514640
2025-06-11T20:40:04.215Z,1749674404.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:04.218Z,1749674404.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:04.220Z,1749674404.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 642.466064 m,
bearing: 335.164848 deg,
approach rate: -0.538513 m/s,
LOS rate: nan deg/s,
cmd heading: 335.159514 deg,
new cmd heading: 335.164848 deg.
2025-06-11T20:40:04.221Z,1749674404.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849730 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:04.349Z,1749674404.349 [DockingStepper](INFO): Starting
2025-06-11T20:40:04.357Z,1749674404.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766507
2025-06-11T20:40:04.586Z,1749674404.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:04.589Z,1749674404.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 642.267273 m,
bearing: 335.168678 deg,
approach rate: -0.539656 m/s,
LOS rate: nan deg/s,
cmd heading: 335.164841 deg,
new cmd heading: 335.168678 deg.
2025-06-11T20:40:04.589Z,1749674404.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849797 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:04.603Z,1749674404.603 [DockingStepper](INFO): Starting
2025-06-11T20:40:04.609Z,1749674404.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018603
2025-06-11T20:40:04.861Z,1749674404.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270608
2025-06-11T20:40:05.018Z,1749674405.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:05.025Z,1749674405.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 642.058472 m,
bearing: 335.172541 deg,
approach rate: -0.482785 m/s,
LOS rate: nan deg/s,
cmd heading: 335.168666 deg,
new cmd heading: 335.172541 deg.
2025-06-11T20:40:05.026Z,1749674405.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849864 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:05.057Z,1749674405.057 [DockingStepper](INFO): Starting
2025-06-11T20:40:05.108Z,1749674405.108 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-11T20:40:05.117Z,1749674405.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526079
2025-06-11T20:40:05.365Z,1749674405.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774648
2025-06-11T20:40:05.408Z,1749674405.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:05.411Z,1749674405.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 641.861267 m,
bearing: 335.176169 deg,
approach rate: -0.505654 m/s,
LOS rate: nan deg/s,
cmd heading: 335.172546 deg,
new cmd heading: 335.176169 deg.
2025-06-11T20:40:05.416Z,1749674405.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849928 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:05.465Z,1749674405.465 [DockingStepper](INFO): Starting
2025-06-11T20:40:05.618Z,1749674405.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026946
2025-06-11T20:40:05.779Z,1749674405.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:05.781Z,1749674405.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 641.669006 m,
bearing: 335.179566 deg,
approach rate: -0.519367 m/s,
LOS rate: nan deg/s,
cmd heading: 335.176179 deg,
new cmd heading: 335.179566 deg.
2025-06-11T20:40:05.782Z,1749674405.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849987 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:05.815Z,1749674405.815 [DockingStepper](INFO): Starting
2025-06-11T20:40:05.871Z,1749674405.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280764
2025-06-11T20:40:06.121Z,1749674406.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530577
2025-06-11T20:40:06.216Z,1749674406.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:06.218Z,1749674406.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:06.221Z,1749674406.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 641.470093 m,
bearing: 335.182748 deg,
approach rate: -0.452896 m/s,
LOS rate: nan deg/s,
cmd heading: 335.179567 deg,
new cmd heading: 335.182748 deg.
2025-06-11T20:40:06.221Z,1749674406.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850042 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:06.254Z,1749674406.254 [DockingStepper](INFO): Starting
2025-06-11T20:40:06.373Z,1749674406.373 [DAT](INFO): DAT read: Rx Time:20:40:07.5660
2025-06-11T20:40:06.373Z,1749674406.373 [DAT](INFO): Rx dataTimestamp_ set to:1749674406.373100
2025-06-11T20:40:06.374Z,1749674406.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783734
2025-06-11T20:40:06.592Z,1749674406.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:06.594Z,1749674406.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 641.300232 m,
bearing: 335.185316 deg,
approach rate: -0.454222 m/s,
LOS rate: nan deg/s,
cmd heading: 335.182736 deg,
new cmd heading: 335.185316 deg.
2025-06-11T20:40:06.595Z,1749674406.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850087 target range: 644.406128 and range: 649.90 m.
2025-06-11T20:40:06.608Z,1749674406.608 [DockingStepper](INFO): Starting
2025-06-11T20:40:06.625Z,1749674406.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034450
2025-06-11T20:40:06.640Z,1749674406.640 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-11T20:40:06.878Z,1749674406.878 [DAT](INFO): DAT read: Range 10 to 50 : 647.0 m (Round-trip 862.7 ms) speed 0.3 m/s
2025-06-11T20:40:06.880Z,1749674406.880 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:40:06.882Z,1749674406.882 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:06.882Z,1749674406.882 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:06.883Z,1749674406.883 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:07.048Z,1749674407.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 647.000000 m,
deltaT: 5.799939 s,
deltaX: -2.900024 m,
approachRate: -0.500009 m/s,
rangeRepo size: 2
2025-06-11T20:40:07.049Z,1749674407.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:07.056Z,1749674407.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 641.112732 m,
bearing: 335.187779 deg,
approach rate: -0.415025 m/s,
LOS rate: nan deg/s,
cmd heading: 335.185304 deg,
new cmd heading: 335.187779 deg.
2025-06-11T20:40:07.057Z,1749674407.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850131 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:07.094Z,1749674407.094 [DockingStepper](INFO): Starting
2025-06-11T20:40:07.139Z,1749674407.139 [DAT](INFO): DAT read: user:384>
2025-06-11T20:40:07.141Z,1749674407.141 [DAT](INFO): DAT read: Tx time:20:40:08.8491
2025-06-11T20:40:07.141Z,1749674407.141 [DAT](INFO): Ping request sent.
2025-06-11T20:40:07.142Z,1749674407.142 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:40:07.142Z,1749674407.142 [DAT](INFO): DAT read: TxSync time:20:40:08.8483
2025-06-11T20:40:07.143Z,1749674407.143 [DAT](INFO): publishing transmit ping time
2025-06-11T20:40:07.145Z,1749674407.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003084
2025-06-11T20:40:07.385Z,1749674407.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243387
2025-06-11T20:40:07.416Z,1749674407.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:07.418Z,1749674407.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 640.956970 m,
bearing: 335.189622 deg,
approach rate: -0.423244 m/s,
LOS rate: nan deg/s,
cmd heading: 335.187791 deg,
new cmd heading: 335.189622 deg.
2025-06-11T20:40:07.419Z,1749674407.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850163 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:07.441Z,1749674407.441 [DockingStepper](INFO): Changing to mode: 1
2025-06-11T20:40:07.441Z,1749674407.441 [DockingStepper](INFO): Standby mode.
2025-06-11T20:40:07.637Z,1749674407.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495560
2025-06-11T20:40:07.803Z,1749674407.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:07.805Z,1749674407.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 640.788391 m,
bearing: 335.191389 deg,
approach rate: -0.431231 m/s,
LOS rate: nan deg/s,
cmd heading: 335.189621 deg,
new cmd heading: 335.191389 deg.
2025-06-11T20:40:07.806Z,1749674407.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850194 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:07.889Z,1749674407.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747553
2025-06-11T20:40:08.141Z,1749674408.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999299
2025-06-11T20:40:08.224Z,1749674408.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:08.226Z,1749674408.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:08.229Z,1749674408.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 640.609985 m,
bearing: 335.192657 deg,
approach rate: -0.421295 m/s,
LOS rate: nan deg/s,
cmd heading: 335.191397 deg,
new cmd heading: 335.192657 deg.
2025-06-11T20:40:08.229Z,1749674408.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850215 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:08.393Z,1749674408.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251328
2025-06-11T20:40:08.600Z,1749674408.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:08.602Z,1749674408.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 640.452454 m,
bearing: 335.193477 deg,
approach rate: -0.421502 m/s,
LOS rate: nan deg/s,
cmd heading: 335.192654 deg,
new cmd heading: 335.193477 deg.
2025-06-11T20:40:08.603Z,1749674408.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850230 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:08.645Z,1749674408.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503668
2025-06-11T20:40:08.897Z,1749674408.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755297
2025-06-11T20:40:09.041Z,1749674409.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:09.060Z,1749674409.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 640.254822 m,
bearing: 335.194163 deg,
approach rate: -0.447512 m/s,
LOS rate: nan deg/s,
cmd heading: 335.193473 deg,
new cmd heading: 335.194163 deg.
2025-06-11T20:40:09.061Z,1749674409.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850242 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:09.149Z,1749674409.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007451
2025-06-11T20:40:09.402Z,1749674409.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260440
2025-06-11T20:40:09.462Z,1749674409.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:09.469Z,1749674409.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 640.068420 m,
bearing: 335.194415 deg,
approach rate: -0.443444 m/s,
LOS rate: nan deg/s,
cmd heading: 335.194156 deg,
new cmd heading: 335.194415 deg.
2025-06-11T20:40:09.470Z,1749674409.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850246 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:09.653Z,1749674409.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511315
2025-06-11T20:40:09.826Z,1749674409.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:09.829Z,1749674409.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 639.903564 m,
bearing: 335.194290 deg,
approach rate: -0.452348 m/s,
LOS rate: nan deg/s,
cmd heading: 335.194402 deg,
new cmd heading: 335.194290 deg.
2025-06-11T20:40:09.830Z,1749674409.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850244 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:09.905Z,1749674409.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763731
2025-06-11T20:40:10.157Z,1749674410.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015378
2025-06-11T20:40:10.244Z,1749674410.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:10.246Z,1749674410.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:10.265Z,1749674410.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 639.709473 m,
bearing: 335.193716 deg,
approach rate: -0.461745 m/s,
LOS rate: nan deg/s,
cmd heading: 335.194293 deg,
new cmd heading: 335.193716 deg.
2025-06-11T20:40:10.266Z,1749674410.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850234 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:10.409Z,1749674410.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267221
2025-06-11T20:40:10.636Z,1749674410.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:10.639Z,1749674410.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 639.528931 m,
bearing: 335.192804 deg,
approach rate: -0.463094 m/s,
LOS rate: nan deg/s,
cmd heading: 335.193719 deg,
new cmd heading: 335.192804 deg.
2025-06-11T20:40:10.640Z,1749674410.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850218 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:10.661Z,1749674410.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519378
2025-06-11T20:40:10.913Z,1749674410.913 [DAT](INFO): DAT read: Rx Time:20:40:12.1133
2025-06-11T20:40:10.913Z,1749674410.913 [DAT](INFO): Rx dataTimestamp_ set to:1749674410.913071
2025-06-11T20:40:10.914Z,1749674410.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772475
2025-06-11T20:40:11.139Z,1749674411.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 644.41 m.
2025-06-11T20:40:11.142Z,1749674411.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 644.406128 m,
nav range: 639.275085 m,
bearing: 335.191020 deg,
approach rate: -0.505126 m/s,
LOS rate: nan deg/s,
cmd heading: 335.192790 deg,
new cmd heading: 335.191020 deg.
2025-06-11T20:40:11.143Z,1749674411.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850187 target range: 644.406128 and range: 647.00 m.
2025-06-11T20:40:11.165Z,1749674411.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023357
2025-06-11T20:40:11.422Z,1749674411.422 [DAT](INFO): DAT read: 20:40:12.1133 LVL= 12192, 19217, 14738, 19011, AGC= 73, IDX= 481,-0.02,-1.863, 2.751,-1.920,-2.552, PHS= 0.777,-0.933, 0.628, RAW= 145.5, -5.8, CAL= 151.0, -14.7, ROT= 359.0, 14.7
2025-06-11T20:40:11.423Z,1749674411.423 [DAT](INFO): got valid direction response:
20:40:12.1133 LVL= 12192, 19217, 14738, 19011, AGC= 73, IDX= 481,-0.02,-1.863, 2.751,-1.920,-2.552, PHS= 0.777,-0.933, 0.628, RAW= 145.5, -5.8, CAL= 151.0, -14.7, ROT= 359.0, 14.7
2025-06-11T20:40:11.424Z,1749674411.424 [DAT](INFO): DAT read: Bearing 359.0, 14.7 (Local)
2025-06-11T20:40:11.425Z,1749674411.425 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.0, 14.7 (Local)
2025-06-11T20:40:11.426Z,1749674411.426 [DAT](INFO): DAT read: Range 10 to 50 : 645.0 m (Round-trip 860.0 ms) speed 0.4 m/s
2025-06-11T20:40:11.427Z,1749674411.427 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:40:11.440Z,1749674411.440 [DAT](INFO): direction in FSK: [0.967120,-0.016881,-0.253758]
2025-06-11T20:40:11.440Z,1749674411.440 [DAT](INFO): publishing direction and range info
2025-06-11T20:40:11.444Z,1749674411.444 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:11.444Z,1749674411.444 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:11.444Z,1749674411.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:11.494Z,1749674411.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 645.000000 m,
deltaT: 4.540046 s,
deltaX: -2.000000 m,
approachRate: -0.440524 m/s,
rangeRepo size: 3
2025-06-11T20:40:11.505Z,1749674411.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 639.527344 m,
bearing: 327.794135 deg,
lat: 36.906376 deg,
lon: -122.115420 deg,
deltaT: 10.339985 s,
deltaX: -4.878784 m,
approachRate: -0.471837 m/s,
posRepo size: 2
2025-06-11T20:40:11.505Z,1749674411.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:11.507Z,1749674411.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 327.794135 deg.
2025-06-11T20:40:11.507Z,1749674411.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721087 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:11.670Z,1749674411.670 [DAT](INFO): DAT read: user:385>
2025-06-11T20:40:11.673Z,1749674411.673 [DAT](INFO): DAT read: Tx time:20:40:13.4492
2025-06-11T20:40:11.674Z,1749674411.674 [DAT](INFO): Ping request sent.
2025-06-11T20:40:11.675Z,1749674411.675 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:40:11.677Z,1749674411.677 [DAT](INFO): publishing transmit ping time
2025-06-11T20:40:11.678Z,1749674411.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003686
2025-06-11T20:40:11.872Z,1749674411.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:11.874Z,1749674411.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 630.961853 m,
bearing: 331.528564 deg,
approach rate: -0.518213 m/s,
LOS rate: -0.008748 deg/s,
cmd heading: 327.794138 deg,
new cmd heading: 327.784324 deg.
2025-06-11T20:40:11.875Z,1749674411.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720916 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:11.922Z,1749674411.922 [DAT](INFO): DAT read: TxSync time:20:40:13.4484
2025-06-11T20:40:11.924Z,1749674411.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249175
2025-06-11T20:40:12.173Z,1749674412.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498696
2025-06-11T20:40:12.316Z,1749674412.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:12.318Z,1749674412.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:12.321Z,1749674412.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 630.722046 m,
bearing: 331.524529 deg,
approach rate: -0.532433 m/s,
LOS rate: -0.008963 deg/s,
cmd heading: 327.784330 deg,
new cmd heading: 327.772219 deg.
2025-06-11T20:40:12.322Z,1749674412.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720705 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:12.426Z,1749674412.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751737
2025-06-11T20:40:12.496Z,1749674412.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:40:12.677Z,1749674412.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002800
2025-06-11T20:40:12.689Z,1749674412.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:12.692Z,1749674412.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 630.531372 m,
bearing: 331.521020 deg,
approach rate: -0.513720 m/s,
LOS rate: -0.009457 deg/s,
cmd heading: 327.772227 deg,
new cmd heading: 327.761697 deg.
2025-06-11T20:40:12.693Z,1749674412.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720521 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:12.930Z,1749674412.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256220
2025-06-11T20:40:13.115Z,1749674413.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:13.118Z,1749674413.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 630.303955 m,
bearing: 331.516588 deg,
approach rate: -0.534114 m/s,
LOS rate: -0.010413 deg/s,
cmd heading: 327.761708 deg,
new cmd heading: 327.748407 deg.
2025-06-11T20:40:13.119Z,1749674413.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720289 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:13.182Z,1749674413.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507708
2025-06-11T20:40:13.433Z,1749674413.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758815
2025-06-11T20:40:13.500Z,1749674413.500 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:40:13.506Z,1749674413.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:13.508Z,1749674413.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 630.096924 m,
bearing: 331.512255 deg,
approach rate: -0.530095 m/s,
LOS rate: -0.011097 deg/s,
cmd heading: 327.748403 deg,
new cmd heading: 327.735401 deg.
2025-06-11T20:40:13.509Z,1749674413.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720062 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:13.689Z,1749674413.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014705
2025-06-11T20:40:13.930Z,1749674413.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:13.935Z,1749674413.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 629.875427 m,
bearing: 331.507617 deg,
approach rate: -0.521426 m/s,
LOS rate: -0.010923 deg/s,
cmd heading: 327.735398 deg,
new cmd heading: 327.721478 deg.
2025-06-11T20:40:13.938Z,1749674413.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263643
2025-06-11T20:40:13.939Z,1749674413.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719819 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:14.189Z,1749674414.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514766
2025-06-11T20:40:14.345Z,1749674414.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:14.347Z,1749674414.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:14.350Z,1749674414.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 629.642090 m,
bearing: 331.502645 deg,
approach rate: -0.559322 m/s,
LOS rate: -0.011921 deg/s,
cmd heading: 327.721465 deg,
new cmd heading: 327.706546 deg.
2025-06-11T20:40:14.351Z,1749674414.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719558 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:14.442Z,1749674414.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767648
2025-06-11T20:40:14.699Z,1749674414.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024729
2025-06-11T20:40:14.721Z,1749674414.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:14.724Z,1749674414.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 629.438049 m,
bearing: 331.498294 deg,
approach rate: -0.546213 m/s,
LOS rate: -0.011652 deg/s,
cmd heading: 327.706548 deg,
new cmd heading: 327.693489 deg.
2025-06-11T20:40:14.725Z,1749674414.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719330 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:14.950Z,1749674414.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275133
2025-06-11T20:40:15.189Z,1749674415.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:15.201Z,1749674415.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526813
2025-06-11T20:40:15.220Z,1749674415.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 629.182007 m,
bearing: 331.491785 deg,
approach rate: -0.546919 m/s,
LOS rate: -0.013909 deg/s,
cmd heading: 327.693488 deg,
new cmd heading: 327.673954 deg.
2025-06-11T20:40:15.221Z,1749674415.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718989 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:15.453Z,1749674415.453 [DAT](INFO): DAT read: Rx Time:20:40:16.7100
2025-06-11T20:40:15.453Z,1749674415.453 [DAT](INFO): Rx dataTimestamp_ set to:1749674415.453067
2025-06-11T20:40:15.454Z,1749674415.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779893
2025-06-11T20:40:15.531Z,1749674415.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:15.534Z,1749674415.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 629.003845 m,
bearing: 331.487238 deg,
approach rate: -0.520997 m/s,
LOS rate: -0.013300 deg/s,
cmd heading: 327.673954 deg,
new cmd heading: 327.660310 deg.
2025-06-11T20:40:15.535Z,1749674415.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718751 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:15.705Z,1749674415.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030792
2025-06-11T20:40:15.963Z,1749674415.963 [DAT](INFO): DAT read: 20:40:16.7100 LVL= 19280, 19057, 18834, 18627, AGC= 73, IDX= 401,-0.48,-0.658,-1.812,-0.469,-1.038, PHS= 0.468,-0.727, 0.566, RAW= 153.9, -5.0, CAL= 158.3, -13.1, ROT= 351.7, 13.1
2025-06-11T20:40:15.965Z,1749674415.965 [DAT](INFO): got valid direction response:
20:40:16.7100 LVL= 19280, 19057, 18834, 18627, AGC= 73, IDX= 401,-0.48,-0.658,-1.812,-0.469,-1.038, PHS= 0.468,-0.727, 0.566, RAW= 153.9, -5.0, CAL= 158.3, -13.1, ROT= 351.7, 13.1
2025-06-11T20:40:15.965Z,1749674415.965 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:40:15.966Z,1749674415.966 [DAT](INFO): Received a bad header
2025-06-11T20:40:15.980Z,1749674415.980 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:40:15.981Z,1749674415.981 [DAT](INFO): direction in FSK: [0.963774,-0.140599,-0.226651]
2025-06-11T20:40:15.984Z,1749674415.984 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:15.984Z,1749674415.984 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:15.984Z,1749674415.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:16.010Z,1749674416.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:16.053Z,1749674416.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 628.741028 m,
bearing: 331.480592 deg,
approach rate: -0.548883 m/s,
LOS rate: -0.013886 deg/s,
cmd heading: 327.660321 deg,
new cmd heading: 327.640374 deg.
2025-06-11T20:40:16.060Z,1749674416.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718403 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:16.210Z,1749674416.210 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:16.210Z,1749674416.210 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:16.210Z,1749674416.210 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:16.353Z,1749674416.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:16.355Z,1749674416.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:16.378Z,1749674416.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 628.545105 m,
bearing: 331.474809 deg,
approach rate: -0.568408 m/s,
LOS rate: -0.016781 deg/s,
cmd heading: 327.640377 deg,
new cmd heading: 327.623024 deg.
2025-06-11T20:40:16.379Z,1749674416.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718101 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:16.461Z,1749674416.461 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:16.461Z,1749674416.461 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:16.461Z,1749674416.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:16.712Z,1749674416.712 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:16.712Z,1749674416.712 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:16.713Z,1749674416.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:16.726Z,1749674416.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:16.729Z,1749674416.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 628.341370 m,
bearing: 331.468946 deg,
approach rate: -0.547926 m/s,
LOS rate: -0.015774 deg/s,
cmd heading: 327.623028 deg,
new cmd heading: 327.605433 deg.
2025-06-11T20:40:16.730Z,1749674416.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717793 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:16.965Z,1749674416.965 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:16.965Z,1749674416.965 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:16.965Z,1749674416.965 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:17.160Z,1749674417.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:17.163Z,1749674417.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 628.107910 m,
bearing: 331.462194 deg,
approach rate: -0.538020 m/s,
LOS rate: -0.015567 deg/s,
cmd heading: 327.605434 deg,
new cmd heading: 327.585169 deg.
2025-06-11T20:40:17.164Z,1749674417.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717440 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:17.217Z,1749674417.217 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:17.217Z,1749674417.217 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:17.217Z,1749674417.217 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:17.469Z,1749674417.469 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:17.469Z,1749674417.469 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:17.469Z,1749674417.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:17.549Z,1749674417.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:17.551Z,1749674417.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 627.906433 m,
bearing: 331.456534 deg,
approach rate: -0.518904 m/s,
LOS rate: -0.014581 deg/s,
cmd heading: 327.585162 deg,
new cmd heading: 327.568177 deg.
2025-06-11T20:40:17.556Z,1749674417.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717143 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:17.721Z,1749674417.721 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:17.721Z,1749674417.721 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:17.721Z,1749674417.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:17.941Z,1749674417.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:17.946Z,1749674417.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 627.688721 m,
bearing: 331.450591 deg,
approach rate: -0.554817 m/s,
LOS rate: -0.015149 deg/s,
cmd heading: 327.568168 deg,
new cmd heading: 327.550335 deg.
2025-06-11T20:40:17.947Z,1749674417.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716832 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:17.973Z,1749674417.973 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:17.973Z,1749674417.973 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:17.973Z,1749674417.973 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:18.225Z,1749674418.225 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:18.225Z,1749674418.225 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:18.225Z,1749674418.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:18.371Z,1749674418.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:18.373Z,1749674418.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:18.376Z,1749674418.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 627.454468 m,
bearing: 331.443411 deg,
approach rate: -0.541838 m/s,
LOS rate: -0.016615 deg/s,
cmd heading: 327.550328 deg,
new cmd heading: 327.528779 deg.
2025-06-11T20:40:18.377Z,1749674418.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716455 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:18.478Z,1749674418.478 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:18.478Z,1749674418.478 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:18.478Z,1749674418.478 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:18.728Z,1749674418.728 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:18.729Z,1749674418.729 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:18.729Z,1749674418.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:18.792Z,1749674418.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:18.795Z,1749674418.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 627.229187 m,
bearing: 331.436830 deg,
approach rate: -0.538323 m/s,
LOS rate: -0.015731 deg/s,
cmd heading: 327.528772 deg,
new cmd heading: 327.509021 deg.
2025-06-11T20:40:18.796Z,1749674418.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716111 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:18.981Z,1749674418.981 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:18.981Z,1749674418.981 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:18.981Z,1749674418.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:19.199Z,1749674419.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:19.202Z,1749674419.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 627.012207 m,
bearing: 331.431008 deg,
approach rate: -0.532627 m/s,
LOS rate: -0.014298 deg/s,
cmd heading: 327.509019 deg,
new cmd heading: 327.491545 deg.
2025-06-11T20:40:19.203Z,1749674419.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715806 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:19.233Z,1749674419.233 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:19.233Z,1749674419.233 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:19.233Z,1749674419.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:19.484Z,1749674419.484 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:19.485Z,1749674419.485 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:19.485Z,1749674419.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:19.600Z,1749674419.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:19.603Z,1749674419.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 626.805542 m,
bearing: 331.425558 deg,
approach rate: -0.521201 m/s,
LOS rate: -0.013747 deg/s,
cmd heading: 327.491533 deg,
new cmd heading: 327.475180 deg.
2025-06-11T20:40:19.608Z,1749674419.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715520 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:19.737Z,1749674419.737 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:19.737Z,1749674419.737 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:19.737Z,1749674419.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:19.971Z,1749674419.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:19.973Z,1749674419.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 626.602295 m,
bearing: 331.420282 deg,
approach rate: -0.542141 m/s,
LOS rate: -0.014078 deg/s,
cmd heading: 327.475168 deg,
new cmd heading: 327.459335 deg.
2025-06-11T20:40:19.974Z,1749674419.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715243 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:19.988Z,1749674419.988 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:19.989Z,1749674419.989 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:19.989Z,1749674419.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:20.241Z,1749674420.241 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:20.241Z,1749674420.241 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:20.241Z,1749674420.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:20.379Z,1749674420.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:20.397Z,1749674420.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:20.404Z,1749674420.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 626.378540 m,
bearing: 331.414641 deg,
approach rate: -0.524681 m/s,
LOS rate: -0.013232 deg/s,
cmd heading: 327.459322 deg,
new cmd heading: 327.442394 deg.
2025-06-11T20:40:20.405Z,1749674420.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714948 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:20.493Z,1749674420.493 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:20.493Z,1749674420.493 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:20.493Z,1749674420.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:20.745Z,1749674420.745 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:20.745Z,1749674420.745 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:20.745Z,1749674420.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:20.773Z,1749674420.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:20.776Z,1749674420.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 626.166565 m,
bearing: 331.409361 deg,
approach rate: -0.563657 m/s,
LOS rate: -0.014046 deg/s,
cmd heading: 327.442383 deg,
new cmd heading: 327.426536 deg.
2025-06-11T20:40:20.777Z,1749674420.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714671 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:20.997Z,1749674420.997 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:20.997Z,1749674420.997 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:20.997Z,1749674420.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:21.223Z,1749674421.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:21.226Z,1749674421.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 625.921875 m,
bearing: 331.403695 deg,
approach rate: -0.543542 m/s,
LOS rate: -0.012591 deg/s,
cmd heading: 327.426537 deg,
new cmd heading: 327.409532 deg.
2025-06-11T20:40:21.227Z,1749674421.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714375 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:21.248Z,1749674421.248 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:21.249Z,1749674421.249 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:21.249Z,1749674421.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:21.501Z,1749674421.501 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:21.501Z,1749674421.501 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:21.501Z,1749674421.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:21.597Z,1749674421.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:21.604Z,1749674421.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 625.725525 m,
bearing: 331.399174 deg,
approach rate: -0.525398 m/s,
LOS rate: -0.012101 deg/s,
cmd heading: 327.409544 deg,
new cmd heading: 327.395977 deg.
2025-06-11T20:40:21.605Z,1749674421.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714138 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:21.752Z,1749674421.752 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:21.753Z,1749674421.753 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:21.753Z,1749674421.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:21.988Z,1749674421.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:21.991Z,1749674421.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 625.505920 m,
bearing: 331.394137 deg,
approach rate: -0.562101 m/s,
LOS rate: -0.012896 deg/s,
cmd heading: 327.395965 deg,
new cmd heading: 327.380850 deg.
2025-06-11T20:40:21.992Z,1749674421.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713874 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:22.005Z,1749674422.005 [DAT](INFO): DAT read:
2025-06-11T20:40:22.005Z,1749674422.005 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:22.005Z,1749674422.005 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:22.005Z,1749674422.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:22.256Z,1749674422.256 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:22.257Z,1749674422.257 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:22.257Z,1749674422.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:22.400Z,1749674422.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:22.402Z,1749674422.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:22.405Z,1749674422.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 625.277710 m,
bearing: 331.388852 deg,
approach rate: -0.550922 m/s,
LOS rate: -0.012763 deg/s,
cmd heading: 327.380857 deg,
new cmd heading: 327.364997 deg.
2025-06-11T20:40:22.406Z,1749674422.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713597 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:22.509Z,1749674422.509 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:40:22.509Z,1749674422.509 [DAT](INFO): response not received
2025-06-11T20:40:22.510Z,1749674422.510 [DAT](INFO): DAT read: user:387>
2025-06-11T20:40:22.510Z,1749674422.510 [DAT](INFO): DAT read: Tx time:20:40:24.3992
2025-06-11T20:40:22.511Z,1749674422.511 [DAT](INFO): Ping request sent.
2025-06-11T20:40:22.511Z,1749674422.511 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:40:22.511Z,1749674422.511 [DAT](INFO): publishing transmit ping time
2025-06-11T20:40:22.512Z,1749674422.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-06-11T20:40:22.761Z,1749674422.761 [DAT](INFO): DAT read: TxSync time:20:40:24.3984
2025-06-11T20:40:22.762Z,1749674422.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250698
2025-06-11T20:40:22.782Z,1749674422.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:22.797Z,1749674422.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 625.067749 m,
bearing: 331.383988 deg,
approach rate: -0.552009 m/s,
LOS rate: -0.012795 deg/s,
cmd heading: 327.364984 deg,
new cmd heading: 327.350384 deg.
2025-06-11T20:40:22.798Z,1749674422.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713342 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:23.013Z,1749674423.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501928
2025-06-11T20:40:23.265Z,1749674423.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753843
2025-06-11T20:40:23.300Z,1749674423.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:23.303Z,1749674423.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 624.776367 m,
bearing: 331.378205 deg,
approach rate: -0.563225 m/s,
LOS rate: -0.011182 deg/s,
cmd heading: 327.350394 deg,
new cmd heading: 327.333039 deg.
2025-06-11T20:40:23.303Z,1749674423.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713039 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:23.519Z,1749674423.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008042
2025-06-11T20:40:23.631Z,1749674423.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:23.633Z,1749674423.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 624.589966 m,
bearing: 331.374504 deg,
approach rate: -0.563359 m/s,
LOS rate: -0.011189 deg/s,
cmd heading: 327.333046 deg,
new cmd heading: 327.321940 deg.
2025-06-11T20:40:23.634Z,1749674423.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712845 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:23.769Z,1749674423.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257952
2025-06-11T20:40:24.021Z,1749674424.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509871
2025-06-11T20:40:24.080Z,1749674424.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:24.083Z,1749674424.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 624.354004 m,
bearing: 331.369811 deg,
approach rate: -0.531025 m/s,
LOS rate: -0.010567 deg/s,
cmd heading: 327.321926 deg,
new cmd heading: 327.307840 deg.
2025-06-11T20:40:24.088Z,1749674424.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712599 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:24.274Z,1749674424.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762962
2025-06-11T20:40:24.488Z,1749674424.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:24.490Z,1749674424.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:24.497Z,1749674424.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 624.116760 m,
bearing: 331.366003 deg,
approach rate: -0.571190 m/s,
LOS rate: -0.009170 deg/s,
cmd heading: 327.307829 deg,
new cmd heading: 327.296402 deg.
2025-06-11T20:40:24.498Z,1749674424.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712400 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:24.525Z,1749674424.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014015
2025-06-11T20:40:24.777Z,1749674424.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265844
2025-06-11T20:40:24.839Z,1749674424.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:24.842Z,1749674424.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 623.912476 m,
bearing: 331.362711 deg,
approach rate: -0.586277 m/s,
LOS rate: -0.009451 deg/s,
cmd heading: 327.296409 deg,
new cmd heading: 327.286529 deg.
2025-06-11T20:40:24.843Z,1749674424.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712227 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:25.029Z,1749674425.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517976
2025-06-11T20:40:25.297Z,1749674425.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786375
2025-06-11T20:40:25.305Z,1749674425.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:25.312Z,1749674425.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 623.659546 m,
bearing: 331.358827 deg,
approach rate: -0.542541 m/s,
LOS rate: -0.008335 deg/s,
cmd heading: 327.286518 deg,
new cmd heading: 327.274861 deg.
2025-06-11T20:40:25.313Z,1749674425.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712024 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:25.549Z,1749674425.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038359
2025-06-11T20:40:25.645Z,1749674425.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:25.647Z,1749674425.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 623.451843 m,
bearing: 331.355633 deg,
approach rate: -0.611323 m/s,
LOS rate: -0.009402 deg/s,
cmd heading: 327.274852 deg,
new cmd heading: 327.265269 deg.
2025-06-11T20:40:25.648Z,1749674425.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711856 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:25.801Z,1749674425.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290164
2025-06-11T20:40:26.048Z,1749674426.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:26.051Z,1749674426.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 623.220642 m,
bearing: 331.352067 deg,
approach rate: -0.573320 m/s,
LOS rate: -0.008847 deg/s,
cmd heading: 327.265263 deg,
new cmd heading: 327.254560 deg.
2025-06-11T20:40:26.053Z,1749674426.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542069
2025-06-11T20:40:26.068Z,1749674426.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711669 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:26.307Z,1749674426.307 [DAT](INFO): DAT read: Rx Time:20:40:27.6523
2025-06-11T20:40:26.308Z,1749674426.308 [DAT](INFO): Rx dataTimestamp_ set to:1749674426.306951
2025-06-11T20:40:26.309Z,1749674426.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.798158
2025-06-11T20:40:26.481Z,1749674426.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:26.483Z,1749674426.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 622.972412 m,
bearing: 331.348399 deg,
approach rate: -0.573656 m/s,
LOS rate: -0.008480 deg/s,
cmd heading: 327.254553 deg,
new cmd heading: 327.243546 deg.
2025-06-11T20:40:26.484Z,1749674426.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711477 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:26.558Z,1749674426.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047089
2025-06-11T20:40:26.812Z,1749674426.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.300500
2025-06-11T20:40:26.878Z,1749674426.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:26.880Z,1749674426.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:26.883Z,1749674426.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 622.742676 m,
bearing: 331.344992 deg,
approach rate: -0.575434 m/s,
LOS rate: -0.008538 deg/s,
cmd heading: 327.243543 deg,
new cmd heading: 327.233317 deg.
2025-06-11T20:40:26.884Z,1749674426.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711299 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:27.071Z,1749674427.071 [DAT](INFO): DAT read: 20:40:27.6523 LVL= 21152, 27633, 21202, 25811, AGC= 71, IDX= 384, 0.27,-2.967, 1.901, 3.044, 2.739, PHS= 0.665,-0.792, 0.302, RAW= 136.2, -2.7, CAL= 141.5, -12.3, ROT= 8.5, 12.3
2025-06-11T20:40:27.073Z,1749674427.073 [DAT](INFO): got valid direction response:
20:40:27.6523 LVL= 21152, 27633, 21202, 25811, AGC= 71, IDX= 384, 0.27,-2.967, 1.901, 3.044, 2.739, PHS= 0.665,-0.792, 0.302, RAW= 136.2, -2.7, CAL= 141.5, -12.3, ROT= 8.5, 12.3
2025-06-11T20:40:27.073Z,1749674427.073 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:40:27.074Z,1749674427.074 [DAT](INFO): Received a bad header
2025-06-11T20:40:27.089Z,1749674427.089 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:40:27.092Z,1749674427.092 [DAT](INFO): direction in FSK: [0.966314,0.144417,-0.213030]
2025-06-11T20:40:27.095Z,1749674427.095 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:27.095Z,1749674427.095 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:27.095Z,1749674427.095 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:27.313Z,1749674427.313 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:27.313Z,1749674427.313 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:27.313Z,1749674427.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:27.400Z,1749674427.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:27.403Z,1749674427.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 622.460815 m,
bearing: 331.341136 deg,
approach rate: -0.546558 m/s,
LOS rate: -0.007480 deg/s,
cmd heading: 327.233325 deg,
new cmd heading: 327.221752 deg.
2025-06-11T20:40:27.403Z,1749674427.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711097 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:27.565Z,1749674427.565 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:27.565Z,1749674427.565 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:27.565Z,1749674427.565 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:27.719Z,1749674427.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:27.727Z,1749674427.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 622.263000 m,
bearing: 331.338415 deg,
approach rate: -0.611387 m/s,
LOS rate: -0.008412 deg/s,
cmd heading: 327.221741 deg,
new cmd heading: 327.213576 deg.
2025-06-11T20:40:27.732Z,1749674427.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710954 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:27.818Z,1749674427.818 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:27.818Z,1749674427.818 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:27.818Z,1749674427.818 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:28.069Z,1749674428.069 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:28.069Z,1749674428.069 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:28.069Z,1749674428.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:28.115Z,1749674428.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:28.143Z,1749674428.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 622.023071 m,
bearing: 331.335110 deg,
approach rate: -0.605744 m/s,
LOS rate: -0.008347 deg/s,
cmd heading: 327.213572 deg,
new cmd heading: 327.203653 deg.
2025-06-11T20:40:28.144Z,1749674428.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710781 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:28.321Z,1749674428.321 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:28.321Z,1749674428.321 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:28.321Z,1749674428.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:28.558Z,1749674428.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:28.565Z,1749674428.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 621.767395 m,
bearing: 331.330943 deg,
approach rate: -0.577270 m/s,
LOS rate: -0.009412 deg/s,
cmd heading: 327.203655 deg,
new cmd heading: 327.191149 deg.
2025-06-11T20:40:28.567Z,1749674428.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710563 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:28.573Z,1749674428.573 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:28.574Z,1749674428.574 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:28.574Z,1749674428.574 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:28.825Z,1749674428.825 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:28.826Z,1749674428.826 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:28.826Z,1749674428.826 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:28.914Z,1749674428.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:28.920Z,1749674428.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:28.929Z,1749674428.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 621.565063 m,
bearing: 331.327652 deg,
approach rate: -0.565772 m/s,
LOS rate: -0.009208 deg/s,
cmd heading: 327.191142 deg,
new cmd heading: 327.181263 deg.
2025-06-11T20:40:28.930Z,1749674428.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710390 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:29.077Z,1749674429.077 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:29.077Z,1749674429.077 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:29.077Z,1749674429.077 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:29.329Z,1749674429.329 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:29.329Z,1749674429.329 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:29.329Z,1749674429.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:29.363Z,1749674429.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:29.366Z,1749674429.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 621.298035 m,
bearing: 331.323018 deg,
approach rate: -0.596532 m/s,
LOS rate: -0.010356 deg/s,
cmd heading: 327.181252 deg,
new cmd heading: 327.167344 deg.
2025-06-11T20:40:29.367Z,1749674429.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710147 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:29.581Z,1749674429.581 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:29.581Z,1749674429.581 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:29.581Z,1749674429.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:29.732Z,1749674429.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:29.735Z,1749674429.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 621.082153 m,
bearing: 331.319279 deg,
approach rate: -0.586134 m/s,
LOS rate: -0.010155 deg/s,
cmd heading: 327.167345 deg,
new cmd heading: 327.156125 deg.
2025-06-11T20:40:29.735Z,1749674429.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709951 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:29.834Z,1749674429.834 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:29.834Z,1749674429.834 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:29.834Z,1749674429.834 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:30.085Z,1749674430.085 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:30.085Z,1749674430.085 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:30.085Z,1749674430.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:30.114Z,1749674430.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:30.116Z,1749674430.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 620.858459 m,
bearing: 331.315393 deg,
approach rate: -0.585879 m/s,
LOS rate: -0.010181 deg/s,
cmd heading: 327.156116 deg,
new cmd heading: 327.144455 deg.
2025-06-11T20:40:30.117Z,1749674430.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709748 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:30.337Z,1749674430.337 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:30.337Z,1749674430.337 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:30.337Z,1749674430.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:30.555Z,1749674430.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:30.574Z,1749674430.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 620.603516 m,
bearing: 331.310623 deg,
approach rate: -0.577661 m/s,
LOS rate: -0.010812 deg/s,
cmd heading: 327.144451 deg,
new cmd heading: 327.130135 deg.
2025-06-11T20:40:30.575Z,1749674430.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709498 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:30.589Z,1749674430.589 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:30.589Z,1749674430.589 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:30.589Z,1749674430.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:30.841Z,1749674430.841 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:30.841Z,1749674430.841 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:30.842Z,1749674430.842 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:30.933Z,1749674430.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:30.936Z,1749674430.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:30.940Z,1749674430.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 620.385803 m,
bearing: 331.306546 deg,
approach rate: -0.572230 m/s,
LOS rate: -0.010721 deg/s,
cmd heading: 327.130134 deg,
new cmd heading: 327.117897 deg.
2025-06-11T20:40:30.941Z,1749674430.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709284 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:31.092Z,1749674431.092 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:31.093Z,1749674431.093 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:31.093Z,1749674431.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:31.345Z,1749674431.345 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:31.345Z,1749674431.345 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:31.345Z,1749674431.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:31.387Z,1749674431.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:31.390Z,1749674431.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 620.121277 m,
bearing: 331.301024 deg,
approach rate: -0.585152 m/s,
LOS rate: -0.012219 deg/s,
cmd heading: 327.117895 deg,
new cmd heading: 327.101323 deg.
2025-06-11T20:40:31.391Z,1749674431.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708995 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:31.596Z,1749674431.596 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:31.597Z,1749674431.597 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:31.597Z,1749674431.597 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:31.735Z,1749674431.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:31.738Z,1749674431.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 619.919739 m,
bearing: 331.296806 deg,
approach rate: -0.579147 m/s,
LOS rate: -0.012126 deg/s,
cmd heading: 327.101311 deg,
new cmd heading: 327.088651 deg.
2025-06-11T20:40:31.739Z,1749674431.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708774 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:31.849Z,1749674431.849 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:31.849Z,1749674431.849 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:31.849Z,1749674431.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:32.100Z,1749674432.100 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:32.101Z,1749674432.101 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:32.101Z,1749674432.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:32.134Z,1749674432.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:32.149Z,1749674432.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 619.688904 m,
bearing: 331.291957 deg,
approach rate: -0.579174 m/s,
LOS rate: -0.012169 deg/s,
cmd heading: 327.088662 deg,
new cmd heading: 327.074111 deg.
2025-06-11T20:40:32.150Z,1749674432.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708520 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:32.353Z,1749674432.353 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:32.353Z,1749674432.353 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:32.353Z,1749674432.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:32.605Z,1749674432.605 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:32.605Z,1749674432.605 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:32.605Z,1749674432.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:32.687Z,1749674432.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:32.698Z,1749674432.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 619.379639 m,
bearing: 331.285141 deg,
approach rate: -0.559439 m/s,
LOS rate: -0.012336 deg/s,
cmd heading: 327.074100 deg,
new cmd heading: 327.053641 deg.
2025-06-11T20:40:32.699Z,1749674432.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708163 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:32.856Z,1749674432.856 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:32.857Z,1749674432.857 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:32.857Z,1749674432.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:33.108Z,1749674433.108 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:33.109Z,1749674433.109 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:33.109Z,1749674433.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:33.182Z,1749674433.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:33.192Z,1749674433.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:33.195Z,1749674433.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 619.088562 m,
bearing: 331.278698 deg,
approach rate: -0.585916 m/s,
LOS rate: -0.012975 deg/s,
cmd heading: 327.053636 deg,
new cmd heading: 327.034299 deg.
2025-06-11T20:40:33.200Z,1749674433.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707825 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:33.361Z,1749674433.361 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:33.361Z,1749674433.361 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:33.361Z,1749674433.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:33.613Z,1749674433.613 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:40:33.613Z,1749674433.613 [DAT](INFO): response not received
2025-06-11T20:40:33.614Z,1749674433.614 [DAT](INFO): DAT read: user:389>
2025-06-11T20:40:33.614Z,1749674433.614 [DAT](INFO): DAT read: Tx time:20:40:35.3493
2025-06-11T20:40:33.615Z,1749674433.615 [DAT](INFO): Ping request sent.
2025-06-11T20:40:33.615Z,1749674433.615 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:40:33.615Z,1749674433.615 [DAT](INFO): publishing transmit ping time
2025-06-11T20:40:33.616Z,1749674433.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770
2025-06-11T20:40:33.638Z,1749674433.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:33.641Z,1749674433.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 618.831604 m,
bearing: 331.272840 deg,
approach rate: -0.565313 m/s,
LOS rate: -0.012894 deg/s,
cmd heading: 327.034293 deg,
new cmd heading: 327.016711 deg.
2025-06-11T20:40:33.642Z,1749674433.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707518 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:33.865Z,1749674433.865 [DAT](INFO): DAT read: TxSync time:20:40:35.3485
2025-06-11T20:40:33.867Z,1749674433.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251681
2025-06-11T20:40:34.006Z,1749674434.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:34.009Z,1749674434.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 618.619385 m,
bearing: 331.268015 deg,
approach rate: -0.577290 m/s,
LOS rate: -0.013130 deg/s,
cmd heading: 327.016699 deg,
new cmd heading: 327.002219 deg.
2025-06-11T20:40:34.010Z,1749674434.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707265 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:34.117Z,1749674434.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501951
2025-06-11T20:40:34.369Z,1749674434.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753921
2025-06-11T20:40:34.465Z,1749674434.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:34.484Z,1749674434.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 618.353516 m,
bearing: 331.261971 deg,
approach rate: -0.578869 m/s,
LOS rate: -0.013165 deg/s,
cmd heading: 327.002219 deg,
new cmd heading: 326.984078 deg.
2025-06-11T20:40:34.485Z,1749674434.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706949 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:34.621Z,1749674434.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005891
2025-06-11T20:40:34.814Z,1749674434.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:34.817Z,1749674434.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 618.151489 m,
bearing: 331.257423 deg,
approach rate: -0.579143 m/s,
LOS rate: -0.013040 deg/s,
cmd heading: 326.984078 deg,
new cmd heading: 326.970431 deg.
2025-06-11T20:40:34.818Z,1749674434.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706710 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:34.874Z,1749674434.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258751
2025-06-11T20:40:35.125Z,1749674435.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509937
2025-06-11T20:40:35.270Z,1749674435.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:35.289Z,1749674435.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:35.296Z,1749674435.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 617.885864 m,
bearing: 331.251487 deg,
approach rate: -0.558882 m/s,
LOS rate: -0.012495 deg/s,
cmd heading: 326.970417 deg,
new cmd heading: 326.952602 deg.
2025-06-11T20:40:35.297Z,1749674435.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706399 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:35.379Z,1749674435.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763948
2025-06-11T20:40:35.629Z,1749674435.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014240
2025-06-11T20:40:35.707Z,1749674435.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:35.714Z,1749674435.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 617.636047 m,
bearing: 331.246109 deg,
approach rate: -0.597547 m/s,
LOS rate: -0.012871 deg/s,
cmd heading: 326.952604 deg,
new cmd heading: 326.936461 deg.
2025-06-11T20:40:35.715Z,1749674435.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706118 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:35.881Z,1749674435.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265921
2025-06-11T20:40:36.068Z,1749674436.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:36.071Z,1749674436.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 617.420166 m,
bearing: 331.241461 deg,
approach rate: -0.598844 m/s,
LOS rate: -0.012896 deg/s,
cmd heading: 326.936458 deg,
new cmd heading: 326.922510 deg.
2025-06-11T20:40:36.071Z,1749674436.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705874 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:36.134Z,1749674436.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518828
2025-06-11T20:40:36.387Z,1749674436.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771954
2025-06-11T20:40:36.514Z,1749674436.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:36.516Z,1749674436.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 617.159363 m,
bearing: 331.236553 deg,
approach rate: -0.584997 m/s,
LOS rate: -0.011013 deg/s,
cmd heading: 326.922524 deg,
new cmd heading: 326.907794 deg.
2025-06-11T20:40:36.517Z,1749674436.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705617 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:36.637Z,1749674436.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022038
2025-06-11T20:40:36.872Z,1749674436.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:36.875Z,1749674436.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 616.959045 m,
bearing: 331.232796 deg,
approach rate: -0.565218 m/s,
LOS rate: -0.010604 deg/s,
cmd heading: 326.907798 deg,
new cmd heading: 326.896524 deg.
2025-06-11T20:40:36.880Z,1749674436.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705420 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:36.889Z,1749674436.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273986
2025-06-11T20:40:37.142Z,1749674437.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526617
2025-06-11T20:40:37.318Z,1749674437.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:37.325Z,1749674437.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:37.336Z,1749674437.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 616.696838 m,
bearing: 331.227879 deg,
approach rate: -0.573396 m/s,
LOS rate: -0.010759 deg/s,
cmd heading: 326.896515 deg,
new cmd heading: 326.881755 deg.
2025-06-11T20:40:37.337Z,1749674437.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705163 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:37.413Z,1749674437.413 [DAT](INFO): DAT read: 20:40:38.5938 LVL= 14960, 13297, 14226, 16947, AGC= 74, IDX= 455, 0.00,-2.932, 1.935,-3.046, 2.657, PHS= 0.782,-0.675, 0.578, RAW= 142.6, -10.0, CAL= 149.6, -19.4, ROT= 0.4, 19.4
2025-06-11T20:40:37.417Z,1749674437.417 [DAT](INFO): got valid direction response:
20:40:38.5938 LVL= 14960, 13297, 14226, 16947, AGC= 74, IDX= 455, 0.00,-2.932, 1.935,-3.046, 2.657, PHS= 0.782,-0.675, 0.578, RAW= 142.6, -10.0, CAL= 149.6, -19.4, ROT= 0.4, 19.4
2025-06-11T20:40:37.418Z,1749674437.418 [DAT](INFO): DAT read: Rx Time:20:40:38.5938
2025-06-11T20:40:37.418Z,1749674437.418 [DAT](INFO): Rx dataTimestamp_ set to:1749674437.418009
2025-06-11T20:40:37.419Z,1749674437.419 [DAT](INFO): DAT read: $Low SNR acquisition
2025-06-11T20:40:37.419Z,1749674437.419 [DAT](INFO): Received low SNR in chirp
2025-06-11T20:40:37.432Z,1749674437.432 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:40:37.433Z,1749674437.433 [DAT](INFO): direction in FSK: [0.943200,0.006585,-0.332161]
2025-06-11T20:40:37.437Z,1749674437.437 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:37.437Z,1749674437.437 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:37.437Z,1749674437.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:37.645Z,1749674437.645 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:37.645Z,1749674437.645 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:37.645Z,1749674437.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:37.740Z,1749674437.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:37.743Z,1749674437.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 616.447388 m,
bearing: 331.222966 deg,
approach rate: -0.607526 m/s,
LOS rate: -0.011969 deg/s,
cmd heading: 326.881761 deg,
new cmd heading: 326.867017 deg.
2025-06-11T20:40:37.748Z,1749674437.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704906 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:37.897Z,1749674437.897 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:37.897Z,1749674437.897 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:37.897Z,1749674437.897 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:38.149Z,1749674438.149 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:38.149Z,1749674438.149 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:38.149Z,1749674438.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:38.199Z,1749674438.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:38.209Z,1749674438.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 616.181030 m,
bearing: 331.217750 deg,
approach rate: -0.575558 m/s,
LOS rate: -0.011276 deg/s,
cmd heading: 326.867008 deg,
new cmd heading: 326.851353 deg.
2025-06-11T20:40:38.210Z,1749674438.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704632 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:38.402Z,1749674438.402 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:38.403Z,1749674438.403 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:38.403Z,1749674438.403 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:38.579Z,1749674438.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:38.582Z,1749674438.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 615.937195 m,
bearing: 331.213442 deg,
approach rate: -0.641358 m/s,
LOS rate: -0.011334 deg/s,
cmd heading: 326.851353 deg,
new cmd heading: 326.838426 deg.
2025-06-11T20:40:38.583Z,1749674438.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704407 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:38.653Z,1749674438.653 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:38.653Z,1749674438.653 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:38.653Z,1749674438.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:38.905Z,1749674438.905 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:38.905Z,1749674438.905 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:38.905Z,1749674438.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:38.980Z,1749674438.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:38.983Z,1749674438.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 615.699341 m,
bearing: 331.209254 deg,
approach rate: -0.605479 m/s,
LOS rate: -0.010666 deg/s,
cmd heading: 326.838431 deg,
new cmd heading: 326.825861 deg.
2025-06-11T20:40:38.983Z,1749674438.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704187 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:39.156Z,1749674439.156 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:39.157Z,1749674439.157 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:39.157Z,1749674439.157 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:39.412Z,1749674439.412 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:39.413Z,1749674439.413 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:39.413Z,1749674439.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:39.505Z,1749674439.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:39.507Z,1749674439.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:39.510Z,1749674439.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 615.378662 m,
bearing: 331.203623 deg,
approach rate: -0.599009 m/s,
LOS rate: -0.010524 deg/s,
cmd heading: 326.825863 deg,
new cmd heading: 326.808961 deg.
2025-06-11T20:40:39.511Z,1749674439.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703892 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:39.661Z,1749674439.661 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:39.661Z,1749674439.661 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:39.661Z,1749674439.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:39.825Z,1749674439.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:39.836Z,1749674439.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 615.193359 m,
bearing: 331.200376 deg,
approach rate: -0.582350 m/s,
LOS rate: -0.010208 deg/s,
cmd heading: 326.808952 deg,
new cmd heading: 326.799207 deg.
2025-06-11T20:40:39.837Z,1749674439.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703722 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:39.913Z,1749674439.913 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:39.913Z,1749674439.913 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:39.914Z,1749674439.914 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:40.165Z,1749674440.165 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:40.165Z,1749674440.165 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:40.165Z,1749674440.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:40.254Z,1749674440.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:40.261Z,1749674440.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 614.929138 m,
bearing: 331.195756 deg,
approach rate: -0.615573 m/s,
LOS rate: -0.010769 deg/s,
cmd heading: 326.799198 deg,
new cmd heading: 326.785332 deg.
2025-06-11T20:40:40.262Z,1749674440.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703480 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:40.419Z,1749674440.419 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:40.420Z,1749674440.420 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:40.420Z,1749674440.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:40.666Z,1749674440.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:40.669Z,1749674440.669 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:40.669Z,1749674440.669 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:40.669Z,1749674440.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:40.670Z,1749674440.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 614.681885 m,
bearing: 331.192077 deg,
approach rate: -0.600671 m/s,
LOS rate: -0.008940 deg/s,
cmd heading: 326.785319 deg,
new cmd heading: 326.774279 deg.
2025-06-11T20:40:40.671Z,1749674440.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703287 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:40.921Z,1749674440.921 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:40.921Z,1749674440.921 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:40.921Z,1749674440.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:41.024Z,1749674441.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:41.026Z,1749674441.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 614.471191 m,
bearing: 331.188946 deg,
approach rate: -0.589336 m/s,
LOS rate: -0.008761 deg/s,
cmd heading: 326.774282 deg,
new cmd heading: 326.764885 deg.
2025-06-11T20:40:41.027Z,1749674441.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703123 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:41.173Z,1749674441.173 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:41.173Z,1749674441.173 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:41.173Z,1749674441.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:41.427Z,1749674441.427 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:41.427Z,1749674441.427 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:41.428Z,1749674441.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:41.483Z,1749674441.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:41.491Z,1749674441.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 614.223022 m,
bearing: 331.185265 deg,
approach rate: -0.539511 m/s,
LOS rate: -0.008007 deg/s,
cmd heading: 326.764883 deg,
new cmd heading: 326.753834 deg.
2025-06-11T20:40:41.496Z,1749674441.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702930 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:41.677Z,1749674441.677 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:41.677Z,1749674441.677 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:41.677Z,1749674441.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:41.861Z,1749674441.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:41.863Z,1749674441.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:41.865Z,1749674441.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 613.978027 m,
bearing: 331.181656 deg,
approach rate: -0.646267 m/s,
LOS rate: -0.009523 deg/s,
cmd heading: 326.753846 deg,
new cmd heading: 326.743015 deg.
2025-06-11T20:40:41.866Z,1749674441.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702742 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:41.929Z,1749674441.929 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:41.930Z,1749674441.930 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:41.930Z,1749674441.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:42.180Z,1749674442.180 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:42.181Z,1749674442.181 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:42.181Z,1749674442.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:42.243Z,1749674442.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:42.261Z,1749674442.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 613.755798 m,
bearing: 331.178375 deg,
approach rate: -0.584673 m/s,
LOS rate: -0.008635 deg/s,
cmd heading: 326.743027 deg,
new cmd heading: 326.733180 deg.
2025-06-11T20:40:42.262Z,1749674442.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702570 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:42.438Z,1749674442.438 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:42.438Z,1749674442.438 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:42.438Z,1749674442.438 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:42.659Z,1749674442.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:42.666Z,1749674442.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 613.517761 m,
bearing: 331.175075 deg,
approach rate: -0.571492 m/s,
LOS rate: -0.007927 deg/s,
cmd heading: 326.733191 deg,
new cmd heading: 326.723287 deg.
2025-06-11T20:40:42.667Z,1749674442.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702397 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:42.685Z,1749674442.685 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:42.685Z,1749674442.685 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:42.685Z,1749674442.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:42.937Z,1749674442.937 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:42.937Z,1749674442.937 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:42.937Z,1749674442.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:43.033Z,1749674443.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:43.036Z,1749674443.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 613.292114 m,
bearing: 331.171934 deg,
approach rate: -0.603021 m/s,
LOS rate: -0.008396 deg/s,
cmd heading: 326.723274 deg,
new cmd heading: 326.713849 deg.
2025-06-11T20:40:43.037Z,1749674443.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702232 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:43.189Z,1749674443.189 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:43.189Z,1749674443.189 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:43.189Z,1749674443.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:43.443Z,1749674443.443 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:43.443Z,1749674443.443 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:43.443Z,1749674443.443 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:43.488Z,1749674443.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:43.505Z,1749674443.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 613.053894 m,
bearing: 331.168601 deg,
approach rate: -0.530653 m/s,
LOS rate: -0.007428 deg/s,
cmd heading: 326.713848 deg,
new cmd heading: 326.703845 deg.
2025-06-11T20:40:43.507Z,1749674443.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702058 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:43.629Z,1749674443.629 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:40:43.692Z,1749674443.692 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:43.693Z,1749674443.693 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:43.693Z,1749674443.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:43.862Z,1749674443.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:43.865Z,1749674443.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 612.807983 m,
bearing: 331.164859 deg,
approach rate: -0.647345 m/s,
LOS rate: -0.009854 deg/s,
cmd heading: 326.703849 deg,
new cmd heading: 326.692619 deg.
2025-06-11T20:40:43.866Z,1749674443.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701862 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:43.946Z,1749674443.946 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:43.946Z,1749674443.946 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:43.946Z,1749674443.946 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:44.201Z,1749674444.201 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:44.201Z,1749674444.201 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:44.201Z,1749674444.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:44.260Z,1749674444.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:44.262Z,1749674444.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:44.265Z,1749674444.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 612.574707 m,
bearing: 331.161307 deg,
approach rate: -0.583490 m/s,
LOS rate: -0.008890 deg/s,
cmd heading: 326.692620 deg,
new cmd heading: 326.681958 deg.
2025-06-11T20:40:44.266Z,1749674444.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701676 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:44.456Z,1749674444.456 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:40:44.457Z,1749674444.457 [DAT](INFO): response not received
2025-06-11T20:40:44.458Z,1749674444.458 [DAT](INFO): DAT read: user:391>
2025-06-11T20:40:44.461Z,1749674444.461 [DAT](INFO): DAT read: Tx time:20:40:46.2994
2025-06-11T20:40:44.462Z,1749674444.462 [DAT](INFO): Ping request sent.
2025-06-11T20:40:44.463Z,1749674444.463 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:40:44.463Z,1749674444.463 [DAT](INFO): publishing transmit ping time
2025-06-11T20:40:44.466Z,1749674444.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003510
2025-06-11T20:40:44.632Z,1749674444.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:40:44.686Z,1749674444.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:44.693Z,1749674444.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 612.337891 m,
bearing: 331.157481 deg,
approach rate: -0.558345 m/s,
LOS rate: -0.009023 deg/s,
cmd heading: 326.681965 deg,
new cmd heading: 326.670484 deg.
2025-06-11T20:40:44.694Z,1749674444.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701476 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:44.705Z,1749674444.705 [DAT](INFO): DAT read: TxSync time:20:40:46.2986
2025-06-11T20:40:44.706Z,1749674444.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243552
2025-06-11T20:40:44.958Z,1749674444.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494979
2025-06-11T20:40:45.058Z,1749674445.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:45.061Z,1749674445.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 612.112854 m,
bearing: 331.153864 deg,
approach rate: -0.605473 m/s,
LOS rate: -0.009736 deg/s,
cmd heading: 326.670490 deg,
new cmd heading: 326.659635 deg.
2025-06-11T20:40:45.062Z,1749674445.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701286 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:45.209Z,1749674445.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746485
2025-06-11T20:40:45.461Z,1749674445.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998839
2025-06-11T20:40:45.463Z,1749674445.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:45.465Z,1749674445.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 611.881531 m,
bearing: 331.150170 deg,
approach rate: -0.571444 m/s,
LOS rate: -0.009130 deg/s,
cmd heading: 326.659644 deg,
new cmd heading: 326.648557 deg.
2025-06-11T20:40:45.467Z,1749674445.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701093 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:45.713Z,1749674445.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250472
2025-06-11T20:40:45.885Z,1749674445.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:45.888Z,1749674445.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 611.627747 m,
bearing: 331.145823 deg,
approach rate: -0.600209 m/s,
LOS rate: -0.010284 deg/s,
cmd heading: 326.648551 deg,
new cmd heading: 326.635506 deg.
2025-06-11T20:40:45.889Z,1749674445.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700865 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:45.965Z,1749674445.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502622
2025-06-11T20:40:46.217Z,1749674446.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754489
2025-06-11T20:40:46.269Z,1749674446.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:46.271Z,1749674446.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:46.274Z,1749674446.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 611.399902 m,
bearing: 331.141888 deg,
approach rate: -0.590904 m/s,
LOS rate: -0.010209 deg/s,
cmd heading: 326.635519 deg,
new cmd heading: 326.623710 deg.
2025-06-11T20:40:46.275Z,1749674446.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700659 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:46.471Z,1749674446.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008409
2025-06-11T20:40:46.709Z,1749674446.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:46.711Z,1749674446.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 611.136169 m,
bearing: 331.137243 deg,
approach rate: -0.603422 m/s,
LOS rate: -0.010631 deg/s,
cmd heading: 326.623717 deg,
new cmd heading: 326.609777 deg.
2025-06-11T20:40:46.713Z,1749674446.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700416 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:46.721Z,1749674446.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258535
2025-06-11T20:40:46.973Z,1749674446.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510502
2025-06-11T20:40:47.086Z,1749674447.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:47.089Z,1749674447.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 610.908752 m,
bearing: 331.133226 deg,
approach rate: -0.601698 m/s,
LOS rate: -0.010633 deg/s,
cmd heading: 326.609783 deg,
new cmd heading: 326.597727 deg.
2025-06-11T20:40:47.090Z,1749674447.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700206 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:47.227Z,1749674447.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764603
2025-06-11T20:40:47.477Z,1749674447.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014499
2025-06-11T20:40:47.655Z,1749674447.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:47.662Z,1749674447.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 610.571716 m,
bearing: 331.126735 deg,
approach rate: -0.592453 m/s,
LOS rate: -0.011417 deg/s,
cmd heading: 326.597735 deg,
new cmd heading: 326.578250 deg.
2025-06-11T20:40:47.663Z,1749674447.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699866 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:47.730Z,1749674447.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267507
2025-06-11T20:40:47.981Z,1749674447.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518428
2025-06-11T20:40:48.010Z,1749674448.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:48.017Z,1749674448.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 610.349976 m,
bearing: 331.122457 deg,
approach rate: -0.623880 m/s,
LOS rate: -0.012039 deg/s,
cmd heading: 326.578255 deg,
new cmd heading: 326.565419 deg.
2025-06-11T20:40:48.018Z,1749674448.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699642 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:48.233Z,1749674448.233 [DAT](INFO): DAT read: Rx Time:20:40:49.5352
2025-06-11T20:40:48.234Z,1749674448.234 [DAT](INFO): Rx dataTimestamp_ set to:1749674448.233816
2025-06-11T20:40:48.235Z,1749674448.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772745
2025-06-11T20:40:48.402Z,1749674448.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:48.404Z,1749674448.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:48.407Z,1749674448.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 610.105347 m,
bearing: 331.117735 deg,
approach rate: -0.620645 m/s,
LOS rate: -0.011985 deg/s,
cmd heading: 326.565414 deg,
new cmd heading: 326.551243 deg.
2025-06-11T20:40:48.408Z,1749674448.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699394 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:48.486Z,1749674448.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023302
2025-06-11T20:40:48.747Z,1749674448.747 [DAT](INFO): DAT read: 20:40:49.5352 LVL= 22480, 17041, 19554, 25027, AGC= 70, IDX= 353, 0.05,-2.977, 2.020,-3.032, 2.774, PHS= 0.620,-0.707, 0.474, RAW= 144.3, -6.2, CAL= 150.0, -15.2, ROT= 360.0, 15.2
2025-06-11T20:40:48.749Z,1749674448.749 [DAT](INFO): got valid direction response:
20:40:49.5352 LVL= 22480, 17041, 19554, 25027, AGC= 70, IDX= 353, 0.05,-2.977, 2.020,-3.032, 2.774, PHS= 0.620,-0.707, 0.474, RAW= 144.3, -6.2, CAL= 150.0, -15.2, ROT= 360.0, 15.2
2025-06-11T20:40:48.749Z,1749674448.749 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:40:48.750Z,1749674448.750 [DAT](INFO): Received a bad header
2025-06-11T20:40:48.764Z,1749674448.764 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:40:48.765Z,1749674448.765 [DAT](INFO): direction in FSK: [0.965016,0.000000,-0.262189]
2025-06-11T20:40:48.768Z,1749674448.768 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:48.768Z,1749674448.768 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:48.768Z,1749674448.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:48.988Z,1749674448.988 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:48.989Z,1749674448.989 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:48.989Z,1749674448.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:48.993Z,1749674448.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:48.995Z,1749674448.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 609.759216 m,
bearing: 331.110456 deg,
approach rate: -0.588603 m/s,
LOS rate: -0.012387 deg/s,
cmd heading: 326.551235 deg,
new cmd heading: 326.529383 deg.
2025-06-11T20:40:49.004Z,1749674449.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699013 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:49.241Z,1749674449.241 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:49.241Z,1749674449.241 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:49.241Z,1749674449.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:49.320Z,1749674449.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:49.323Z,1749674449.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 609.550598 m,
bearing: 331.106069 deg,
approach rate: -0.645351 m/s,
LOS rate: -0.013576 deg/s,
cmd heading: 326.529378 deg,
new cmd heading: 326.516213 deg.
2025-06-11T20:40:49.328Z,1749674449.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698783 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:49.493Z,1749674449.493 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:49.493Z,1749674449.493 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:49.493Z,1749674449.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:49.710Z,1749674449.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:49.729Z,1749674449.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 609.299988 m,
bearing: 331.100582 deg,
approach rate: -0.635746 m/s,
LOS rate: -0.013923 deg/s,
cmd heading: 326.516210 deg,
new cmd heading: 326.499744 deg.
2025-06-11T20:40:49.730Z,1749674449.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698495 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:49.745Z,1749674449.745 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:49.745Z,1749674449.745 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:49.745Z,1749674449.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:49.997Z,1749674449.997 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:49.998Z,1749674449.998 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:49.998Z,1749674449.998 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:50.091Z,1749674450.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:50.094Z,1749674450.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 609.061890 m,
bearing: 331.095365 deg,
approach rate: -0.625126 m/s,
LOS rate: -0.013702 deg/s,
cmd heading: 326.499735 deg,
new cmd heading: 326.484079 deg.
2025-06-11T20:40:50.095Z,1749674450.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698222 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:50.249Z,1749674450.249 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:50.249Z,1749674450.249 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:50.249Z,1749674450.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:50.493Z,1749674450.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:50.495Z,1749674450.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:50.498Z,1749674450.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 608.809937 m,
bearing: 331.089843 deg,
approach rate: -0.623426 m/s,
LOS rate: -0.013670 deg/s,
cmd heading: 326.484081 deg,
new cmd heading: 326.467506 deg.
2025-06-11T20:40:50.499Z,1749674450.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697933 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:50.501Z,1749674450.501 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:50.501Z,1749674450.501 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:50.501Z,1749674450.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:50.754Z,1749674450.754 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:50.754Z,1749674450.754 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:50.755Z,1749674450.755 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:50.929Z,1749674450.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:50.933Z,1749674450.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 608.543091 m,
bearing: 331.083454 deg,
approach rate: -0.616366 m/s,
LOS rate: -0.014764 deg/s,
cmd heading: 326.467497 deg,
new cmd heading: 326.448322 deg.
2025-06-11T20:40:50.934Z,1749674450.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697598 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:51.006Z,1749674451.006 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:51.006Z,1749674451.006 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:51.006Z,1749674451.006 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:51.256Z,1749674451.256 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:51.257Z,1749674451.257 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:51.257Z,1749674451.257 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:51.378Z,1749674451.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:51.396Z,1749674451.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 608.262207 m,
bearing: 331.076714 deg,
approach rate: -0.624733 m/s,
LOS rate: -0.014998 deg/s,
cmd heading: 326.448318 deg,
new cmd heading: 326.428087 deg.
2025-06-11T20:40:51.397Z,1749674451.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697245 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:51.509Z,1749674451.509 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:51.509Z,1749674451.509 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:51.509Z,1749674451.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:51.751Z,1749674451.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:51.754Z,1749674451.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 608.032776 m,
bearing: 331.071456 deg,
approach rate: -0.613841 m/s,
LOS rate: -0.014072 deg/s,
cmd heading: 326.428100 deg,
new cmd heading: 326.412322 deg.
2025-06-11T20:40:51.755Z,1749674451.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696970 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:51.761Z,1749674451.761 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:51.761Z,1749674451.761 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:51.761Z,1749674451.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:52.013Z,1749674452.013 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:52.013Z,1749674452.013 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:52.013Z,1749674452.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:52.128Z,1749674452.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:52.131Z,1749674452.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 607.802307 m,
bearing: 331.066172 deg,
approach rate: -0.612442 m/s,
LOS rate: -0.014048 deg/s,
cmd heading: 326.412309 deg,
new cmd heading: 326.396450 deg.
2025-06-11T20:40:52.132Z,1749674452.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696693 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:52.265Z,1749674452.265 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:52.265Z,1749674452.265 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:52.266Z,1749674452.266 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:52.517Z,1749674452.517 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:52.517Z,1749674452.517 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:52.517Z,1749674452.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:52.567Z,1749674452.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:52.587Z,1749674452.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:52.608Z,1749674452.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 607.538879 m,
bearing: 331.060125 deg,
approach rate: -0.575018 m/s,
LOS rate: -0.013204 deg/s,
cmd heading: 326.396463 deg,
new cmd heading: 326.378315 deg.
2025-06-11T20:40:52.616Z,1749674452.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696376 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:52.768Z,1749674452.768 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:52.769Z,1749674452.769 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:52.769Z,1749674452.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:52.959Z,1749674452.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:52.962Z,1749674452.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 607.296936 m,
bearing: 331.054784 deg,
approach rate: -0.647520 m/s,
LOS rate: -0.014300 deg/s,
cmd heading: 326.378322 deg,
new cmd heading: 326.362292 deg.
2025-06-11T20:40:52.963Z,1749674452.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696096 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:53.021Z,1749674453.021 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:53.022Z,1749674453.022 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:53.022Z,1749674453.022 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:53.273Z,1749674453.273 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:53.273Z,1749674453.273 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:53.273Z,1749674453.273 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:53.353Z,1749674453.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:53.355Z,1749674453.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 607.064697 m,
bearing: 331.049643 deg,
approach rate: -0.590684 m/s,
LOS rate: -0.013083 deg/s,
cmd heading: 326.362285 deg,
new cmd heading: 326.346854 deg.
2025-06-11T20:40:53.360Z,1749674453.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695827 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:53.525Z,1749674453.525 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:53.525Z,1749674453.525 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:53.525Z,1749674453.525 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:53.755Z,1749674453.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:53.758Z,1749674453.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 606.823853 m,
bearing: 331.044311 deg,
approach rate: -0.598226 m/s,
LOS rate: -0.013248 deg/s,
cmd heading: 326.346848 deg,
new cmd heading: 326.330848 deg.
2025-06-11T20:40:53.759Z,1749674453.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695548 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:53.778Z,1749674453.778 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:53.778Z,1749674453.778 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:53.778Z,1749674453.778 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:54.029Z,1749674454.029 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:54.029Z,1749674454.029 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:54.029Z,1749674454.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:54.135Z,1749674454.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:54.138Z,1749674454.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 606.602234 m,
bearing: 331.039400 deg,
approach rate: -0.582843 m/s,
LOS rate: -0.012921 deg/s,
cmd heading: 326.330838 deg,
new cmd heading: 326.316099 deg.
2025-06-11T20:40:54.139Z,1749674454.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695291 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:54.281Z,1749674454.281 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:40:54.281Z,1749674454.281 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:40:54.281Z,1749674454.281 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:40:54.533Z,1749674454.533 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:54.533Z,1749674454.533 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:54.534Z,1749674454.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:54.579Z,1749674454.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:54.582Z,1749674454.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:54.585Z,1749674454.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 606.344849 m,
bearing: 331.033690 deg,
approach rate: -0.576421 m/s,
LOS rate: -0.012793 deg/s,
cmd heading: 326.316113 deg,
new cmd heading: 326.298975 deg.
2025-06-11T20:40:54.586Z,1749674454.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694992 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:54.784Z,1749674454.784 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:54.785Z,1749674454.785 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:54.785Z,1749674454.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:54.974Z,1749674454.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:54.977Z,1749674454.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 606.116516 m,
bearing: 331.029011 deg,
approach rate: -0.582601 m/s,
LOS rate: -0.011942 deg/s,
cmd heading: 326.298982 deg,
new cmd heading: 326.284942 deg.
2025-06-11T20:40:54.978Z,1749674454.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694746 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:55.037Z,1749674455.037 [DAT](INFO): Reached modem response timeout
2025-06-11T20:40:55.038Z,1749674455.038 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:55.038Z,1749674455.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:55.290Z,1749674455.290 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:40:55.290Z,1749674455.290 [DAT](INFO): response not received
2025-06-11T20:40:55.290Z,1749674455.290 [DAT](INFO): DAT read: user:393>
2025-06-11T20:40:55.291Z,1749674455.291 [DAT](ERROR): No response from remote modem.
2025-06-11T20:40:55.291Z,1749674455.291 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:40:55.291Z,1749674455.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:40:55.384Z,1749674455.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:55.386Z,1749674455.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 605.887146 m,
bearing: 331.024289 deg,
approach rate: -0.565373 m/s,
LOS rate: -0.011644 deg/s,
cmd heading: 326.284940 deg,
new cmd heading: 326.270768 deg.
2025-06-11T20:40:55.387Z,1749674455.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694499 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:55.541Z,1749674455.541 [DAT](INFO): DAT read: Tx time:20:40:57.2495
2025-06-11T20:40:55.541Z,1749674455.541 [DAT](INFO): Ping request sent.
2025-06-11T20:40:55.541Z,1749674455.541 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:40:55.542Z,1749674455.542 [DAT](INFO): DAT read: TxSync time:20:40:57.2487
2025-06-11T20:40:55.543Z,1749674455.543 [DAT](INFO): publishing transmit ping time
2025-06-11T20:40:55.543Z,1749674455.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001644
2025-06-11T20:40:55.771Z,1749674455.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:55.790Z,1749674455.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 605.657288 m,
bearing: 331.020220 deg,
approach rate: -0.586962 m/s,
LOS rate: -0.010394 deg/s,
cmd heading: 326.270760 deg,
new cmd heading: 326.258549 deg.
2025-06-11T20:40:55.791Z,1749674455.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694286 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:55.793Z,1749674455.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251377
2025-06-11T20:40:56.045Z,1749674456.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503401
2025-06-11T20:40:56.174Z,1749674456.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:56.177Z,1749674456.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 605.425476 m,
bearing: 331.016114 deg,
approach rate: -0.575803 m/s,
LOS rate: -0.010203 deg/s,
cmd heading: 326.258548 deg,
new cmd heading: 326.246225 deg.
2025-06-11T20:40:56.178Z,1749674456.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694071 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:56.297Z,1749674456.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755889
2025-06-11T20:40:56.549Z,1749674456.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007338
2025-06-11T20:40:56.588Z,1749674456.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:56.590Z,1749674456.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:56.597Z,1749674456.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 605.188538 m,
bearing: 331.011962 deg,
approach rate: -0.569000 m/s,
LOS rate: -0.009976 deg/s,
cmd heading: 326.246226 deg,
new cmd heading: 326.233763 deg.
2025-06-11T20:40:56.599Z,1749674456.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693853 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:56.801Z,1749674456.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259229
2025-06-11T20:40:57.006Z,1749674457.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:57.025Z,1749674457.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 604.948730 m,
bearing: 331.008204 deg,
approach rate: -0.576383 m/s,
LOS rate: -0.009035 deg/s,
cmd heading: 326.233768 deg,
new cmd heading: 326.222490 deg.
2025-06-11T20:40:57.026Z,1749674457.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693656 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:57.053Z,1749674457.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511434
2025-06-11T20:40:57.305Z,1749674457.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763209
2025-06-11T20:40:57.378Z,1749674457.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:57.381Z,1749674457.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 604.736633 m,
bearing: 331.004893 deg,
approach rate: -0.570203 m/s,
LOS rate: -0.008904 deg/s,
cmd heading: 326.222484 deg,
new cmd heading: 326.212548 deg.
2025-06-11T20:40:57.382Z,1749674457.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693483 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:57.560Z,1749674457.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018577
2025-06-11T20:40:57.806Z,1749674457.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:57.809Z,1749674457.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267470
2025-06-11T20:40:57.811Z,1749674457.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 604.488831 m,
bearing: 331.001830 deg,
approach rate: -0.578608 m/s,
LOS rate: -0.007156 deg/s,
cmd heading: 326.212540 deg,
new cmd heading: 326.203345 deg.
2025-06-11T20:40:57.812Z,1749674457.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693322 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:58.061Z,1749674458.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519229
2025-06-11T20:40:58.176Z,1749674458.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:58.178Z,1749674458.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 604.275024 m,
bearing: 330.999183 deg,
approach rate: -0.579188 m/s,
LOS rate: -0.007173 deg/s,
cmd heading: 326.203332 deg,
new cmd heading: 326.195389 deg.
2025-06-11T20:40:58.179Z,1749674458.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693183 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:58.313Z,1749674458.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771280
2025-06-11T20:40:58.565Z,1749674458.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023389
2025-06-11T20:40:58.601Z,1749674458.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:40:58.603Z,1749674458.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:58.614Z,1749674458.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 604.039490 m,
bearing: 330.996301 deg,
approach rate: -0.550824 m/s,
LOS rate: -0.006743 deg/s,
cmd heading: 326.195382 deg,
new cmd heading: 326.186732 deg.
2025-06-11T20:40:58.615Z,1749674458.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693032 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:58.817Z,1749674458.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275188
2025-06-11T20:40:59.069Z,1749674459.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527383
2025-06-11T20:40:59.153Z,1749674459.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:59.155Z,1749674459.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 603.708008 m,
bearing: 330.992895 deg,
approach rate: -0.603384 m/s,
LOS rate: -0.006203 deg/s,
cmd heading: 326.186721 deg,
new cmd heading: 326.176499 deg.
2025-06-11T20:40:59.160Z,1749674459.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692854 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:59.321Z,1749674459.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779263
2025-06-11T20:40:59.521Z,1749674459.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:40:59.524Z,1749674459.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 603.477539 m,
bearing: 330.990591 deg,
approach rate: -0.625120 m/s,
LOS rate: -0.006251 deg/s,
cmd heading: 326.176503 deg,
new cmd heading: 326.169589 deg.
2025-06-11T20:40:59.525Z,1749674459.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692733 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:40:59.573Z,1749674459.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031463
2025-06-11T20:40:59.826Z,1749674459.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284590
2025-06-11T20:41:00.011Z,1749674460.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:00.013Z,1749674460.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 603.178894 m,
bearing: 330.987777 deg,
approach rate: -0.610368 m/s,
LOS rate: -0.005755 deg/s,
cmd heading: 326.169591 deg,
new cmd heading: 326.161143 deg.
2025-06-11T20:41:00.014Z,1749674460.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692586 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:00.077Z,1749674460.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535450
2025-06-11T20:41:00.329Z,1749674460.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787332
2025-06-11T20:41:00.371Z,1749674460.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:00.374Z,1749674460.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 602.958130 m,
bearing: 330.985742 deg,
approach rate: -0.612596 m/s,
LOS rate: -0.005648 deg/s,
cmd heading: 326.161149 deg,
new cmd heading: 326.155043 deg.
2025-06-11T20:41:00.375Z,1749674460.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692479 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:00.581Z,1749674460.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039478
2025-06-11T20:41:00.813Z,1749674460.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:00.815Z,1749674460.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:00.818Z,1749674460.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 602.683716 m,
bearing: 330.982697 deg,
approach rate: -0.617453 m/s,
LOS rate: -0.006853 deg/s,
cmd heading: 326.155029 deg,
new cmd heading: 326.145892 deg.
2025-06-11T20:41:00.819Z,1749674460.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692320 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:00.833Z,1749674460.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291384
2025-06-11T20:41:01.087Z,1749674461.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545850
2025-06-11T20:41:01.180Z,1749674461.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:01.183Z,1749674461.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 602.458313 m,
bearing: 330.980217 deg,
approach rate: -0.618866 m/s,
LOS rate: -0.006813 deg/s,
cmd heading: 326.145904 deg,
new cmd heading: 326.138460 deg.
2025-06-11T20:41:01.184Z,1749674461.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692190 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:01.341Z,1749674461.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799263
2025-06-11T20:41:01.561Z,1749674461.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:01.563Z,1749674461.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 602.222717 m,
bearing: 330.977644 deg,
approach rate: -0.618042 m/s,
LOS rate: -0.006753 deg/s,
cmd heading: 326.138473 deg,
new cmd heading: 326.130750 deg.
2025-06-11T20:41:01.565Z,1749674461.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692055 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:01.593Z,1749674461.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051460
2025-06-11T20:41:01.845Z,1749674461.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303249
2025-06-11T20:41:01.995Z,1749674461.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:01.998Z,1749674461.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 601.954712 m,
bearing: 330.973682 deg,
approach rate: -0.616647 m/s,
LOS rate: -0.009120 deg/s,
cmd heading: 326.130741 deg,
new cmd heading: 326.118850 deg.
2025-06-11T20:41:01.999Z,1749674461.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691848 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:02.098Z,1749674462.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556067
2025-06-11T20:41:02.349Z,1749674462.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807239
2025-06-11T20:41:02.370Z,1749674462.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:02.373Z,1749674462.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 601.723694 m,
bearing: 330.970268 deg,
approach rate: -0.616380 m/s,
LOS rate: -0.009112 deg/s,
cmd heading: 326.118857 deg,
new cmd heading: 326.108611 deg.
2025-06-11T20:41:02.374Z,1749674462.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691669 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:02.601Z,1749674462.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059784
2025-06-11T20:41:02.840Z,1749674462.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:02.842Z,1749674462.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:02.850Z,1749674462.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 601.442566 m,
bearing: 330.965068 deg,
approach rate: -0.595460 m/s,
LOS rate: -0.011019 deg/s,
cmd heading: 326.108611 deg,
new cmd heading: 326.093004 deg.
2025-06-11T20:41:02.851Z,1749674462.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691397 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:02.853Z,1749674462.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311432
2025-06-11T20:41:03.105Z,1749674463.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563313
2025-06-11T20:41:03.193Z,1749674463.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:03.195Z,1749674463.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 601.234741 m,
bearing: 330.961208 deg,
approach rate: -0.592825 m/s,
LOS rate: -0.011016 deg/s,
cmd heading: 326.093011 deg,
new cmd heading: 326.081426 deg.
2025-06-11T20:41:03.201Z,1749674463.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691195 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:03.357Z,1749674463.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815370
2025-06-11T20:41:03.609Z,1749674463.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067316
2025-06-11T20:41:03.655Z,1749674463.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:03.658Z,1749674463.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 600.944946 m,
bearing: 330.955802 deg,
approach rate: -0.626760 m/s,
LOS rate: -0.011696 deg/s,
cmd heading: 326.081427 deg,
new cmd heading: 326.065203 deg.
2025-06-11T20:41:03.659Z,1749674463.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690911 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:03.861Z,1749674463.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319359
2025-06-11T20:41:04.043Z,1749674464.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:04.058Z,1749674464.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 600.714478 m,
bearing: 330.950282 deg,
approach rate: -0.594608 m/s,
LOS rate: -0.014248 deg/s,
cmd heading: 326.065199 deg,
new cmd heading: 326.048632 deg.
2025-06-11T20:41:04.059Z,1749674464.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690622 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:04.114Z,1749674464.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572247
2025-06-11T20:41:04.365Z,1749674464.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823620
2025-06-11T20:41:04.457Z,1749674464.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:04.460Z,1749674464.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 600.490784 m,
bearing: 330.944873 deg,
approach rate: -0.539664 m/s,
LOS rate: -0.013054 deg/s,
cmd heading: 326.048642 deg,
new cmd heading: 326.032410 deg.
2025-06-11T20:41:04.461Z,1749674464.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690339 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:04.617Z,1749674464.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075468
2025-06-11T20:41:04.853Z,1749674464.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:04.855Z,1749674464.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:04.858Z,1749674464.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 600.238098 m,
bearing: 330.938047 deg,
approach rate: -0.634777 m/s,
LOS rate: -0.017154 deg/s,
cmd heading: 326.032414 deg,
new cmd heading: 326.011928 deg.
2025-06-11T20:41:04.859Z,1749674464.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689981 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:04.869Z,1749674464.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327272
2025-06-11T20:41:05.121Z,1749674465.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579231
2025-06-11T20:41:05.196Z,1749674465.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:05.199Z,1749674465.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 600.039917 m,
bearing: 330.932679 deg,
approach rate: -0.581091 m/s,
LOS rate: -0.015745 deg/s,
cmd heading: 326.011923 deg,
new cmd heading: 325.995813 deg.
2025-06-11T20:41:05.200Z,1749674465.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689700 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:05.373Z,1749674465.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831334
2025-06-11T20:41:05.607Z,1749674465.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:05.615Z,1749674465.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 599.801208 m,
bearing: 330.926197 deg,
approach rate: -0.581495 m/s,
LOS rate: -0.015796 deg/s,
cmd heading: 325.995804 deg,
new cmd heading: 325.976351 deg.
2025-06-11T20:41:05.616Z,1749674465.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689361 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:05.624Z,1749674465.624 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:05.625Z,1749674465.625 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:05.625Z,1749674465.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:05.876Z,1749674465.876 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:05.877Z,1749674465.877 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:05.877Z,1749674465.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:06.047Z,1749674466.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:06.054Z,1749674466.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 599.554199 m,
bearing: 330.919354 deg,
approach rate: -0.561731 m/s,
LOS rate: -0.015569 deg/s,
cmd heading: 325.976352 deg,
new cmd heading: 325.955813 deg.
2025-06-11T20:41:06.055Z,1749674466.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689002 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:06.129Z,1749674466.129 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:06.130Z,1749674466.130 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:06.130Z,1749674466.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:06.381Z,1749674466.381 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:41:06.381Z,1749674466.381 [DAT](INFO): response not received
2025-06-11T20:41:06.382Z,1749674466.382 [DAT](INFO): DAT read: user:394>
2025-06-11T20:41:06.382Z,1749674466.382 [DAT](INFO): DAT read: Tx time:20:41:08.1995
2025-06-11T20:41:06.383Z,1749674466.383 [DAT](INFO): Ping request sent.
2025-06-11T20:41:06.383Z,1749674466.383 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:06.383Z,1749674466.383 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:06.384Z,1749674466.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-06-11T20:41:06.469Z,1749674466.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:06.476Z,1749674466.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 599.298096 m,
bearing: 330.912254 deg,
approach rate: -0.605969 m/s,
LOS rate: -0.016808 deg/s,
cmd heading: 325.955806 deg,
new cmd heading: 325.934496 deg.
2025-06-11T20:41:06.477Z,1749674466.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688630 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:06.633Z,1749674466.633 [DAT](INFO): DAT read: TxSync time:20:41:08.1987
2025-06-11T20:41:06.634Z,1749674466.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250903
2025-06-11T20:41:06.879Z,1749674466.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:06.882Z,1749674466.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:06.885Z,1749674466.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502162
2025-06-11T20:41:06.886Z,1749674466.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 599.050659 m,
bearing: 330.905848 deg,
approach rate: -0.599976 m/s,
LOS rate: -0.015539 deg/s,
cmd heading: 325.934496 deg,
new cmd heading: 325.915271 deg.
2025-06-11T20:41:06.887Z,1749674466.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688294 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:07.137Z,1749674467.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753922
2025-06-11T20:41:07.245Z,1749674467.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:07.247Z,1749674467.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 598.835999 m,
bearing: 330.900330 deg,
approach rate: -0.591679 m/s,
LOS rate: -0.015214 deg/s,
cmd heading: 325.915262 deg,
new cmd heading: 325.898704 deg.
2025-06-11T20:41:07.248Z,1749674467.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688005 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:07.389Z,1749674467.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006192
2025-06-11T20:41:07.633Z,1749674467.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:07.636Z,1749674467.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 598.606750 m,
bearing: 330.894452 deg,
approach rate: -0.589621 m/s,
LOS rate: -0.015126 deg/s,
cmd heading: 325.898706 deg,
new cmd heading: 325.881063 deg.
2025-06-11T20:41:07.637Z,1749674467.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687697 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:07.641Z,1749674467.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258140
2025-06-11T20:41:07.893Z,1749674467.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510012
2025-06-11T20:41:08.090Z,1749674468.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:08.097Z,1749674468.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 598.341125 m,
bearing: 330.888646 deg,
approach rate: -0.582069 m/s,
LOS rate: -0.012727 deg/s,
cmd heading: 325.881057 deg,
new cmd heading: 325.863633 deg.
2025-06-11T20:41:08.098Z,1749674468.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687393 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:08.146Z,1749674468.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763315
2025-06-11T20:41:08.397Z,1749674468.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013955
2025-06-11T20:41:08.460Z,1749674468.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:08.463Z,1749674468.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 598.121338 m,
bearing: 330.883836 deg,
approach rate: -0.594029 m/s,
LOS rate: -0.013007 deg/s,
cmd heading: 325.863626 deg,
new cmd heading: 325.849189 deg.
2025-06-11T20:41:08.463Z,1749674468.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687141 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:08.652Z,1749674468.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268988
2025-06-11T20:41:08.901Z,1749674468.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518063
2025-06-11T20:41:08.903Z,1749674468.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:08.909Z,1749674468.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:08.913Z,1749674468.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 597.856262 m,
bearing: 330.878853 deg,
approach rate: -0.594112 m/s,
LOS rate: -0.011173 deg/s,
cmd heading: 325.849201 deg,
new cmd heading: 325.834245 deg.
2025-06-11T20:41:08.914Z,1749674468.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686881 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:09.153Z,1749674469.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770558
2025-06-11T20:41:09.236Z,1749674469.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:09.239Z,1749674469.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 597.657532 m,
bearing: 330.875114 deg,
approach rate: -0.602133 m/s,
LOS rate: -0.011332 deg/s,
cmd heading: 325.834256 deg,
new cmd heading: 325.823036 deg.
2025-06-11T20:41:09.240Z,1749674469.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686685 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:09.405Z,1749674469.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021934
2025-06-11T20:41:09.653Z,1749674469.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:09.657Z,1749674469.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274096
2025-06-11T20:41:09.655Z,1749674469.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 597.408447 m,
bearing: 330.870408 deg,
approach rate: -0.597359 m/s,
LOS rate: -0.011290 deg/s,
cmd heading: 325.823027 deg,
new cmd heading: 325.808904 deg.
2025-06-11T20:41:09.658Z,1749674469.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686438 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:09.909Z,1749674469.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526016
2025-06-11T20:41:10.068Z,1749674470.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:10.070Z,1749674470.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 597.157837 m,
bearing: 330.866795 deg,
approach rate: -0.604373 m/s,
LOS rate: -0.008717 deg/s,
cmd heading: 325.808903 deg,
new cmd heading: 325.798058 deg.
2025-06-11T20:41:10.071Z,1749674470.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686249 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:10.161Z,1749674470.161 [DAT](INFO): DAT read: Rx Time:20:41:11.4178
2025-06-11T20:41:10.162Z,1749674470.162 [DAT](INFO): Rx dataTimestamp_ set to:1749674470.161245
2025-06-11T20:41:10.162Z,1749674470.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779298
2025-06-11T20:41:10.413Z,1749674470.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029903
2025-06-11T20:41:10.459Z,1749674470.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.53 m.
2025-06-11T20:41:10.465Z,1749674470.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 639.527344 m,
nav range: 596.920776 m,
bearing: 330.863374 deg,
approach rate: -0.604921 m/s,
LOS rate: -0.008733 deg/s,
cmd heading: 325.798056 deg,
new cmd heading: 325.787790 deg.
2025-06-11T20:41:10.466Z,1749674470.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686069 target range: 639.527344 and range: 645.00 m.
2025-06-11T20:41:10.671Z,1749674470.671 [DAT](INFO): DAT read: 20:41:11.4178 LVL= 14416, 15857, 12578, 14963, AGC= 73, IDX= 319, 0.43,-0.747,-2.371,-0.720,-1.381, PHS= 0.722,-0.943, 0.658, RAW= 148.0, -5.4, CAL= 153.2, -14.0, ROT= 356.8, 14.0
2025-06-11T20:41:10.673Z,1749674470.673 [DAT](INFO): got valid direction response:
20:41:11.4178 LVL= 14416, 15857, 12578, 14963, AGC= 73, IDX= 319, 0.43,-0.747,-2.371,-0.720,-1.381, PHS= 0.722,-0.943, 0.658, RAW= 148.0, -5.4, CAL= 153.2, -14.0, ROT= 356.8, 14.0
2025-06-11T20:41:10.674Z,1749674470.674 [DAT](INFO): DAT read: Bearing 356.8, 14.0 (Local)
2025-06-11T20:41:10.674Z,1749674470.674 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.8, 14.0 (Local)
2025-06-11T20:41:10.675Z,1749674470.675 [DAT](INFO): DAT read: Range 10 to 50 : 610.5 m (Round-trip 814.1 ms) speed 0.4 m/s
2025-06-11T20:41:10.677Z,1749674470.677 [DAT](INFO): DAT read: user:395>
2025-06-11T20:41:10.678Z,1749674470.678 [DAT](INFO): DAT read: Tx time:20:41:12.4996
2025-06-11T20:41:10.678Z,1749674470.678 [DAT](INFO): Ping request sent.
2025-06-11T20:41:10.678Z,1749674470.678 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:10.678Z,1749674470.678 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:41:10.679Z,1749674470.679 [DAT](INFO): direction in FSK: [0.968783,-0.054164,-0.241922]
2025-06-11T20:41:10.688Z,1749674470.688 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:10.688Z,1749674470.688 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:10.691Z,1749674470.691 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:10.692Z,1749674470.692 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:10.917Z,1749674470.917 [DAT](INFO): DAT read: TxSync time:20:41:12.4988
2025-06-11T20:41:10.983Z,1749674470.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 610.500000 m,
deltaT: 59.248657 s,
deltaX: -34.500000 m,
approachRate: -0.582292 m/s,
rangeRepo size: 4
2025-06-11T20:41:10.989Z,1749674470.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 605.307739 m,
bearing: 323.973189 deg,
lat: 36.906149 deg,
lon: -122.115787 deg,
deltaT: 59.248657 s,
deltaX: -34.219604 m,
approachRate: -0.577559 m/s,
posRepo size: 3
2025-06-11T20:41:10.992Z,1749674470.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:10.995Z,1749674470.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 591.862976 m,
bearing: 326.901767 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008733 deg/s,
cmd heading: 325.787784 deg,
new cmd heading: 325.774086 deg.
2025-06-11T20:41:10.996Z,1749674470.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685831 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:11.273Z,1749674471.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:11.280Z,1749674471.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:11.283Z,1749674471.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 591.671509 m,
bearing: 326.897963 deg,
approach rate: -0.642956 m/s,
LOS rate: -0.012777 deg/s,
cmd heading: 325.774096 deg,
new cmd heading: 325.762682 deg.
2025-06-11T20:41:11.284Z,1749674471.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685631 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:11.422Z,1749674471.422 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:11.422Z,1749674471.422 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:11.423Z,1749674471.423 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:11.675Z,1749674471.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996791
2025-06-11T20:41:11.682Z,1749674471.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:11.685Z,1749674471.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 591.434326 m,
bearing: 326.893243 deg,
approach rate: -0.590335 m/s,
LOS rate: -0.011753 deg/s,
cmd heading: 325.762676 deg,
new cmd heading: 325.748510 deg.
2025-06-11T20:41:11.686Z,1749674471.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685384 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:11.927Z,1749674471.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249007
2025-06-11T20:41:12.111Z,1749674472.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:12.114Z,1749674472.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 591.175781 m,
bearing: 326.888434 deg,
approach rate: -0.602105 m/s,
LOS rate: -0.011204 deg/s,
cmd heading: 325.748496 deg,
new cmd heading: 325.734063 deg.
2025-06-11T20:41:12.115Z,1749674472.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685132 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:12.177Z,1749674472.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499045
2025-06-11T20:41:12.429Z,1749674472.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750738
2025-06-11T20:41:12.494Z,1749674472.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:12.497Z,1749674472.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 590.949341 m,
bearing: 326.884220 deg,
approach rate: -0.592147 m/s,
LOS rate: -0.011024 deg/s,
cmd heading: 325.734071 deg,
new cmd heading: 325.721425 deg.
2025-06-11T20:41:12.498Z,1749674472.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684911 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:12.681Z,1749674472.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002852
2025-06-11T20:41:12.934Z,1749674472.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255547
2025-06-11T20:41:13.004Z,1749674473.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:13.007Z,1749674473.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 590.667114 m,
bearing: 326.879330 deg,
approach rate: -0.557664 m/s,
LOS rate: -0.009668 deg/s,
cmd heading: 325.721422 deg,
new cmd heading: 325.706743 deg.
2025-06-11T20:41:13.007Z,1749674473.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684655 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:13.185Z,1749674473.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506699
2025-06-11T20:41:13.335Z,1749674473.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:13.342Z,1749674473.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:13.353Z,1749674473.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 590.450928 m,
bearing: 326.875593 deg,
approach rate: -0.632135 m/s,
LOS rate: -0.010929 deg/s,
cmd heading: 325.706750 deg,
new cmd heading: 325.695537 deg.
2025-06-11T20:41:13.354Z,1749674473.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684460 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:13.437Z,1749674473.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759137
2025-06-11T20:41:13.690Z,1749674473.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011979
2025-06-11T20:41:13.742Z,1749674473.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:13.745Z,1749674473.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 590.212158 m,
bearing: 326.871485 deg,
approach rate: -0.596308 m/s,
LOS rate: -0.010265 deg/s,
cmd heading: 325.695549 deg,
new cmd heading: 325.683219 deg.
2025-06-11T20:41:13.746Z,1749674473.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684245 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:13.945Z,1749674473.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266524
2025-06-11T20:41:14.171Z,1749674474.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:14.174Z,1749674474.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 589.960938 m,
bearing: 326.866585 deg,
approach rate: -0.585672 m/s,
LOS rate: -0.011427 deg/s,
cmd heading: 325.683227 deg,
new cmd heading: 325.668522 deg.
2025-06-11T20:41:14.175Z,1749674474.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683988 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:14.193Z,1749674474.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515081
2025-06-11T20:41:14.445Z,1749674474.445 [DAT](INFO): DAT read: Rx Time:20:41:15.7145
2025-06-11T20:41:14.445Z,1749674474.445 [DAT](INFO): Rx dataTimestamp_ set to:1749674474.445062
2025-06-11T20:41:14.446Z,1749674474.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767911
2025-06-11T20:41:14.551Z,1749674474.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 605.31 m.
2025-06-11T20:41:14.554Z,1749674474.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 605.307739 m,
nav range: 589.738342 m,
bearing: 326.862258 deg,
approach rate: -0.585282 m/s,
LOS rate: -0.011383 deg/s,
cmd heading: 325.668529 deg,
new cmd heading: 325.655541 deg.
2025-06-11T20:41:14.555Z,1749674474.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683762 target range: 605.307739 and range: 610.50 m.
2025-06-11T20:41:14.697Z,1749674474.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018739
2025-06-11T20:41:14.767Z,1749674474.767 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:41:14.962Z,1749674474.962 [DAT](INFO): DAT read: 20:41:15.7145 LVL= 26304, 27697, 24562, 27459, AGC= 71, IDX= 411, 0.01, 0.579,-0.967, 0.373,-0.157, PHS= 0.825,-0.763, 0.527, RAW= 139.9, -8.1, CAL= 146.2, -18.0, ROT= 3.8, 18.0
2025-06-11T20:41:14.964Z,1749674474.964 [DAT](INFO): got valid direction response:
20:41:15.7145 LVL= 26304, 27697, 24562, 27459, AGC= 71, IDX= 411, 0.01, 0.579,-0.967, 0.373,-0.157, PHS= 0.825,-0.763, 0.527, RAW= 139.9, -8.1, CAL= 146.2, -18.0, ROT= 3.8, 18.0
2025-06-11T20:41:14.965Z,1749674474.965 [DAT](INFO): DAT read: Bearing 3.8, 18.0 (Local)
2025-06-11T20:41:14.966Z,1749674474.966 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.8, 18.0 (Local)
2025-06-11T20:41:14.993Z,1749674474.993 [DAT](INFO): DAT read: Range 10 to 50 : 608.1 m (Round-trip 810.8 ms) speed 0.5 m/s
2025-06-11T20:41:14.993Z,1749674474.993 [DAT](INFO): DAT read: user:396>
2025-06-11T20:41:14.994Z,1749674474.994 [DAT](INFO): DAT read: Tx time:20:41:16.7996
2025-06-11T20:41:14.995Z,1749674474.995 [DAT](INFO): Ping request sent.
2025-06-11T20:41:14.995Z,1749674474.995 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:14.995Z,1749674474.995 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:41:15.009Z,1749674475.009 [DAT](INFO): direction in FSK: [0.948966,0.063030,-0.309017]
2025-06-11T20:41:15.009Z,1749674475.009 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:15.009Z,1749674475.009 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:15.021Z,1749674475.021 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:15.021Z,1749674475.021 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:15.140Z,1749674475.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 608.099976 m,
deltaT: 4.285138 s,
deltaX: -2.400024 m,
approachRate: -0.560081 m/s,
rangeRepo size: 4
2025-06-11T20:41:15.142Z,1749674475.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 602.907959 m,
bearing: 330.697379 deg,
lat: 36.906245 deg,
lon: -122.115600 deg,
deltaT: 4.285138 s,
deltaX: -2.399780 m,
approachRate: -0.560024 m/s,
posRepo size: 4
2025-06-11T20:41:15.143Z,1749674475.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:15.150Z,1749674475.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 589.559082 m,
bearing: 328.779037 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011383 deg/s,
cmd heading: 325.655551 deg,
new cmd heading: 325.635610 deg.
2025-06-11T20:41:15.151Z,1749674475.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683414 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:15.202Z,1749674475.202 [DAT](INFO): DAT read: TxSync time:20:41:16.7988
2025-06-11T20:41:15.505Z,1749674475.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:15.507Z,1749674475.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:15.510Z,1749674475.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 589.331360 m,
bearing: 328.775350 deg,
approach rate: -0.613477 m/s,
LOS rate: -0.009937 deg/s,
cmd heading: 325.635607 deg,
new cmd heading: 325.624541 deg.
2025-06-11T20:41:15.511Z,1749674475.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683220 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:15.705Z,1749674475.705 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:15.705Z,1749674475.705 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:15.705Z,1749674475.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:15.768Z,1749674475.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:41:15.868Z,1749674475.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:15.871Z,1749674475.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 589.131653 m,
bearing: 328.772144 deg,
approach rate: -0.584744 m/s,
LOS rate: -0.009389 deg/s,
cmd heading: 325.624542 deg,
new cmd heading: 325.614922 deg.
2025-06-11T20:41:15.877Z,1749674475.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683053 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:15.962Z,1749674475.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966242
2025-06-11T20:41:16.209Z,1749674476.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214238
2025-06-11T20:41:16.303Z,1749674476.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:16.306Z,1749674476.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 588.864319 m,
bearing: 328.767407 deg,
approach rate: -0.587949 m/s,
LOS rate: -0.010423 deg/s,
cmd heading: 325.614925 deg,
new cmd heading: 325.600708 deg.
2025-06-11T20:41:16.307Z,1749674476.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682805 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:16.461Z,1749674476.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466145
2025-06-11T20:41:16.688Z,1749674476.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:16.691Z,1749674476.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 588.638367 m,
bearing: 328.763370 deg,
approach rate: -0.586948 m/s,
LOS rate: -0.010491 deg/s,
cmd heading: 325.600718 deg,
new cmd heading: 325.588602 deg.
2025-06-11T20:41:16.691Z,1749674476.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682593 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:16.713Z,1749674476.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718206
2025-06-11T20:41:16.967Z,1749674476.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972082
2025-06-11T20:41:17.110Z,1749674477.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:17.113Z,1749674477.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 588.387085 m,
bearing: 328.758286 deg,
approach rate: -0.594892 m/s,
LOS rate: -0.012043 deg/s,
cmd heading: 325.588615 deg,
new cmd heading: 325.573355 deg.
2025-06-11T20:41:17.114Z,1749674477.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682327 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:17.217Z,1749674477.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222273
2025-06-11T20:41:17.463Z,1749674477.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:17.469Z,1749674477.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474290
2025-06-11T20:41:17.470Z,1749674477.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 588.176941 m,
bearing: 328.754019 deg,
approach rate: -0.594748 m/s,
LOS rate: -0.012081 deg/s,
cmd heading: 325.573343 deg,
new cmd heading: 325.560537 deg.
2025-06-11T20:41:17.471Z,1749674477.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682103 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:17.721Z,1749674477.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726487
2025-06-11T20:41:17.866Z,1749674477.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:17.892Z,1749674477.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:17.895Z,1749674477.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 587.936951 m,
bearing: 328.749142 deg,
approach rate: -0.593616 m/s,
LOS rate: -0.012066 deg/s,
cmd heading: 325.560530 deg,
new cmd heading: 325.545895 deg.
2025-06-11T20:41:17.900Z,1749674477.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681848 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:17.976Z,1749674477.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980847
2025-06-11T20:41:18.225Z,1749674478.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230181
2025-06-11T20:41:18.312Z,1749674478.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:18.315Z,1749674478.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 587.670654 m,
bearing: 328.743309 deg,
approach rate: -0.599752 m/s,
LOS rate: -0.013144 deg/s,
cmd heading: 325.545886 deg,
new cmd heading: 325.528378 deg.
2025-06-11T20:41:18.316Z,1749674478.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681542 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:18.477Z,1749674478.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482097
2025-06-11T20:41:18.684Z,1749674478.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:18.687Z,1749674478.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 587.447083 m,
bearing: 328.738403 deg,
approach rate: -0.600638 m/s,
LOS rate: -0.013186 deg/s,
cmd heading: 325.528373 deg,
new cmd heading: 325.513649 deg.
2025-06-11T20:41:18.695Z,1749674478.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681285 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:18.729Z,1749674478.729 [DAT](INFO): DAT read: Rx Time:20:41:20.0111
2025-06-11T20:41:18.730Z,1749674478.730 [DAT](INFO): Rx dataTimestamp_ set to:1749674478.729261
2025-06-11T20:41:18.730Z,1749674478.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735456
2025-06-11T20:41:18.984Z,1749674478.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.988544
2025-06-11T20:41:19.123Z,1749674479.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.91 m.
2025-06-11T20:41:19.126Z,1749674479.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 602.907959 m,
nav range: 587.185791 m,
bearing: 328.732280 deg,
approach rate: -0.595639 m/s,
LOS rate: -0.013963 deg/s,
cmd heading: 325.513647 deg,
new cmd heading: 325.495272 deg.
2025-06-11T20:41:19.126Z,1749674479.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680964 target range: 602.907959 and range: 608.10 m.
2025-06-11T20:41:19.239Z,1749674479.239 [DAT](INFO): DAT read: 20:41:20.0111 LVL= 16752, 28497, 15058, 27603, AGC= 74, IDX= 475,-0.19, 1.580,-0.027, 1.485, 0.850, PHS= 0.817,-0.830, 0.632, RAW= 144.1, -8.0, CAL= 150.4, -17.0, ROT= 359.6, 17.0
2025-06-11T20:41:19.240Z,1749674479.240 [DAT](INFO): got valid direction response:
20:41:20.0111 LVL= 16752, 28497, 15058, 27603, AGC= 74, IDX= 475,-0.19, 1.580,-0.027, 1.485, 0.850, PHS= 0.817,-0.830, 0.632, RAW= 144.1, -8.0, CAL= 150.4, -17.0, ROT= 359.6, 17.0
2025-06-11T20:41:19.241Z,1749674479.241 [DAT](INFO): DAT read: Bearing 359.6, 17.0 (Local)
2025-06-11T20:41:19.241Z,1749674479.241 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.6, 17.0 (Local)
2025-06-11T20:41:19.243Z,1749674479.243 [DAT](INFO): DAT read: Range 10 to 50 : 605.5 m (Round-trip 807.4 ms) speed 0.4 m/s
2025-06-11T20:41:19.244Z,1749674479.244 [DAT](INFO): DAT read: user:397>
2025-06-11T20:41:19.245Z,1749674479.245 [DAT](INFO): DAT read: Tx time:20:41:21.0996
2025-06-11T20:41:19.245Z,1749674479.245 [DAT](INFO): Ping request sent.
2025-06-11T20:41:19.245Z,1749674479.245 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:19.245Z,1749674479.245 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:41:19.246Z,1749674479.246 [DAT](INFO): direction in FSK: [0.956281,-0.006676,-0.292372]
2025-06-11T20:41:19.247Z,1749674479.247 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:19.247Z,1749674479.247 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:19.251Z,1749674479.251 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:19.251Z,1749674479.251 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:19.485Z,1749674479.485 [DAT](INFO): DAT read: TxSync time:20:41:21.0988
2025-06-11T20:41:19.522Z,1749674479.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 605.500000 m,
deltaT: 4.282287 s,
deltaX: -2.599976 m,
approachRate: -0.607147 m/s,
rangeRepo size: 4
2025-06-11T20:41:19.528Z,1749674479.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 600.332336 m,
bearing: 326.644814 deg,
lat: 36.906165 deg,
lon: -122.115787 deg,
deltaT: 4.282287 s,
deltaX: -2.575623 m,
approachRate: -0.601460 m/s,
posRepo size: 4
2025-06-11T20:41:19.529Z,1749674479.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:19.531Z,1749674479.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 588.304565 m,
bearing: 326.889025 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013963 deg/s,
cmd heading: 325.495260 deg,
new cmd heading: 325.478575 deg.
2025-06-11T20:41:19.537Z,1749674479.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680673 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:19.894Z,1749674479.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:19.896Z,1749674479.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:19.898Z,1749674479.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 588.069702 m,
bearing: 326.882757 deg,
approach rate: -0.626983 m/s,
LOS rate: -0.016738 deg/s,
cmd heading: 325.478567 deg,
new cmd heading: 325.459758 deg.
2025-06-11T20:41:19.899Z,1749674479.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680345 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:19.993Z,1749674479.993 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:19.994Z,1749674479.994 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:19.994Z,1749674479.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:20.245Z,1749674480.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999841
2025-06-11T20:41:20.386Z,1749674480.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:20.404Z,1749674480.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 587.797852 m,
bearing: 326.874977 deg,
approach rate: -0.554521 m/s,
LOS rate: -0.015877 deg/s,
cmd heading: 325.459771 deg,
new cmd heading: 325.436421 deg.
2025-06-11T20:41:20.405Z,1749674480.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679937 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:20.498Z,1749674480.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252779
2025-06-11T20:41:20.753Z,1749674480.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507379
2025-06-11T20:41:20.790Z,1749674480.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:20.793Z,1749674480.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 587.537781 m,
bearing: 326.867545 deg,
approach rate: -0.643692 m/s,
LOS rate: -0.018404 deg/s,
cmd heading: 325.436411 deg,
new cmd heading: 325.414104 deg.
2025-06-11T20:41:20.794Z,1749674480.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679548 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:21.003Z,1749674481.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757833
2025-06-11T20:41:21.166Z,1749674481.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:21.173Z,1749674481.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 587.316284 m,
bearing: 326.861037 deg,
approach rate: -0.589326 m/s,
LOS rate: -0.017321 deg/s,
cmd heading: 325.414118 deg,
new cmd heading: 325.394587 deg.
2025-06-11T20:41:21.174Z,1749674481.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679207 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:21.254Z,1749674481.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009179
2025-06-11T20:41:21.505Z,1749674481.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259758
2025-06-11T20:41:21.549Z,1749674481.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:21.552Z,1749674481.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 587.089600 m,
bearing: 326.854347 deg,
approach rate: -0.593686 m/s,
LOS rate: -0.017528 deg/s,
cmd heading: 325.394583 deg,
new cmd heading: 325.374506 deg.
2025-06-11T20:41:21.553Z,1749674481.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678856 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:21.757Z,1749674481.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511808
2025-06-11T20:41:21.950Z,1749674481.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:21.975Z,1749674481.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:21.977Z,1749674481.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 586.849121 m,
bearing: 326.847252 deg,
approach rate: -0.563213 m/s,
LOS rate: -0.016625 deg/s,
cmd heading: 325.374503 deg,
new cmd heading: 325.353208 deg.
2025-06-11T20:41:21.978Z,1749674481.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678485 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:22.012Z,1749674482.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766644
2025-06-11T20:41:22.261Z,1749674482.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015792
2025-06-11T20:41:22.359Z,1749674482.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:22.381Z,1749674482.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 586.606689 m,
bearing: 326.839852 deg,
approach rate: -0.631186 m/s,
LOS rate: -0.019275 deg/s,
cmd heading: 325.353220 deg,
new cmd heading: 325.331010 deg.
2025-06-11T20:41:22.382Z,1749674482.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678097 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:22.513Z,1749674482.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267736
2025-06-11T20:41:22.765Z,1749674482.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519945
2025-06-11T20:41:22.826Z,1749674482.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:22.833Z,1749674482.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 586.336121 m,
bearing: 326.831680 deg,
approach rate: -0.578896 m/s,
LOS rate: -0.017492 deg/s,
cmd heading: 325.331008 deg,
new cmd heading: 325.306481 deg.
2025-06-11T20:41:22.834Z,1749674482.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677669 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:23.020Z,1749674483.020 [DAT](INFO): DAT read: Rx Time:20:41:24.3186
2025-06-11T20:41:23.021Z,1749674483.021 [DAT](INFO): Rx dataTimestamp_ set to:1749674483.020302
2025-06-11T20:41:23.023Z,1749674483.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777849
2025-06-11T20:41:23.241Z,1749674483.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:23.243Z,1749674483.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 586.091797 m,
bearing: 326.823799 deg,
approach rate: -0.588999 m/s,
LOS rate: -0.019007 deg/s,
cmd heading: 325.306474 deg,
new cmd heading: 325.282821 deg.
2025-06-11T20:41:23.245Z,1749674483.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677256 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:23.269Z,1749674483.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024113
2025-06-11T20:41:23.527Z,1749674483.527 [DAT](INFO): DAT read: 20:41:24.3186 LVL= 18480, 20145, 17602, 24371, AGC= 70, IDX= 3, 0.10, 2.146, 0.822, 2.167, 1.084, PHS= 1.150,-0.215, 1.080, RAW= 147.4, -28.2, CAL= 151.2, -33.9, ROT= 358.8, 33.9
2025-06-11T20:41:23.531Z,1749674483.531 [DAT](INFO): got valid direction response:
20:41:24.3186 LVL= 18480, 20145, 17602, 24371, AGC= 70, IDX= 3, 0.10, 2.146, 0.822, 2.167, 1.084, PHS= 1.150,-0.215, 1.080, RAW= 147.4, -28.2, CAL= 151.2, -33.9, ROT= 358.8, 33.9
2025-06-11T20:41:23.567Z,1749674483.567 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:41:23.567Z,1749674483.567 [DAT](INFO): Received a bad header
2025-06-11T20:41:23.601Z,1749674483.601 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:41:23.602Z,1749674483.602 [DAT](INFO): direction in FSK: [0.829830,-0.017382,-0.557745]
2025-06-11T20:41:23.605Z,1749674483.605 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:23.605Z,1749674483.605 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:23.605Z,1749674483.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:23.649Z,1749674483.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:23.651Z,1749674483.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 585.864990 m,
bearing: 326.816504 deg,
approach rate: -0.580073 m/s,
LOS rate: -0.018664 deg/s,
cmd heading: 325.282814 deg,
new cmd heading: 325.260922 deg.
2025-06-11T20:41:23.656Z,1749674483.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676874 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:23.773Z,1749674483.773 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:23.773Z,1749674483.773 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:23.773Z,1749674483.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:24.024Z,1749674484.024 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:24.025Z,1749674484.025 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:24.025Z,1749674484.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:24.120Z,1749674484.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:24.122Z,1749674484.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:24.129Z,1749674484.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 585.590271 m,
bearing: 326.807696 deg,
approach rate: -0.560300 m/s,
LOS rate: -0.017973 deg/s,
cmd heading: 325.260930 deg,
new cmd heading: 325.234494 deg.
2025-06-11T20:41:24.130Z,1749674484.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676413 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:24.277Z,1749674484.277 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:24.277Z,1749674484.277 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:24.277Z,1749674484.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:24.487Z,1749674484.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:24.490Z,1749674484.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 585.374451 m,
bearing: 326.800899 deg,
approach rate: -0.591777 m/s,
LOS rate: -0.018644 deg/s,
cmd heading: 325.234484 deg,
new cmd heading: 325.214085 deg.
2025-06-11T20:41:24.491Z,1749674484.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676056 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:24.529Z,1749674484.529 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:24.529Z,1749674484.529 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:24.529Z,1749674484.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:24.781Z,1749674484.781 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:24.781Z,1749674484.781 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:24.781Z,1749674484.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:24.843Z,1749674484.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:24.846Z,1749674484.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 585.171082 m,
bearing: 326.794509 deg,
approach rate: -0.570515 m/s,
LOS rate: -0.017932 deg/s,
cmd heading: 325.214075 deg,
new cmd heading: 325.194899 deg.
2025-06-11T20:41:24.847Z,1749674484.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675722 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:25.033Z,1749674485.033 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:25.033Z,1749674485.033 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:25.033Z,1749674485.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:25.272Z,1749674485.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:25.275Z,1749674485.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 584.931091 m,
bearing: 326.787221 deg,
approach rate: -0.559333 m/s,
LOS rate: -0.016994 deg/s,
cmd heading: 325.194896 deg,
new cmd heading: 325.173022 deg.
2025-06-11T20:41:25.276Z,1749674485.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675340 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:25.285Z,1749674485.285 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:25.285Z,1749674485.285 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:25.285Z,1749674485.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:25.537Z,1749674485.537 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:25.537Z,1749674485.537 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:25.537Z,1749674485.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:25.656Z,1749674485.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:25.658Z,1749674485.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 584.716309 m,
bearing: 326.780707 deg,
approach rate: -0.560411 m/s,
LOS rate: -0.017001 deg/s,
cmd heading: 325.173012 deg,
new cmd heading: 325.153464 deg.
2025-06-11T20:41:25.659Z,1749674485.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674999 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:25.789Z,1749674485.789 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:25.789Z,1749674485.789 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:25.789Z,1749674485.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:26.041Z,1749674486.041 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:26.041Z,1749674486.041 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:26.041Z,1749674486.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:26.055Z,1749674486.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:26.058Z,1749674486.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 584.496582 m,
bearing: 326.774048 deg,
approach rate: -0.550081 m/s,
LOS rate: -0.016679 deg/s,
cmd heading: 325.153478 deg,
new cmd heading: 325.133491 deg.
2025-06-11T20:41:26.059Z,1749674486.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674650 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:26.293Z,1749674486.293 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:26.293Z,1749674486.293 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:26.293Z,1749674486.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:26.473Z,1749674486.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:26.475Z,1749674486.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:26.494Z,1749674486.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 584.257751 m,
bearing: 326.767166 deg,
approach rate: -0.569133 m/s,
LOS rate: -0.016405 deg/s,
cmd heading: 325.133479 deg,
new cmd heading: 325.112826 deg.
2025-06-11T20:41:26.495Z,1749674486.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674289 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:26.545Z,1749674486.545 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:26.545Z,1749674486.545 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:26.545Z,1749674486.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:26.796Z,1749674486.796 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:26.797Z,1749674486.797 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:26.797Z,1749674486.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:26.858Z,1749674486.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:26.874Z,1749674486.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 584.042725 m,
bearing: 326.760972 deg,
approach rate: -0.560496 m/s,
LOS rate: -0.016152 deg/s,
cmd heading: 325.112824 deg,
new cmd heading: 325.094235 deg.
2025-06-11T20:41:26.875Z,1749674486.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673965 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:27.051Z,1749674487.051 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:27.051Z,1749674487.051 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:27.052Z,1749674487.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:27.287Z,1749674487.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:27.290Z,1749674487.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 583.801819 m,
bearing: 326.754875 deg,
approach rate: -0.562186 m/s,
LOS rate: -0.014235 deg/s,
cmd heading: 325.094246 deg,
new cmd heading: 325.075947 deg.
2025-06-11T20:41:27.291Z,1749674487.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673645 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:27.301Z,1749674487.301 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:27.301Z,1749674487.301 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:27.301Z,1749674487.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:27.553Z,1749674487.553 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:27.553Z,1749674487.553 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:27.553Z,1749674487.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:27.671Z,1749674487.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:27.675Z,1749674487.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 583.585632 m,
bearing: 326.749415 deg,
approach rate: -0.562388 m/s,
LOS rate: -0.014208 deg/s,
cmd heading: 325.075941 deg,
new cmd heading: 325.059556 deg.
2025-06-11T20:41:27.675Z,1749674487.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673359 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:27.805Z,1749674487.805 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:27.805Z,1749674487.805 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:27.805Z,1749674487.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:28.057Z,1749674488.057 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:28.057Z,1749674488.057 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:28.057Z,1749674488.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:28.176Z,1749674488.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:28.179Z,1749674488.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 583.302002 m,
bearing: 326.742265 deg,
approach rate: -0.561878 m/s,
LOS rate: -0.014171 deg/s,
cmd heading: 325.059549 deg,
new cmd heading: 325.038089 deg.
2025-06-11T20:41:28.193Z,1749674488.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672985 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:28.308Z,1749674488.308 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:28.309Z,1749674488.309 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:28.309Z,1749674488.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:28.497Z,1749674488.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:28.499Z,1749674488.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:28.502Z,1749674488.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 583.117310 m,
bearing: 326.738360 deg,
approach rate: -0.571736 m/s,
LOS rate: -0.012093 deg/s,
cmd heading: 325.038102 deg,
new cmd heading: 325.026382 deg.
2025-06-11T20:41:28.503Z,1749674488.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672781 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:28.561Z,1749674488.561 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:28.561Z,1749674488.561 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:28.562Z,1749674488.562 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:28.813Z,1749674488.813 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:28.813Z,1749674488.813 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:28.813Z,1749674488.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:28.953Z,1749674488.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:28.973Z,1749674488.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 582.860413 m,
bearing: 326.732944 deg,
approach rate: -0.567763 m/s,
LOS rate: -0.011973 deg/s,
cmd heading: 325.026382 deg,
new cmd heading: 325.010129 deg.
2025-06-11T20:41:28.974Z,1749674488.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672497 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:29.064Z,1749674489.064 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:29.065Z,1749674489.065 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:29.065Z,1749674489.065 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:41:29.263Z,1749674489.263 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T20:41:29.316Z,1749674489.316 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:29.317Z,1749674489.317 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:29.317Z,1749674489.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:29.359Z,1749674489.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:29.361Z,1749674489.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 582.618713 m,
bearing: 326.728936 deg,
approach rate: -0.593708 m/s,
LOS rate: -0.009851 deg/s,
cmd heading: 325.010126 deg,
new cmd heading: 324.998094 deg.
2025-06-11T20:41:29.362Z,1749674489.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672287 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:29.571Z,1749674489.571 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:29.572Z,1749674489.572 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:29.572Z,1749674489.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:29.716Z,1749674489.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:29.719Z,1749674489.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 582.411316 m,
bearing: 326.725494 deg,
approach rate: -0.580550 m/s,
LOS rate: -0.009636 deg/s,
cmd heading: 324.998105 deg,
new cmd heading: 324.987777 deg.
2025-06-11T20:41:29.720Z,1749674489.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672107 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:29.821Z,1749674489.821 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:29.821Z,1749674489.821 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:29.822Z,1749674489.822 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:30.073Z,1749674490.073 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:30.073Z,1749674490.073 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:30.073Z,1749674490.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:30.097Z,1749674490.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:30.100Z,1749674490.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 582.184998 m,
bearing: 326.721793 deg,
approach rate: -0.593172 m/s,
LOS rate: -0.009706 deg/s,
cmd heading: 324.987777 deg,
new cmd heading: 324.976668 deg.
2025-06-11T20:41:30.101Z,1749674490.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671913 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:30.329Z,1749674490.329 [DAT](INFO): DAT read: Rspne Not Received
2025-06-11T20:41:30.330Z,1749674490.330 [DAT](INFO): unknown deviceResponse_: Rspne Not Received
2025-06-11T20:41:30.331Z,1749674490.331 [DAT](INFO): DAT read: user:399>
2025-06-11T20:41:30.331Z,1749674490.331 [DAT](INFO): DAT read: Tx time:20:41:32.0497
2025-06-11T20:41:30.332Z,1749674490.332 [DAT](INFO): Ping request sent.
2025-06-11T20:41:30.332Z,1749674490.332 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:30.333Z,1749674490.333 [DAT](INFO): DAT read: TxSync time:20:41:32.0489
2025-06-11T20:41:30.333Z,1749674490.333 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:30.334Z,1749674490.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001661
2025-06-11T20:41:30.519Z,1749674490.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:30.521Z,1749674490.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:30.524Z,1749674490.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 581.932495 m,
bearing: 326.718408 deg,
approach rate: -0.595686 m/s,
LOS rate: -0.007989 deg/s,
cmd heading: 324.976658 deg,
new cmd heading: 324.966499 deg.
2025-06-11T20:41:30.525Z,1749674490.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671735 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:30.578Z,1749674490.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246375
2025-06-11T20:41:30.829Z,1749674490.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496856
2025-06-11T20:41:30.915Z,1749674490.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:30.918Z,1749674490.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 581.696655 m,
bearing: 326.715242 deg,
approach rate: -0.599191 m/s,
LOS rate: -0.008045 deg/s,
cmd heading: 324.966494 deg,
new cmd heading: 324.956995 deg.
2025-06-11T20:41:30.920Z,1749674490.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671569 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:31.081Z,1749674491.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749019
2025-06-11T20:41:31.320Z,1749674491.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:31.323Z,1749674491.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 581.452454 m,
bearing: 326.712034 deg,
approach rate: -0.603174 m/s,
LOS rate: -0.007929 deg/s,
cmd heading: 324.956987 deg,
new cmd heading: 324.947357 deg.
2025-06-11T20:41:31.324Z,1749674491.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671402 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:31.333Z,1749674491.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000941
2025-06-11T20:41:31.585Z,1749674491.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252998
2025-06-11T20:41:31.707Z,1749674491.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:31.710Z,1749674491.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 581.218445 m,
bearing: 326.708996 deg,
approach rate: -0.603649 m/s,
LOS rate: -0.007840 deg/s,
cmd heading: 324.947370 deg,
new cmd heading: 324.938253 deg.
2025-06-11T20:41:31.711Z,1749674491.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671242 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:31.837Z,1749674491.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505032
2025-06-11T20:41:32.089Z,1749674492.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756781
2025-06-11T20:41:32.117Z,1749674492.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:32.120Z,1749674492.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 580.971130 m,
bearing: 326.705800 deg,
approach rate: -0.603259 m/s,
LOS rate: -0.007798 deg/s,
cmd heading: 324.938245 deg,
new cmd heading: 324.928654 deg.
2025-06-11T20:41:32.121Z,1749674492.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671075 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:32.341Z,1749674492.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009246
2025-06-11T20:41:32.549Z,1749674492.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:32.551Z,1749674492.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:32.558Z,1749674492.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 580.724731 m,
bearing: 326.702365 deg,
approach rate: -0.568037 m/s,
LOS rate: -0.007924 deg/s,
cmd heading: 324.928655 deg,
new cmd heading: 324.918344 deg.
2025-06-11T20:41:32.559Z,1749674492.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670895 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:32.595Z,1749674492.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263140
2025-06-11T20:41:32.845Z,1749674492.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512822
2025-06-11T20:41:32.929Z,1749674492.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:32.933Z,1749674492.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 580.489502 m,
bearing: 326.699088 deg,
approach rate: -0.622976 m/s,
LOS rate: -0.008681 deg/s,
cmd heading: 324.918355 deg,
new cmd heading: 324.908522 deg.
2025-06-11T20:41:32.935Z,1749674492.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670723 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:33.097Z,1749674493.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764918
2025-06-11T20:41:33.339Z,1749674493.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:33.349Z,1749674493.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016847
2025-06-11T20:41:33.358Z,1749674493.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 580.244446 m,
bearing: 326.694440 deg,
approach rate: -0.596697 m/s,
LOS rate: -0.011322 deg/s,
cmd heading: 324.908520 deg,
new cmd heading: 324.894570 deg.
2025-06-11T20:41:33.359Z,1749674493.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670480 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:33.601Z,1749674493.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268825
2025-06-11T20:41:33.754Z,1749674493.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:33.757Z,1749674493.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 579.999390 m,
bearing: 326.689791 deg,
approach rate: -0.591011 m/s,
LOS rate: -0.011217 deg/s,
cmd heading: 324.894559 deg,
new cmd heading: 324.880606 deg.
2025-06-11T20:41:33.758Z,1749674493.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670236 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:33.853Z,1749674493.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521066
2025-06-11T20:41:34.105Z,1749674494.105 [DAT](INFO): DAT read: Rx Time:20:41:35.2499
2025-06-11T20:41:34.105Z,1749674494.105 [DAT](INFO): Rx dataTimestamp_ set to:1749674494.105077
2025-06-11T20:41:34.106Z,1749674494.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774048
2025-06-11T20:41:34.315Z,1749674494.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 600.33 m.
2025-06-11T20:41:34.318Z,1749674494.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 600.332336 m,
nav range: 579.679871 m,
bearing: 326.681724 deg,
approach rate: -0.569564 m/s,
LOS rate: -0.014387 deg/s,
cmd heading: 324.880598 deg,
new cmd heading: 324.856385 deg.
2025-06-11T20:41:34.319Z,1749674494.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669814 target range: 600.332336 and range: 605.50 m.
2025-06-11T20:41:34.357Z,1749674494.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024975
2025-06-11T20:41:34.615Z,1749674494.615 [DAT](INFO): DAT read: 20:41:35.2499 LVL= 12784, 18785, 13346, 21363, AGC= 72, IDX= 243, 0.04,-2.246, 2.632,-2.409,-2.900, PHS= 0.741,-0.705, 0.487, RAW= 140.5, -7.9, CAL= 146.8, -17.6, ROT= 3.2, 17.6
2025-06-11T20:41:34.616Z,1749674494.616 [DAT](INFO): got valid direction response:
20:41:35.2499 LVL= 12784, 18785, 13346, 21363, AGC= 72, IDX= 243, 0.04,-2.246, 2.632,-2.409,-2.900, PHS= 0.741,-0.705, 0.487, RAW= 140.5, -7.9, CAL= 146.8, -17.6, ROT= 3.2, 17.6
2025-06-11T20:41:34.617Z,1749674494.617 [DAT](INFO): DAT read: Bearing 3.2, 17.6 (Local)
2025-06-11T20:41:34.618Z,1749674494.618 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.2, 17.6 (Local)
2025-06-11T20:41:34.619Z,1749674494.619 [DAT](INFO): DAT read: Range 10 to 50 : 597.0 m (Round-trip 796.0 ms) speed 0.3 m/s
2025-06-11T20:41:34.620Z,1749674494.620 [DAT](INFO): DAT read: user:400>
2025-06-11T20:41:34.621Z,1749674494.621 [DAT](INFO): DAT read: Tx time:20:41:36.3497
2025-06-11T20:41:34.622Z,1749674494.622 [DAT](INFO): Ping request sent.
2025-06-11T20:41:34.622Z,1749674494.622 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:34.622Z,1749674494.622 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:41:34.623Z,1749674494.623 [DAT](INFO): direction in FSK: [0.951704,0.053209,-0.302370]
2025-06-11T20:41:34.623Z,1749674494.623 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:34.632Z,1749674494.632 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:34.635Z,1749674494.635 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:34.635Z,1749674494.635 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:34.659Z,1749674494.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 597.000000 m,
deltaT: 15.376144 s,
deltaX: -8.500000 m,
approachRate: -0.552804 m/s,
rangeRepo size: 4
2025-06-11T20:41:34.665Z,1749674494.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 591.897156 m,
bearing: 328.746832 deg,
lat: 36.906165 deg,
lon: -122.115787 deg,
deltaT: 15.376144 s,
deltaX: -8.435181 m,
approachRate: -0.548589 m/s,
posRepo size: 4
2025-06-11T20:41:34.666Z,1749674494.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:34.673Z,1749674494.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 579.509399 m,
bearing: 326.677396 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.014387 deg/s,
cmd heading: 324.856392 deg,
new cmd heading: 324.841577 deg.
2025-06-11T20:41:34.674Z,1749674494.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669555 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:34.864Z,1749674494.864 [DAT](INFO): DAT read: TxSync time:20:41:36.3489
2025-06-11T20:41:35.052Z,1749674495.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:35.054Z,1749674495.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:35.061Z,1749674495.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 579.268555 m,
bearing: 326.671286 deg,
approach rate: -0.608592 m/s,
LOS rate: -0.015446 deg/s,
cmd heading: 324.841584 deg,
new cmd heading: 324.823246 deg.
2025-06-11T20:41:35.062Z,1749674495.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669235 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:35.114Z,1749674495.114 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:35.114Z,1749674495.114 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:35.115Z,1749674495.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:35.365Z,1749674495.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743060
2025-06-11T20:41:35.448Z,1749674495.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:35.451Z,1749674495.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 579.041382 m,
bearing: 326.664472 deg,
approach rate: -0.576553 m/s,
LOS rate: -0.017299 deg/s,
cmd heading: 324.823252 deg,
new cmd heading: 324.802803 deg.
2025-06-11T20:41:35.452Z,1749674495.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668879 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:35.617Z,1749674495.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995224
2025-06-11T20:41:35.828Z,1749674495.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:35.831Z,1749674495.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 578.837952 m,
bearing: 326.658356 deg,
approach rate: -0.535842 m/s,
LOS rate: -0.016115 deg/s,
cmd heading: 324.802816 deg,
new cmd heading: 324.784462 deg.
2025-06-11T20:41:35.831Z,1749674495.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668558 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:35.869Z,1749674495.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247385
2025-06-11T20:41:36.121Z,1749674496.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499299
2025-06-11T20:41:36.291Z,1749674496.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:36.298Z,1749674496.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 578.603333 m,
bearing: 326.651254 deg,
approach rate: -0.506806 m/s,
LOS rate: -0.015348 deg/s,
cmd heading: 324.784456 deg,
new cmd heading: 324.763141 deg.
2025-06-11T20:41:36.298Z,1749674496.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668186 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:36.374Z,1749674496.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752356
2025-06-11T20:41:36.625Z,1749674496.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003107
2025-06-11T20:41:36.672Z,1749674496.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:36.675Z,1749674496.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 578.375305 m,
bearing: 326.642890 deg,
approach rate: -0.604820 m/s,
LOS rate: -0.022194 deg/s,
cmd heading: 324.763146 deg,
new cmd heading: 324.738044 deg.
2025-06-11T20:41:36.675Z,1749674496.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667748 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:36.881Z,1749674496.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258834
2025-06-11T20:41:37.024Z,1749674497.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:37.027Z,1749674497.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 578.176392 m,
bearing: 326.635572 deg,
approach rate: -0.558450 m/s,
LOS rate: -0.020552 deg/s,
cmd heading: 324.738038 deg,
new cmd heading: 324.716077 deg.
2025-06-11T20:41:37.028Z,1749674497.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667365 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:37.129Z,1749674497.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507760
2025-06-11T20:41:37.382Z,1749674497.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760392
2025-06-11T20:41:37.455Z,1749674497.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:37.457Z,1749674497.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:37.460Z,1749674497.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 577.940247 m,
bearing: 326.626916 deg,
approach rate: -0.544984 m/s,
LOS rate: -0.019985 deg/s,
cmd heading: 324.716072 deg,
new cmd heading: 324.690094 deg.
2025-06-11T20:41:37.461Z,1749674497.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666911 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:37.633Z,1749674497.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010997
2025-06-11T20:41:37.849Z,1749674497.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:37.851Z,1749674497.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 577.735046 m,
bearing: 326.619378 deg,
approach rate: -0.524235 m/s,
LOS rate: -0.019265 deg/s,
cmd heading: 324.690090 deg,
new cmd heading: 324.667467 deg.
2025-06-11T20:41:37.857Z,1749674497.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666516 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:37.885Z,1749674497.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263572
2025-06-11T20:41:38.137Z,1749674498.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514998
2025-06-11T20:41:38.254Z,1749674498.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:38.264Z,1749674498.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 577.508606 m,
bearing: 326.611043 deg,
approach rate: -0.560233 m/s,
LOS rate: -0.020629 deg/s,
cmd heading: 324.667469 deg,
new cmd heading: 324.642454 deg.
2025-06-11T20:41:38.267Z,1749674498.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666080 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:38.389Z,1749674498.389 [DAT](INFO): DAT read: Rx Time:20:41:39.5464
2025-06-11T20:41:38.390Z,1749674498.390 [DAT](INFO): Rx dataTimestamp_ set to:1749674498.389591
2025-06-11T20:41:38.390Z,1749674498.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768717
2025-06-11T20:41:38.641Z,1749674498.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019184
2025-06-11T20:41:38.671Z,1749674498.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.90 m.
2025-06-11T20:41:38.674Z,1749674498.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.897156 m,
nav range: 577.276978 m,
bearing: 326.601888 deg,
approach rate: -0.554002 m/s,
LOS rate: -0.021905 deg/s,
cmd heading: 324.642443 deg,
new cmd heading: 324.614968 deg.
2025-06-11T20:41:38.676Z,1749674498.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665600 target range: 591.897156 and range: 597.00 m.
2025-06-11T20:41:38.899Z,1749674498.899 [DAT](INFO): DAT read: 20:41:39.5464 LVL= 19408, 19649, 19538, 27107, AGC= 73, IDX= 399, 0.40, 0.604,-1.144, 0.378,-0.151, PHS= 0.843,-0.947, 0.526, RAW= 140.4, -5.2, CAL= 146.1, -14.7, ROT= 3.9, 14.7
2025-06-11T20:41:38.900Z,1749674498.900 [DAT](INFO): got valid direction response:
20:41:39.5464 LVL= 19408, 19649, 19538, 27107, AGC= 73, IDX= 399, 0.40, 0.604,-1.144, 0.378,-0.151, PHS= 0.843,-0.947, 0.526, RAW= 140.4, -5.2, CAL= 146.1, -14.7, ROT= 3.9, 14.7
2025-06-11T20:41:38.901Z,1749674498.901 [DAT](INFO): DAT read: Bearing 3.9, 14.7 (Local)
2025-06-11T20:41:38.901Z,1749674498.901 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.9, 14.7 (Local)
2025-06-11T20:41:38.903Z,1749674498.903 [DAT](INFO): DAT read: Range 10 to 50 : 594.3 m (Round-trip 792.5 ms) speed 0.5 m/s
2025-06-11T20:41:38.903Z,1749674498.903 [DAT](INFO): DAT read: user:401>
2025-06-11T20:41:38.908Z,1749674498.908 [DAT](INFO): DAT read: Tx time:20:41:40.6498
2025-06-11T20:41:38.910Z,1749674498.910 [DAT](INFO): Ping request sent.
2025-06-11T20:41:38.910Z,1749674498.910 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:38.910Z,1749674498.910 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:41:38.911Z,1749674498.911 [DAT](INFO): direction in FSK: [0.965028,0.065789,-0.253758]
2025-06-11T20:41:38.911Z,1749674498.911 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:38.931Z,1749674498.931 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:38.945Z,1749674498.945 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:38.945Z,1749674498.945 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:39.082Z,1749674499.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 594.299988 m,
deltaT: 4.283658 s,
deltaX: -2.700012 m,
approachRate: -0.630305 m/s,
rangeRepo size: 4
2025-06-11T20:41:39.088Z,1749674499.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 589.219055 m,
bearing: 329.466322 deg,
lat: 36.906317 deg,
lon: -122.115627 deg,
deltaT: 4.283658 s,
deltaX: -2.678101 m,
approachRate: -0.625190 m/s,
posRepo size: 4
2025-06-11T20:41:39.089Z,1749674499.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:39.096Z,1749674499.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 583.719177 m,
bearing: 328.674264 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021905 deg/s,
cmd heading: 324.614958 deg,
new cmd heading: 324.587968 deg.
2025-06-11T20:41:39.097Z,1749674499.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665129 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:39.145Z,1749674499.145 [DAT](INFO): DAT read: TxSync time:20:41:40.6490
2025-06-11T20:41:39.537Z,1749674499.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:39.540Z,1749674499.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:39.542Z,1749674499.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 583.449280 m,
bearing: 328.666388 deg,
approach rate: -0.589365 m/s,
LOS rate: -0.017206 deg/s,
cmd heading: 324.587965 deg,
new cmd heading: 324.564327 deg.
2025-06-11T20:41:39.543Z,1749674499.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664716 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:39.649Z,1749674499.649 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:39.649Z,1749674499.649 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:39.649Z,1749674499.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:39.869Z,1749674499.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:39.871Z,1749674499.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 583.270996 m,
bearing: 328.661244 deg,
approach rate: -0.541929 m/s,
LOS rate: -0.015641 deg/s,
cmd heading: 324.564333 deg,
new cmd heading: 324.548896 deg.
2025-06-11T20:41:39.876Z,1749674499.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664447 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:39.901Z,1749674499.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991148
2025-06-11T20:41:40.153Z,1749674500.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243076
2025-06-11T20:41:40.259Z,1749674500.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:40.265Z,1749674500.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 583.039368 m,
bearing: 328.654609 deg,
approach rate: -0.595398 m/s,
LOS rate: -0.017062 deg/s,
cmd heading: 324.548897 deg,
new cmd heading: 324.528984 deg.
2025-06-11T20:41:40.266Z,1749674500.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664099 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:40.405Z,1749674500.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495176
2025-06-11T20:41:40.657Z,1749674500.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747121
2025-06-11T20:41:40.691Z,1749674500.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:40.694Z,1749674500.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 582.793396 m,
bearing: 328.648690 deg,
approach rate: -0.567479 m/s,
LOS rate: -0.013663 deg/s,
cmd heading: 324.528980 deg,
new cmd heading: 324.511214 deg.
2025-06-11T20:41:40.695Z,1749674500.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663789 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:40.909Z,1749674500.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999602
2025-06-11T20:41:41.075Z,1749674501.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:41.078Z,1749674501.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 582.575256 m,
bearing: 328.643443 deg,
approach rate: -0.567507 m/s,
LOS rate: -0.013654 deg/s,
cmd heading: 324.511221 deg,
new cmd heading: 324.495476 deg.
2025-06-11T20:41:41.079Z,1749674501.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663515 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:41.162Z,1749674501.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251681
2025-06-11T20:41:41.413Z,1749674501.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503036
2025-06-11T20:41:41.496Z,1749674501.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:41.499Z,1749674501.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 582.341248 m,
bearing: 328.637811 deg,
approach rate: -0.556471 m/s,
LOS rate: -0.013398 deg/s,
cmd heading: 324.495485 deg,
new cmd heading: 324.478582 deg.
2025-06-11T20:41:41.500Z,1749674501.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663219 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:41.665Z,1749674501.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755095
2025-06-11T20:41:41.878Z,1749674501.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:41.882Z,1749674501.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:41.887Z,1749674501.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 582.121887 m,
bearing: 328.632568 deg,
approach rate: -0.568946 m/s,
LOS rate: -0.013605 deg/s,
cmd heading: 324.478573 deg,
new cmd heading: 324.462836 deg.
2025-06-11T20:41:41.889Z,1749674501.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662945 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:41.917Z,1749674501.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007020
2025-06-11T20:41:42.169Z,1749674502.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259343
2025-06-11T20:41:42.289Z,1749674502.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:42.295Z,1749674502.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 581.887024 m,
bearing: 328.626971 deg,
approach rate: -0.578028 m/s,
LOS rate: -0.013780 deg/s,
cmd heading: 324.462836 deg,
new cmd heading: 324.446040 deg.
2025-06-11T20:41:42.296Z,1749674502.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662652 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:42.421Z,1749674502.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511250
2025-06-11T20:41:42.671Z,1749674502.671 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250.31, +9770.91, -58.74, 19.52, 0.00
2025-06-11T20:41:42.673Z,1749674502.673 [DAT](INFO): DAT read: Rx Time:20:41:43.8499
2025-06-11T20:41:42.673Z,1749674502.673 [DAT](INFO): Rx dataTimestamp_ set to:1749674502.673065
2025-06-11T20:41:42.674Z,1749674502.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764200
2025-06-11T20:41:42.689Z,1749674502.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:42.708Z,1749674502.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 581.659302 m,
bearing: 328.621554 deg,
approach rate: -0.567528 m/s,
LOS rate: -0.013506 deg/s,
cmd heading: 324.446034 deg,
new cmd heading: 324.429776 deg.
2025-06-11T20:41:42.709Z,1749674502.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662368 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:42.926Z,1749674502.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015567
2025-06-11T20:41:43.095Z,1749674503.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.22 m.
2025-06-11T20:41:43.098Z,1749674503.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 589.219055 m,
nav range: 581.428833 m,
bearing: 328.616075 deg,
approach rate: -0.567555 m/s,
LOS rate: -0.013497 deg/s,
cmd heading: 324.429778 deg,
new cmd heading: 324.413336 deg.
2025-06-11T20:41:43.099Z,1749674503.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662081 target range: 589.219055 and range: 594.30 m.
2025-06-11T20:41:43.183Z,1749674503.183 [DAT](INFO): DAT read: 20:41:43.8499 LVL= 10480, 14065, 10962, 18355, AGC= 70, IDX= 406, 0.03,-0.138,-1.956,-0.341,-1.005, PHS= 0.955,-0.904, 0.661, RAW= 141.6, -8.3, CAL= 148.0, -17.8, ROT= 2.0, 17.8
2025-06-11T20:41:43.184Z,1749674503.184 [DAT](INFO): got valid direction response:
20:41:43.8499 LVL= 10480, 14065, 10962, 18355, AGC= 70, IDX= 406, 0.03,-0.138,-1.956,-0.341,-1.005, PHS= 0.955,-0.904, 0.661, RAW= 141.6, -8.3, CAL= 148.0, -17.8, ROT= 2.0, 17.8
2025-06-11T20:41:43.185Z,1749674503.185 [DAT](INFO): DAT read: Bearing 2.0, 17.8 (Local)
2025-06-11T20:41:43.186Z,1749674503.186 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.0, 17.8 (Local)
2025-06-11T20:41:43.187Z,1749674503.187 [DAT](INFO): DAT read: Range 10 to 50 : 596.9 m (Round-trip 795.9 ms) speed 0.4 m/s
2025-06-11T20:41:43.188Z,1749674503.188 [DAT](INFO): DAT read: user:402>
2025-06-11T20:41:43.189Z,1749674503.189 [DAT](INFO): DAT read: Tx time:20:41:44.9498
2025-06-11T20:41:43.189Z,1749674503.189 [DAT](INFO): Ping request sent.
2025-06-11T20:41:43.189Z,1749674503.189 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:43.190Z,1749674503.190 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:41:43.191Z,1749674503.191 [DAT](INFO): direction in FSK: [0.951549,0.033229,-0.305695]
2025-06-11T20:41:43.191Z,1749674503.191 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:43.191Z,1749674503.191 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:43.195Z,1749674503.195 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:43.195Z,1749674503.195 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:43.429Z,1749674503.429 [DAT](INFO): DAT read: TxSync time:20:41:44.9490
2025-06-11T20:41:43.543Z,1749674503.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 596.900024 m,
deltaT: 4.284355 s,
deltaX: 2.600037 m,
approachRate: 0.606868 m/s,
rangeRepo size: 4
2025-06-11T20:41:43.550Z,1749674503.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 591.797974 m,
bearing: 327.249242 deg,
lat: 36.906317 deg,
lon: -122.115627 deg,
deltaT: 4.284355 s,
deltaX: 2.578918 m,
approachRate: 0.601939 m/s,
posRepo size: 4
2025-06-11T20:41:43.550Z,1749674503.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:43.557Z,1749674503.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 581.187744 m,
bearing: 328.612769 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013497 deg/s,
cmd heading: 324.413331 deg,
new cmd heading: 324.395203 deg.
2025-06-11T20:41:43.558Z,1749674503.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661764 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:43.903Z,1749674503.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:43.906Z,1749674503.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:43.909Z,1749674503.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 580.976013 m,
bearing: 328.609902 deg,
approach rate: -0.583109 m/s,
LOS rate: -0.007900 deg/s,
cmd heading: 324.395190 deg,
new cmd heading: 324.386585 deg.
2025-06-11T20:41:43.910Z,1749674503.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661614 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:43.945Z,1749674503.945 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:41:43.946Z,1749674503.946 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:41:43.946Z,1749674503.946 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:44.197Z,1749674504.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007543
2025-06-11T20:41:44.320Z,1749674504.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:44.330Z,1749674504.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 580.755371 m,
bearing: 328.606923 deg,
approach rate: -0.560492 m/s,
LOS rate: -0.007569 deg/s,
cmd heading: 324.386584 deg,
new cmd heading: 324.377646 deg.
2025-06-11T20:41:44.330Z,1749674504.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661458 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:44.449Z,1749674504.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259967
2025-06-11T20:41:44.701Z,1749674504.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511581
2025-06-11T20:41:44.723Z,1749674504.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:44.726Z,1749674504.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 580.522095 m,
bearing: 328.603779 deg,
approach rate: -0.551360 m/s,
LOS rate: -0.007436 deg/s,
cmd heading: 324.377650 deg,
new cmd heading: 324.368212 deg.
2025-06-11T20:41:44.726Z,1749674504.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661294 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:44.953Z,1749674504.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763894
2025-06-11T20:41:45.107Z,1749674505.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:45.110Z,1749674505.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 580.310181 m,
bearing: 328.600898 deg,
approach rate: -0.551756 m/s,
LOS rate: -0.007503 deg/s,
cmd heading: 324.368225 deg,
new cmd heading: 324.359579 deg.
2025-06-11T20:41:45.110Z,1749674505.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661143 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:45.205Z,1749674505.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015579
2025-06-11T20:41:45.457Z,1749674505.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267589
2025-06-11T20:41:45.560Z,1749674505.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:45.563Z,1749674505.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 580.065369 m,
bearing: 328.597406 deg,
approach rate: -0.539675 m/s,
LOS rate: -0.007701 deg/s,
cmd heading: 324.359591 deg,
new cmd heading: 324.349111 deg.
2025-06-11T20:41:45.564Z,1749674505.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660960 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:45.709Z,1749674505.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519394
2025-06-11T20:41:45.888Z,1749674505.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:41:45.954Z,1749674505.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:45.957Z,1749674505.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:45.959Z,1749674505.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 579.853943 m,
bearing: 328.594388 deg,
approach rate: -0.533441 m/s,
LOS rate: -0.007617 deg/s,
cmd heading: 324.349100 deg,
new cmd heading: 324.340044 deg.
2025-06-11T20:41:45.961Z,1749674505.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771604
2025-06-11T20:41:45.962Z,1749674505.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660802 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:46.213Z,1749674506.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023540
2025-06-11T20:41:46.328Z,1749674506.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:46.331Z,1749674506.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 579.650635 m,
bearing: 328.591524 deg,
approach rate: -0.547866 m/s,
LOS rate: -0.007722 deg/s,
cmd heading: 324.340057 deg,
new cmd heading: 324.331460 deg.
2025-06-11T20:41:46.332Z,1749674506.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660652 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:46.465Z,1749674506.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275715
2025-06-11T20:41:46.717Z,1749674506.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527689
2025-06-11T20:41:46.769Z,1749674506.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:46.771Z,1749674506.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 579.412292 m,
bearing: 328.587493 deg,
approach rate: -0.540494 m/s,
LOS rate: -0.009145 deg/s,
cmd heading: 324.331451 deg,
new cmd heading: 324.319353 deg.
2025-06-11T20:41:46.773Z,1749674506.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660440 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:46.893Z,1749674506.893 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:41:46.969Z,1749674506.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779529
2025-06-11T20:41:47.128Z,1749674507.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:47.131Z,1749674507.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 579.214844 m,
bearing: 328.584175 deg,
approach rate: -0.550102 m/s,
LOS rate: -0.009246 deg/s,
cmd heading: 324.319348 deg,
new cmd heading: 324.309392 deg.
2025-06-11T20:41:47.131Z,1749674507.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660267 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:47.221Z,1749674507.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031571
2025-06-11T20:41:47.473Z,1749674507.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283860
2025-06-11T20:41:47.651Z,1749674507.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:47.653Z,1749674507.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 578.927612 m,
bearing: 328.578719 deg,
approach rate: -0.549324 m/s,
LOS rate: -0.010440 deg/s,
cmd heading: 324.309403 deg,
new cmd heading: 324.293027 deg.
2025-06-11T20:41:47.654Z,1749674507.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659981 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:47.727Z,1749674507.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537407
2025-06-11T20:41:47.970Z,1749674507.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:47.977Z,1749674507.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787530
2025-06-11T20:41:47.978Z,1749674507.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:47.992Z,1749674507.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 578.761047 m,
bearing: 328.575552 deg,
approach rate: -0.508971 m/s,
LOS rate: -0.009680 deg/s,
cmd heading: 324.293038 deg,
new cmd heading: 324.283534 deg.
2025-06-11T20:41:47.993Z,1749674507.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659815 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:48.230Z,1749674508.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040237
2025-06-11T20:41:48.361Z,1749674508.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:48.364Z,1749674508.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 578.536560 m,
bearing: 328.571282 deg,
approach rate: -0.585288 m/s,
LOS rate: -0.011139 deg/s,
cmd heading: 324.283530 deg,
new cmd heading: 324.270713 deg.
2025-06-11T20:41:48.365Z,1749674508.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659592 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:48.481Z,1749674508.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291642
2025-06-11T20:41:48.733Z,1749674508.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543467
2025-06-11T20:41:48.813Z,1749674508.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:48.815Z,1749674508.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 578.282471 m,
bearing: 328.566084 deg,
approach rate: -0.563021 m/s,
LOS rate: -0.011521 deg/s,
cmd heading: 324.270717 deg,
new cmd heading: 324.255118 deg.
2025-06-11T20:41:48.841Z,1749674508.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659319 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:48.985Z,1749674508.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795523
2025-06-11T20:41:49.149Z,1749674509.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:49.151Z,1749674509.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 578.093506 m,
bearing: 328.562211 deg,
approach rate: -0.562514 m/s,
LOS rate: -0.011534 deg/s,
cmd heading: 324.255117 deg,
new cmd heading: 324.243493 deg.
2025-06-11T20:41:49.171Z,1749674509.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659117 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:49.237Z,1749674509.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047548
2025-06-11T20:41:49.489Z,1749674509.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299419
2025-06-11T20:41:49.594Z,1749674509.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:49.597Z,1749674509.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 577.839722 m,
bearing: 328.556581 deg,
approach rate: -0.569817 m/s,
LOS rate: -0.012647 deg/s,
cmd heading: 324.243505 deg,
new cmd heading: 324.226607 deg.
2025-06-11T20:41:49.598Z,1749674509.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658822 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:49.741Z,1749674509.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551468
2025-06-11T20:41:49.971Z,1749674509.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:49.973Z,1749674509.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:49.975Z,1749674509.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 577.624207 m,
bearing: 328.551786 deg,
approach rate: -0.568807 m/s,
LOS rate: -0.012660 deg/s,
cmd heading: 324.226594 deg,
new cmd heading: 324.212204 deg.
2025-06-11T20:41:49.977Z,1749674509.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658570 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:49.995Z,1749674509.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805888
2025-06-11T20:41:50.245Z,1749674510.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055445
2025-06-11T20:41:50.366Z,1749674510.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:50.369Z,1749674510.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 577.400024 m,
bearing: 328.546788 deg,
approach rate: -0.569804 m/s,
LOS rate: -0.012707 deg/s,
cmd heading: 324.212196 deg,
new cmd heading: 324.197197 deg.
2025-06-11T20:41:50.370Z,1749674510.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658309 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:50.497Z,1749674510.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307646
2025-06-11T20:41:50.751Z,1749674510.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562126
2025-06-11T20:41:50.804Z,1749674510.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:50.807Z,1749674510.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 577.149841 m,
bearing: 328.541111 deg,
approach rate: -0.571715 m/s,
LOS rate: -0.012981 deg/s,
cmd heading: 324.197197 deg,
new cmd heading: 324.180156 deg.
2025-06-11T20:41:50.824Z,1749674510.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658011 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:51.001Z,1749674511.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811362
2025-06-11T20:41:51.189Z,1749674511.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:51.196Z,1749674511.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 576.932678 m,
bearing: 328.536175 deg,
approach rate: -0.563496 m/s,
LOS rate: -0.012811 deg/s,
cmd heading: 324.180148 deg,
new cmd heading: 324.165337 deg.
2025-06-11T20:41:51.197Z,1749674511.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657753 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:51.254Z,1749674511.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064671
2025-06-11T20:41:51.506Z,1749674511.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316527
2025-06-11T20:41:51.601Z,1749674511.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:51.604Z,1749674511.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 576.681274 m,
bearing: 328.530929 deg,
approach rate: -0.610443 m/s,
LOS rate: -0.012745 deg/s,
cmd heading: 324.165341 deg,
new cmd heading: 324.149594 deg.
2025-06-11T20:41:51.605Z,1749674511.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657478 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:51.757Z,1749674511.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567580
2025-06-11T20:41:51.979Z,1749674511.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:51.981Z,1749674511.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:51.984Z,1749674511.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 576.458313 m,
bearing: 328.526270 deg,
approach rate: -0.586866 m/s,
LOS rate: -0.012268 deg/s,
cmd heading: 324.149604 deg,
new cmd heading: 324.135621 deg.
2025-06-11T20:41:51.985Z,1749674511.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657234 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:52.009Z,1749674512.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819357
2025-06-11T20:41:52.262Z,1749674512.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071865
2025-06-11T20:41:52.380Z,1749674512.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:52.382Z,1749674512.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 576.223267 m,
bearing: 328.521356 deg,
approach rate: -0.589742 m/s,
LOS rate: -0.012333 deg/s,
cmd heading: 324.135616 deg,
new cmd heading: 324.120869 deg.
2025-06-11T20:41:52.383Z,1749674512.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656976 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:52.515Z,1749674512.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325791
2025-06-11T20:41:52.765Z,1749674512.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575349
2025-06-11T20:41:52.817Z,1749674512.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:52.819Z,1749674512.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 575.975403 m,
bearing: 328.516147 deg,
approach rate: -0.567097 m/s,
LOS rate: -0.011924 deg/s,
cmd heading: 324.120862 deg,
new cmd heading: 324.105227 deg.
2025-06-11T20:41:52.836Z,1749674512.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656703 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:53.017Z,1749674513.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827508
2025-06-11T20:41:53.206Z,1749674513.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:53.209Z,1749674513.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 575.753540 m,
bearing: 328.511480 deg,
approach rate: -0.569889 m/s,
LOS rate: -0.011993 deg/s,
cmd heading: 324.105235 deg,
new cmd heading: 324.091228 deg.
2025-06-11T20:41:53.210Z,1749674513.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656459 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:53.269Z,1749674513.269 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:53.269Z,1749674513.269 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:53.269Z,1749674513.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:53.522Z,1749674513.522 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:53.523Z,1749674513.523 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:53.525Z,1749674513.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:53.639Z,1749674513.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:53.642Z,1749674513.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 575.511353 m,
bearing: 328.506002 deg,
approach rate: -0.559609 m/s,
LOS rate: -0.012661 deg/s,
cmd heading: 324.091219 deg,
new cmd heading: 324.074781 deg.
2025-06-11T20:41:53.643Z,1749674513.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656172 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:53.772Z,1749674513.772 [DAT](INFO): Reached modem response timeout
2025-06-11T20:41:53.773Z,1749674513.773 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:41:53.773Z,1749674513.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:41:54.004Z,1749674514.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:54.006Z,1749674514.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:54.009Z,1749674514.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 575.304810 m,
bearing: 328.501325 deg,
approach rate: -0.561730 m/s,
LOS rate: -0.012725 deg/s,
cmd heading: 324.074772 deg,
new cmd heading: 324.060736 deg.
2025-06-11T20:41:54.010Z,1749674514.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655927 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:54.025Z,1749674514.025 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:41:54.025Z,1749674514.025 [DAT](INFO): response not received
2025-06-11T20:41:54.026Z,1749674514.026 [DAT](INFO): DAT read: user:403>
2025-06-11T20:41:54.026Z,1749674514.026 [DAT](INFO): DAT read: Tx time:20:41:55.8999
2025-06-11T20:41:54.027Z,1749674514.027 [DAT](INFO): Ping request sent.
2025-06-11T20:41:54.027Z,1749674514.027 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:54.027Z,1749674514.027 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:54.028Z,1749674514.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000786
2025-06-11T20:41:54.277Z,1749674514.277 [DAT](INFO): DAT read: TxSync time:20:41:55.8991
2025-06-11T20:41:54.278Z,1749674514.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251291
2025-06-11T20:41:54.405Z,1749674514.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:54.408Z,1749674514.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 575.080872 m,
bearing: 328.496250 deg,
approach rate: -0.561476 m/s,
LOS rate: -0.012729 deg/s,
cmd heading: 324.060729 deg,
new cmd heading: 324.045498 deg.
2025-06-11T20:41:54.409Z,1749674514.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655661 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:54.533Z,1749674514.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505433
2025-06-11T20:41:54.781Z,1749674514.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753966
2025-06-11T20:41:54.858Z,1749674514.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:54.861Z,1749674514.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 574.834473 m,
bearing: 328.490798 deg,
approach rate: -0.544417 m/s,
LOS rate: -0.012052 deg/s,
cmd heading: 324.045512 deg,
new cmd heading: 324.029148 deg.
2025-06-11T20:41:54.862Z,1749674514.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655375 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:55.033Z,1749674515.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006263
2025-06-11T20:41:55.232Z,1749674515.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:55.235Z,1749674515.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 574.630432 m,
bearing: 328.486289 deg,
approach rate: -0.544851 m/s,
LOS rate: -0.012044 deg/s,
cmd heading: 324.029147 deg,
new cmd heading: 324.015615 deg.
2025-06-11T20:41:55.236Z,1749674515.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655139 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:55.285Z,1749674515.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258304
2025-06-11T20:41:55.541Z,1749674515.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513592
2025-06-11T20:41:55.666Z,1749674515.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:55.673Z,1749674515.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 574.405884 m,
bearing: 328.480490 deg,
approach rate: -0.518147 m/s,
LOS rate: -0.013387 deg/s,
cmd heading: 324.015623 deg,
new cmd heading: 323.998219 deg.
2025-06-11T20:41:55.674Z,1749674515.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654836 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:55.793Z,1749674515.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766219
2025-06-11T20:41:56.026Z,1749674516.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:56.028Z,1749674516.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:56.031Z,1749674516.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 574.210571 m,
bearing: 328.475410 deg,
approach rate: -0.538603 m/s,
LOS rate: -0.014014 deg/s,
cmd heading: 323.998220 deg,
new cmd heading: 323.982973 deg.
2025-06-11T20:41:56.032Z,1749674516.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654570 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:56.041Z,1749674516.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014141
2025-06-11T20:41:56.293Z,1749674516.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266047
2025-06-11T20:41:56.428Z,1749674516.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:56.431Z,1749674516.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 573.998901 m,
bearing: 328.469871 deg,
approach rate: -0.529975 m/s,
LOS rate: -0.013872 deg/s,
cmd heading: 323.982975 deg,
new cmd heading: 323.966353 deg.
2025-06-11T20:41:56.432Z,1749674516.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654280 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:56.552Z,1749674516.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524263
2025-06-11T20:41:56.797Z,1749674516.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770046
2025-06-11T20:41:56.871Z,1749674516.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:56.894Z,1749674516.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 573.767273 m,
bearing: 328.463594 deg,
approach rate: -0.522241 m/s,
LOS rate: -0.014160 deg/s,
cmd heading: 323.966364 deg,
new cmd heading: 323.947523 deg.
2025-06-11T20:41:56.895Z,1749674516.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653951 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:57.049Z,1749674517.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021965
2025-06-11T20:41:57.252Z,1749674517.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:57.255Z,1749674517.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 573.576721 m,
bearing: 328.458406 deg,
approach rate: -0.522738 m/s,
LOS rate: -0.014236 deg/s,
cmd heading: 323.947512 deg,
new cmd heading: 323.931945 deg.
2025-06-11T20:41:57.260Z,1749674517.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653679 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:57.301Z,1749674517.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274186
2025-06-11T20:41:57.555Z,1749674517.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528184
2025-06-11T20:41:57.688Z,1749674517.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:57.697Z,1749674517.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 573.350586 m,
bearing: 328.452430 deg,
approach rate: -0.518859 m/s,
LOS rate: -0.013717 deg/s,
cmd heading: 323.931939 deg,
new cmd heading: 323.914005 deg.
2025-06-11T20:41:57.698Z,1749674517.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653366 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:57.805Z,1749674517.805 [DAT](INFO): DAT read: Rx Time:20:41:59.0814
2025-06-11T20:41:57.806Z,1749674517.806 [DAT](INFO): Rx dataTimestamp_ set to:1749674517.805612
2025-06-11T20:41:57.806Z,1749674517.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779719
2025-06-11T20:41:58.057Z,1749674518.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030005
2025-06-11T20:41:58.060Z,1749674518.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:41:58.062Z,1749674518.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.80 m.
2025-06-11T20:41:58.069Z,1749674518.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 591.797974 m,
nav range: 573.151611 m,
bearing: 328.447173 deg,
approach rate: -0.509993 m/s,
LOS rate: -0.013478 deg/s,
cmd heading: 323.914017 deg,
new cmd heading: 323.898241 deg.
2025-06-11T20:41:58.070Z,1749674518.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653091 target range: 591.797974 and range: 596.90 m.
2025-06-11T20:41:58.315Z,1749674518.315 [DAT](INFO): DAT read: 20:41:59.0814 LVL= 21936, 22193, 21202, 24131, AGC= 71, IDX= 213, 0.08, 0.739,-0.799, 0.307,-0.170, PHS= 0.997,-0.582, 0.473, RAW= 131.0, -12.7, CAL= 136.1, -23.2, ROT= 13.9, 23.2
2025-06-11T20:41:58.316Z,1749674518.316 [DAT](INFO): got valid direction response:
20:41:59.0814 LVL= 21936, 22193, 21202, 24131, AGC= 71, IDX= 213, 0.08, 0.739,-0.799, 0.307,-0.170, PHS= 0.997,-0.582, 0.473, RAW= 131.0, -12.7, CAL= 136.1, -23.2, ROT= 13.9, 23.2
2025-06-11T20:41:58.317Z,1749674518.317 [DAT](INFO): DAT read: Bearing 13.9, 23.2 (Local)
2025-06-11T20:41:58.317Z,1749674518.317 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.9, 23.2 (Local)
2025-06-11T20:41:58.319Z,1749674518.319 [DAT](INFO): DAT read: Range 10 to 50 : 583.0 m (Round-trip 777.4 ms) speed 0.4 m/s
2025-06-11T20:41:58.320Z,1749674518.320 [DAT](INFO): DAT read: user:404>
2025-06-11T20:41:58.320Z,1749674518.320 [DAT](INFO): DAT read: Tx time:20:42:00.1999
2025-06-11T20:41:58.321Z,1749674518.321 [DAT](INFO): Ping request sent.
2025-06-11T20:41:58.321Z,1749674518.321 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:41:58.321Z,1749674518.321 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:41:58.322Z,1749674518.322 [DAT](INFO): direction in FSK: [0.892220,0.220802,-0.393942]
2025-06-11T20:41:58.322Z,1749674518.322 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:58.323Z,1749674518.323 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:58.326Z,1749674518.326 [DAT](INFO): publishing transmit ping time
2025-06-11T20:41:58.326Z,1749674518.326 [DAT](INFO): publishing direction and range info
2025-06-11T20:41:58.488Z,1749674518.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 583.000000 m,
deltaT: 15.131814 s,
deltaX: -13.900024 m,
approachRate: -0.918596 m/s,
rangeRepo size: 4
2025-06-11T20:41:58.490Z,1749674518.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 578.006470 m,
bearing: 339.380727 deg,
lat: 36.906317 deg,
lon: -122.115627 deg,
deltaT: 15.131814 s,
deltaX: -13.791504 m,
approachRate: -0.911424 m/s,
posRepo size: 4
2025-06-11T20:41:58.491Z,1749674518.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:41:58.498Z,1749674518.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 572.932556 m,
bearing: 328.441381 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013478 deg/s,
cmd heading: 323.898253 deg,
new cmd heading: 323.881459 deg.
2025-06-11T20:41:58.499Z,1749674518.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652798 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:41:58.564Z,1749674518.564 [DAT](INFO): DAT read: TxSync time:20:42:00.1991
2025-06-11T20:41:58.909Z,1749674518.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:41:58.917Z,1749674518.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 572.696228 m,
bearing: 328.435351 deg,
approach rate: -0.547223 m/s,
LOS rate: -0.013969 deg/s,
cmd heading: 323.881451 deg,
new cmd heading: 323.863352 deg.
2025-06-11T20:41:58.925Z,1749674518.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652482 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:41:59.268Z,1749674519.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:41:59.271Z,1749674519.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 572.506165 m,
bearing: 328.430506 deg,
approach rate: -0.529679 m/s,
LOS rate: -0.013506 deg/s,
cmd heading: 323.863364 deg,
new cmd heading: 323.848825 deg.
2025-06-11T20:41:59.272Z,1749674519.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652228 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:41:59.692Z,1749674519.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:41:59.694Z,1749674519.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 572.263245 m,
bearing: 328.425061 deg,
approach rate: -0.573258 m/s,
LOS rate: -0.012856 deg/s,
cmd heading: 323.848830 deg,
new cmd heading: 323.832486 deg.
2025-06-11T20:41:59.695Z,1749674519.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651943 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:00.065Z,1749674520.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:00.067Z,1749674520.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:00.069Z,1749674520.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 572.054260 m,
bearing: 328.420414 deg,
approach rate: -0.557250 m/s,
LOS rate: -0.012395 deg/s,
cmd heading: 323.832492 deg,
new cmd heading: 323.818546 deg.
2025-06-11T20:42:00.070Z,1749674520.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651700 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:00.073Z,1749674520.073 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:00.073Z,1749674520.073 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:00.073Z,1749674520.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:00.325Z,1749674520.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003940
2025-06-11T20:42:00.535Z,1749674520.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:00.559Z,1749674520.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 571.792847 m,
bearing: 328.414635 deg,
approach rate: -0.558473 m/s,
LOS rate: -0.012352 deg/s,
cmd heading: 323.818558 deg,
new cmd heading: 323.801213 deg.
2025-06-11T20:42:00.565Z,1749674520.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651397 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:00.581Z,1749674520.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258643
2025-06-11T20:42:00.830Z,1749674520.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508349
2025-06-11T20:42:01.081Z,1749674521.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760165
2025-06-11T20:42:01.127Z,1749674521.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:01.130Z,1749674521.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 571.460815 m,
bearing: 328.408423 deg,
approach rate: -0.560659 m/s,
LOS rate: -0.010496 deg/s,
cmd heading: 323.801210 deg,
new cmd heading: 323.782563 deg.
2025-06-11T20:42:01.131Z,1749674521.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651072 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:01.333Z,1749674521.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011917
2025-06-11T20:42:01.499Z,1749674521.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:01.502Z,1749674521.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 571.254639 m,
bearing: 328.404563 deg,
approach rate: -0.553634 m/s,
LOS rate: -0.010368 deg/s,
cmd heading: 323.782549 deg,
new cmd heading: 323.770966 deg.
2025-06-11T20:42:01.503Z,1749674521.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650869 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:01.588Z,1749674521.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266341
2025-06-11T20:42:01.837Z,1749674521.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515885
2025-06-11T20:42:01.971Z,1749674521.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:01.974Z,1749674521.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 570.991394 m,
bearing: 328.400084 deg,
approach rate: -0.558302 m/s,
LOS rate: -0.009504 deg/s,
cmd heading: 323.770965 deg,
new cmd heading: 323.757521 deg.
2025-06-11T20:42:01.975Z,1749674521.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650635 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:02.089Z,1749674522.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767952
2025-06-11T20:42:02.295Z,1749674522.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:02.297Z,1749674522.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:02.300Z,1749674522.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 570.791138 m,
bearing: 328.396678 deg,
approach rate: -0.613604 m/s,
LOS rate: -0.010439 deg/s,
cmd heading: 323.757524 deg,
new cmd heading: 323.747303 deg.
2025-06-11T20:42:02.301Z,1749674522.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650456 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:02.343Z,1749674522.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022556
2025-06-11T20:42:02.594Z,1749674522.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273383
2025-06-11T20:42:02.746Z,1749674522.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:02.748Z,1749674522.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 570.538025 m,
bearing: 328.393044 deg,
approach rate: -0.564598 m/s,
LOS rate: -0.008109 deg/s,
cmd heading: 323.747306 deg,
new cmd heading: 323.736399 deg.
2025-06-11T20:42:02.749Z,1749674522.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650266 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:02.845Z,1749674522.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524227
2025-06-11T20:42:03.097Z,1749674523.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776011
2025-06-11T20:42:03.107Z,1749674523.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:03.110Z,1749674523.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 570.334473 m,
bearing: 328.390126 deg,
approach rate: -0.563052 m/s,
LOS rate: -0.008074 deg/s,
cmd heading: 323.736405 deg,
new cmd heading: 323.727648 deg.
2025-06-11T20:42:03.111Z,1749674523.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650113 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:03.349Z,1749674523.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027920
2025-06-11T20:42:03.508Z,1749674523.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:03.511Z,1749674523.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 570.108459 m,
bearing: 328.386884 deg,
approach rate: -0.563082 m/s,
LOS rate: -0.008081 deg/s,
cmd heading: 323.727635 deg,
new cmd heading: 323.717903 deg.
2025-06-11T20:42:03.512Z,1749674523.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649943 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:03.601Z,1749674523.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280015
2025-06-11T20:42:03.853Z,1749674523.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531873
2025-06-11T20:42:03.975Z,1749674523.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:03.982Z,1749674523.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 569.863831 m,
bearing: 328.383109 deg,
approach rate: -0.523957 m/s,
LOS rate: -0.008088 deg/s,
cmd heading: 323.717909 deg,
new cmd heading: 323.706580 deg.
2025-06-11T20:42:03.983Z,1749674523.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649745 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:04.106Z,1749674524.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784792
2025-06-11T20:42:04.327Z,1749674524.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:04.330Z,1749674524.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:04.333Z,1749674524.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 569.661926 m,
bearing: 328.379996 deg,
approach rate: -0.569650 m/s,
LOS rate: -0.008785 deg/s,
cmd heading: 323.706570 deg,
new cmd heading: 323.697229 deg.
2025-06-11T20:42:04.334Z,1749674524.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649582 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:04.357Z,1749674524.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035981
2025-06-11T20:42:04.609Z,1749674524.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287906
2025-06-11T20:42:04.769Z,1749674524.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:04.776Z,1749674524.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 569.427734 m,
bearing: 328.376472 deg,
approach rate: -0.533056 m/s,
LOS rate: -0.008026 deg/s,
cmd heading: 323.697227 deg,
new cmd heading: 323.686648 deg.
2025-06-11T20:42:04.777Z,1749674524.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649398 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:04.862Z,1749674524.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540819
2025-06-11T20:42:05.113Z,1749674525.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791852
2025-06-11T20:42:05.130Z,1749674525.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:05.133Z,1749674525.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 569.225891 m,
bearing: 328.373441 deg,
approach rate: -0.559716 m/s,
LOS rate: -0.008407 deg/s,
cmd heading: 323.686654 deg,
new cmd heading: 323.677559 deg.
2025-06-11T20:42:05.134Z,1749674525.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649239 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:05.365Z,1749674525.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043955
2025-06-11T20:42:05.529Z,1749674525.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:05.531Z,1749674525.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 569.012207 m,
bearing: 328.370244 deg,
approach rate: -0.535724 m/s,
LOS rate: -0.008017 deg/s,
cmd heading: 323.677556 deg,
new cmd heading: 323.667962 deg.
2025-06-11T20:42:05.532Z,1749674525.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649072 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:05.618Z,1749674525.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297016
2025-06-11T20:42:05.869Z,1749674525.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547975
2025-06-11T20:42:05.999Z,1749674525.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:06.002Z,1749674526.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 568.773926 m,
bearing: 328.366424 deg,
approach rate: -0.506747 m/s,
LOS rate: -0.008128 deg/s,
cmd heading: 323.667966 deg,
new cmd heading: 323.656500 deg.
2025-06-11T20:42:06.003Z,1749674526.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648871 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:06.121Z,1749674526.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799911
2025-06-11T20:42:06.335Z,1749674526.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:06.353Z,1749674526.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:06.360Z,1749674526.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 568.595215 m,
bearing: 328.363559 deg,
approach rate: -0.504535 m/s,
LOS rate: -0.008092 deg/s,
cmd heading: 323.656491 deg,
new cmd heading: 323.647893 deg.
2025-06-11T20:42:06.361Z,1749674526.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648721 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:06.373Z,1749674526.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052047
2025-06-11T20:42:06.625Z,1749674526.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303957
2025-06-11T20:42:06.783Z,1749674526.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:06.786Z,1749674526.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 568.366638 m,
bearing: 328.359364 deg,
approach rate: -0.531073 m/s,
LOS rate: -0.009750 deg/s,
cmd heading: 323.647885 deg,
new cmd heading: 323.635296 deg.
2025-06-11T20:42:06.787Z,1749674526.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648501 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:06.882Z,1749674526.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560813
2025-06-11T20:42:07.133Z,1749674527.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812573
2025-06-11T20:42:07.157Z,1749674527.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:07.159Z,1749674527.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 568.175659 m,
bearing: 328.355871 deg,
approach rate: -0.511831 m/s,
LOS rate: -0.009365 deg/s,
cmd heading: 323.635291 deg,
new cmd heading: 323.624807 deg.
2025-06-11T20:42:07.160Z,1749674527.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648318 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:07.386Z,1749674527.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064459
2025-06-11T20:42:07.568Z,1749674527.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:07.571Z,1749674527.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 567.973328 m,
bearing: 328.352174 deg,
approach rate: -0.511641 m/s,
LOS rate: -0.009352 deg/s,
cmd heading: 323.624799 deg,
new cmd heading: 323.613705 deg.
2025-06-11T20:42:07.576Z,1749674527.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648125 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:07.638Z,1749674527.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316493
2025-06-11T20:42:07.889Z,1749674527.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567933
2025-06-11T20:42:08.101Z,1749674528.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:08.108Z,1749674528.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 567.705261 m,
bearing: 328.346785 deg,
approach rate: -0.488068 m/s,
LOS rate: -0.009816 deg/s,
cmd heading: 323.613707 deg,
new cmd heading: 323.597534 deg.
2025-06-11T20:42:08.109Z,1749674528.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647842 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:08.141Z,1749674528.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820135
2025-06-11T20:42:08.393Z,1749674528.393 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:08.393Z,1749674528.393 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:08.394Z,1749674528.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:08.580Z,1749674528.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:08.582Z,1749674528.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:08.585Z,1749674528.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 567.449036 m,
bearing: 328.341656 deg,
approach rate: -0.533161 m/s,
LOS rate: -0.010677 deg/s,
cmd heading: 323.597533 deg,
new cmd heading: 323.582139 deg.
2025-06-11T20:42:08.586Z,1749674528.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647574 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:08.645Z,1749674528.645 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:08.645Z,1749674528.645 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:08.645Z,1749674528.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:08.896Z,1749674528.896 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:08.897Z,1749674528.897 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:08.897Z,1749674528.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:09.045Z,1749674529.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:09.053Z,1749674529.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 567.221252 m,
bearing: 328.336655 deg,
approach rate: -0.491513 m/s,
LOS rate: -0.010795 deg/s,
cmd heading: 323.582152 deg,
new cmd heading: 323.567143 deg.
2025-06-11T20:42:09.054Z,1749674529.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647312 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:09.149Z,1749674529.149 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:09.150Z,1749674529.150 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:09.150Z,1749674529.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:09.401Z,1749674529.401 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:42:09.401Z,1749674529.401 [DAT](INFO): response not received
2025-06-11T20:42:09.402Z,1749674529.402 [DAT](INFO): DAT read: user:405>
2025-06-11T20:42:09.402Z,1749674529.402 [DAT](INFO): DAT read: Tx time:20:42:11.1499
2025-06-11T20:42:09.403Z,1749674529.403 [DAT](INFO): Ping request sent.
2025-06-11T20:42:09.403Z,1749674529.403 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:42:09.403Z,1749674529.403 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:09.403Z,1749674529.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000775
2025-06-11T20:42:09.420Z,1749674529.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:09.423Z,1749674529.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 567.018555 m,
bearing: 328.332203 deg,
approach rate: -0.541018 m/s,
LOS rate: -0.011888 deg/s,
cmd heading: 323.567153 deg,
new cmd heading: 323.553790 deg.
2025-06-11T20:42:09.424Z,1749674529.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647079 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:09.653Z,1749674529.653 [DAT](INFO): DAT read: TxSync time:20:42:11.1491
2025-06-11T20:42:09.654Z,1749674529.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251044
2025-06-11T20:42:09.825Z,1749674529.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:09.828Z,1749674529.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 566.805359 m,
bearing: 328.327621 deg,
approach rate: -0.525710 m/s,
LOS rate: -0.011302 deg/s,
cmd heading: 323.553793 deg,
new cmd heading: 323.540043 deg.
2025-06-11T20:42:09.829Z,1749674529.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646839 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:09.906Z,1749674529.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503059
2025-06-11T20:42:10.157Z,1749674530.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754303
2025-06-11T20:42:10.212Z,1749674530.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:10.215Z,1749674530.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 566.602539 m,
bearing: 328.323273 deg,
approach rate: -0.524946 m/s,
LOS rate: -0.011258 deg/s,
cmd heading: 323.540050 deg,
new cmd heading: 323.527001 deg.
2025-06-11T20:42:10.216Z,1749674530.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646611 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:10.409Z,1749674530.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006225
2025-06-11T20:42:10.614Z,1749674530.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:10.617Z,1749674530.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:10.619Z,1749674530.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 566.389709 m,
bearing: 328.318746 deg,
approach rate: -0.525626 m/s,
LOS rate: -0.011185 deg/s,
cmd heading: 323.526991 deg,
new cmd heading: 323.513405 deg.
2025-06-11T20:42:10.621Z,1749674530.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646374 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:10.661Z,1749674530.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258391
2025-06-11T20:42:10.913Z,1749674530.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510319
2025-06-11T20:42:11.034Z,1749674531.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:11.037Z,1749674531.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 566.163940 m,
bearing: 328.314036 deg,
approach rate: -0.541254 m/s,
LOS rate: -0.011296 deg/s,
cmd heading: 323.513413 deg,
new cmd heading: 323.499277 deg.
2025-06-11T20:42:11.038Z,1749674531.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646128 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:11.165Z,1749674531.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762106
2025-06-11T20:42:11.417Z,1749674531.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014135
2025-06-11T20:42:11.418Z,1749674531.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:11.421Z,1749674531.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 565.956848 m,
bearing: 328.309701 deg,
approach rate: -0.538359 m/s,
LOS rate: -0.011274 deg/s,
cmd heading: 323.499288 deg,
new cmd heading: 323.486277 deg.
2025-06-11T20:42:11.422Z,1749674531.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645901 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:11.672Z,1749674531.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268896
2025-06-11T20:42:11.858Z,1749674531.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:11.861Z,1749674531.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 565.715088 m,
bearing: 328.304696 deg,
approach rate: -0.550477 m/s,
LOS rate: -0.011400 deg/s,
cmd heading: 323.486283 deg,
new cmd heading: 323.471263 deg.
2025-06-11T20:42:11.862Z,1749674531.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645638 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:11.922Z,1749674531.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518983
2025-06-11T20:42:12.173Z,1749674532.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770015
2025-06-11T20:42:12.245Z,1749674532.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:12.247Z,1749674532.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 565.506836 m,
bearing: 328.300380 deg,
approach rate: -0.538041 m/s,
LOS rate: -0.011155 deg/s,
cmd heading: 323.471257 deg,
new cmd heading: 323.458303 deg.
2025-06-11T20:42:12.253Z,1749674532.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645412 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:12.425Z,1749674532.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022037
2025-06-11T20:42:12.628Z,1749674532.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:12.630Z,1749674532.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:12.633Z,1749674532.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 565.291565 m,
bearing: 328.295926 deg,
approach rate: -0.558633 m/s,
LOS rate: -0.011561 deg/s,
cmd heading: 323.458307 deg,
new cmd heading: 323.444941 deg.
2025-06-11T20:42:12.634Z,1749674532.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645179 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:12.678Z,1749674532.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274995
2025-06-11T20:42:12.931Z,1749674532.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528087
2025-06-11T20:42:13.062Z,1749674533.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:13.081Z,1749674533.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 565.051453 m,
bearing: 328.290504 deg,
approach rate: -0.555605 m/s,
LOS rate: -0.012553 deg/s,
cmd heading: 323.444947 deg,
new cmd heading: 323.428672 deg.
2025-06-11T20:42:13.082Z,1749674533.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644895 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:13.182Z,1749674533.182 [DAT](INFO): DAT read: Rx Time:20:42:14.3205
2025-06-11T20:42:13.182Z,1749674533.182 [DAT](INFO): Rx dataTimestamp_ set to:1749674533.181755
2025-06-11T20:42:13.183Z,1749674533.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779893
2025-06-11T20:42:13.433Z,1749674533.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030154
2025-06-11T20:42:13.447Z,1749674533.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:13.450Z,1749674533.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 564.837708 m,
bearing: 328.285672 deg,
approach rate: -0.555107 m/s,
LOS rate: -0.012552 deg/s,
cmd heading: 323.428664 deg,
new cmd heading: 323.414164 deg.
2025-06-11T20:42:13.454Z,1749674533.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644642 target range: 578.006470 and range: 583.00 m.
2025-06-11T20:42:13.687Z,1749674533.687 [DAT](INFO): DAT read: Range 10 to 50 : 574.8 m (Round-trip 766.4 ms) speed 0.8 m/s
2025-06-11T20:42:13.688Z,1749674533.688 [DAT](INFO): DAT read: user:406>
2025-06-11T20:42:13.689Z,1749674533.689 [DAT](INFO): DAT read: Tx time:20:42:15.4000
2025-06-11T20:42:13.690Z,1749674533.690 [DAT](INFO): Ping request sent.
2025-06-11T20:42:13.690Z,1749674533.690 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:42:13.691Z,1749674533.691 [DAT](INFO): DAT read: TxSync time:20:42:15.3992
2025-06-11T20:42:13.691Z,1749674533.691 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:42:13.691Z,1749674533.691 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:13.694Z,1749674533.694 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:13.905Z,1749674533.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 574.799988 m,
deltaT: 15.376060 s,
deltaX: -8.200012 m,
approachRate: -0.533297 m/s,
rangeRepo size: 4
2025-06-11T20:42:13.906Z,1749674533.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:13.917Z,1749674533.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 564.582703 m,
bearing: 328.279316 deg,
approach rate: -0.558054 m/s,
LOS rate: -0.013917 deg/s,
cmd heading: 323.414156 deg,
new cmd heading: 323.395078 deg.
2025-06-11T20:42:13.918Z,1749674533.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644309 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:14.323Z,1749674534.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:14.325Z,1749674534.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 564.357788 m,
bearing: 328.273713 deg,
approach rate: -0.557417 m/s,
LOS rate: -0.013892 deg/s,
cmd heading: 323.395086 deg,
new cmd heading: 323.378270 deg.
2025-06-11T20:42:14.326Z,1749674534.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644015 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:14.656Z,1749674534.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:14.658Z,1749674534.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:14.661Z,1749674534.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 564.162537 m,
bearing: 328.268871 deg,
approach rate: -0.556765 m/s,
LOS rate: -0.013810 deg/s,
cmd heading: 323.378257 deg,
new cmd heading: 323.363727 deg.
2025-06-11T20:42:14.662Z,1749674534.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643762 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:14.693Z,1749674534.693 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:14.694Z,1749674534.694 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:14.694Z,1749674534.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:14.945Z,1749674534.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255427
2025-06-11T20:42:15.098Z,1749674535.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:15.101Z,1749674535.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 563.920715 m,
bearing: 328.262251 deg,
approach rate: -0.550747 m/s,
LOS rate: -0.015084 deg/s,
cmd heading: 323.363722 deg,
new cmd heading: 323.343853 deg.
2025-06-11T20:42:15.102Z,1749674535.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643415 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:15.199Z,1749674535.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508631
2025-06-11T20:42:15.449Z,1749674535.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758777
2025-06-11T20:42:15.487Z,1749674535.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:15.510Z,1749674535.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 563.706238 m,
bearing: 328.256373 deg,
approach rate: -0.550428 m/s,
LOS rate: -0.015090 deg/s,
cmd heading: 323.343860 deg,
new cmd heading: 323.326221 deg.
2025-06-11T20:42:15.511Z,1749674535.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643107 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:15.701Z,1749674535.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010844
2025-06-11T20:42:15.908Z,1749674535.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:15.911Z,1749674535.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 563.477661 m,
bearing: 328.249828 deg,
approach rate: -0.543065 m/s,
LOS rate: -0.015556 deg/s,
cmd heading: 323.326211 deg,
new cmd heading: 323.306568 deg.
2025-06-11T20:42:15.912Z,1749674535.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642764 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:15.954Z,1749674535.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263565
2025-06-11T20:42:16.205Z,1749674536.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514947
2025-06-11T20:42:16.267Z,1749674536.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:16.270Z,1749674536.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 563.278076 m,
bearing: 328.244108 deg,
approach rate: -0.556837 m/s,
LOS rate: -0.015965 deg/s,
cmd heading: 323.306567 deg,
new cmd heading: 323.289401 deg.
2025-06-11T20:42:16.271Z,1749674536.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642465 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:16.457Z,1749674536.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766785
2025-06-11T20:42:16.662Z,1749674536.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:16.665Z,1749674536.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:16.667Z,1749674536.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 563.060059 m,
bearing: 328.237856 deg,
approach rate: -0.548582 m/s,
LOS rate: -0.015739 deg/s,
cmd heading: 323.289410 deg,
new cmd heading: 323.270645 deg.
2025-06-11T20:42:16.669Z,1749674536.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642137 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:16.711Z,1749674536.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020948
2025-06-11T20:42:16.961Z,1749674536.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271045
2025-06-11T20:42:17.016Z,1749674537.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:42:17.093Z,1749674537.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:17.096Z,1749674537.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 562.832458 m,
bearing: 328.231854 deg,
approach rate: -0.530305 m/s,
LOS rate: -0.013989 deg/s,
cmd heading: 323.270640 deg,
new cmd heading: 323.252629 deg.
2025-06-11T20:42:17.097Z,1749674537.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641823 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:17.213Z,1749674537.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522981
2025-06-11T20:42:17.465Z,1749674537.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774855
2025-06-11T20:42:17.475Z,1749674537.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:17.478Z,1749674537.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 562.630066 m,
bearing: 328.226519 deg,
approach rate: -0.530033 m/s,
LOS rate: -0.013977 deg/s,
cmd heading: 323.252636 deg,
new cmd heading: 323.236625 deg.
2025-06-11T20:42:17.479Z,1749674537.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641543 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:17.717Z,1749674537.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026753
2025-06-11T20:42:17.961Z,1749674537.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:17.963Z,1749674537.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 562.385559 m,
bearing: 328.220490 deg,
approach rate: -0.503383 m/s,
LOS rate: -0.012419 deg/s,
cmd heading: 323.236626 deg,
new cmd heading: 323.218529 deg.
2025-06-11T20:42:17.970Z,1749674537.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280294
2025-06-11T20:42:17.977Z,1749674537.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641228 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:18.024Z,1749674538.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:42:18.221Z,1749674538.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531039
2025-06-11T20:42:18.296Z,1749674538.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:18.298Z,1749674538.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 562.203735 m,
bearing: 328.216011 deg,
approach rate: -0.570054 m/s,
LOS rate: -0.014047 deg/s,
cmd heading: 323.218540 deg,
new cmd heading: 323.205098 deg.
2025-06-11T20:42:18.299Z,1749674538.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640993 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:18.473Z,1749674538.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782699
2025-06-11T20:42:18.684Z,1749674538.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:18.686Z,1749674538.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:18.689Z,1749674538.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 561.988647 m,
bearing: 328.210715 deg,
approach rate: -0.529122 m/s,
LOS rate: -0.013031 deg/s,
cmd heading: 323.205098 deg,
new cmd heading: 323.189206 deg.
2025-06-11T20:42:18.690Z,1749674538.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640716 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:18.726Z,1749674538.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035224
2025-06-11T20:42:18.977Z,1749674538.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286732
2025-06-11T20:42:19.145Z,1749674539.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:19.152Z,1749674539.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 561.756287 m,
bearing: 328.205653 deg,
approach rate: -0.506436 m/s,
LOS rate: -0.011038 deg/s,
cmd heading: 323.189197 deg,
new cmd heading: 323.174005 deg.
2025-06-11T20:42:19.153Z,1749674539.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640450 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:19.229Z,1749674539.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538825
2025-06-11T20:42:19.481Z,1749674539.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791276
2025-06-11T20:42:19.607Z,1749674539.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:19.610Z,1749674539.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 561.513794 m,
bearing: 328.200367 deg,
approach rate: -0.524382 m/s,
LOS rate: -0.011436 deg/s,
cmd heading: 323.174007 deg,
new cmd heading: 323.158141 deg.
2025-06-11T20:42:19.611Z,1749674539.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640173 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:19.733Z,1749674539.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042759
2025-06-11T20:42:19.985Z,1749674539.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295109
2025-06-11T20:42:20.037Z,1749674540.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:20.044Z,1749674540.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 561.306030 m,
bearing: 328.197008 deg,
approach rate: -0.483180 m/s,
LOS rate: -0.007813 deg/s,
cmd heading: 323.158134 deg,
new cmd heading: 323.148054 deg.
2025-06-11T20:42:20.045Z,1749674540.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639997 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:20.238Z,1749674540.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547817
2025-06-11T20:42:20.451Z,1749674540.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:20.454Z,1749674540.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 561.080017 m,
bearing: 328.193362 deg,
approach rate: -0.546118 m/s,
LOS rate: -0.008814 deg/s,
cmd heading: 323.148052 deg,
new cmd heading: 323.137110 deg.
2025-06-11T20:42:20.455Z,1749674540.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639806 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:20.489Z,1749674540.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799428
2025-06-11T20:42:20.741Z,1749674540.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050768
2025-06-11T20:42:20.904Z,1749674540.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:20.952Z,1749674540.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:20.960Z,1749674540.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 560.867920 m,
bearing: 328.189938 deg,
approach rate: -0.461275 m/s,
LOS rate: -0.007450 deg/s,
cmd heading: 323.137097 deg,
new cmd heading: 323.126820 deg.
2025-06-11T20:42:20.961Z,1749674540.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639627 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:20.993Z,1749674540.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303086
2025-06-11T20:42:21.245Z,1749674541.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554843
2025-06-11T20:42:21.319Z,1749674541.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:21.326Z,1749674541.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 560.640503 m,
bearing: 328.187275 deg,
approach rate: -0.557899 m/s,
LOS rate: -0.006537 deg/s,
cmd heading: 323.126824 deg,
new cmd heading: 323.118830 deg.
2025-06-11T20:42:21.326Z,1749674541.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639487 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:21.497Z,1749674541.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806775
2025-06-11T20:42:21.688Z,1749674541.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:21.694Z,1749674541.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 560.456604 m,
bearing: 328.185117 deg,
approach rate: -0.497327 m/s,
LOS rate: -0.005836 deg/s,
cmd heading: 323.118819 deg,
new cmd heading: 323.112344 deg.
2025-06-11T20:42:21.695Z,1749674541.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639374 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:21.750Z,1749674541.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059712
2025-06-11T20:42:22.001Z,1749674542.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.310737
2025-06-11T20:42:22.118Z,1749674542.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:22.121Z,1749674542.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 560.231445 m,
bearing: 328.183409 deg,
approach rate: -0.524432 m/s,
LOS rate: -0.003979 deg/s,
cmd heading: 323.112344 deg,
new cmd heading: 323.107218 deg.
2025-06-11T20:42:22.122Z,1749674542.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639285 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:22.253Z,1749674542.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563040
2025-06-11T20:42:22.506Z,1749674542.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815962
2025-06-11T20:42:22.516Z,1749674542.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:22.519Z,1749674542.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 560.033203 m,
bearing: 328.181904 deg,
approach rate: -0.498065 m/s,
LOS rate: -0.003782 deg/s,
cmd heading: 323.107208 deg,
new cmd heading: 323.102692 deg.
2025-06-11T20:42:22.520Z,1749674542.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639206 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:22.757Z,1749674542.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066719
2025-06-11T20:42:22.897Z,1749674542.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:22.899Z,1749674542.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 559.841064 m,
bearing: 328.180475 deg,
approach rate: -0.504619 m/s,
LOS rate: -0.003756 deg/s,
cmd heading: 323.102700 deg,
new cmd heading: 323.098409 deg.
2025-06-11T20:42:22.900Z,1749674542.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639131 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:23.010Z,1749674543.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319319
2025-06-11T20:42:23.261Z,1749674543.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570887
2025-06-11T20:42:23.330Z,1749674543.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:23.332Z,1749674543.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:23.335Z,1749674543.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 559.621277 m,
bearing: 328.179178 deg,
approach rate: -0.504874 m/s,
LOS rate: -0.002980 deg/s,
cmd heading: 323.098410 deg,
new cmd heading: 323.094519 deg.
2025-06-11T20:42:23.336Z,1749674543.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639063 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:23.514Z,1749674543.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823602
2025-06-11T20:42:23.698Z,1749674543.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:23.701Z,1749674543.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 559.437500 m,
bearing: 328.178107 deg,
approach rate: -0.502013 m/s,
LOS rate: -0.002928 deg/s,
cmd heading: 323.094531 deg,
new cmd heading: 323.091315 deg.
2025-06-11T20:42:23.702Z,1749674543.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639007 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:23.765Z,1749674543.765 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:23.765Z,1749674543.765 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:23.765Z,1749674543.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:24.016Z,1749674544.016 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:24.017Z,1749674544.017 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:24.017Z,1749674544.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:24.140Z,1749674544.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:24.143Z,1749674544.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 559.213379 m,
bearing: 328.176709 deg,
approach rate: -0.506633 m/s,
LOS rate: -0.003160 deg/s,
cmd heading: 323.091307 deg,
new cmd heading: 323.087113 deg.
2025-06-11T20:42:24.144Z,1749674544.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638934 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:24.268Z,1749674544.268 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:24.269Z,1749674544.269 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:24.269Z,1749674544.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:24.521Z,1749674544.521 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:42:24.521Z,1749674544.521 [DAT](INFO): response not received
2025-06-11T20:42:24.522Z,1749674544.522 [DAT](INFO): DAT read: user:407>
2025-06-11T20:42:24.522Z,1749674544.522 [DAT](INFO): DAT read: Tx time:20:42:26.3500
2025-06-11T20:42:24.523Z,1749674544.523 [DAT](INFO): Ping request sent.
2025-06-11T20:42:24.523Z,1749674544.523 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:42:24.523Z,1749674544.523 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:24.524Z,1749674544.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766
2025-06-11T20:42:24.533Z,1749674544.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:24.536Z,1749674544.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 559.014343 m,
bearing: 328.175483 deg,
approach rate: -0.506391 m/s,
LOS rate: -0.003120 deg/s,
cmd heading: 323.087127 deg,
new cmd heading: 323.083448 deg.
2025-06-11T20:42:24.537Z,1749674544.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638870 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:24.773Z,1749674544.773 [DAT](INFO): DAT read: TxSync time:20:42:26.3493
2025-06-11T20:42:24.774Z,1749674544.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250893
2025-06-11T20:42:24.914Z,1749674544.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:24.917Z,1749674544.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 558.822021 m,
bearing: 328.174306 deg,
approach rate: -0.505917 m/s,
LOS rate: -0.003099 deg/s,
cmd heading: 323.083439 deg,
new cmd heading: 323.079904 deg.
2025-06-11T20:42:24.921Z,1749674544.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638808 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:25.026Z,1749674545.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502840
2025-06-11T20:42:25.277Z,1749674545.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753853
2025-06-11T20:42:25.346Z,1749674545.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:25.352Z,1749674545.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:25.355Z,1749674545.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 558.609680 m,
bearing: 328.172186 deg,
approach rate: -0.488984 m/s,
LOS rate: -0.004882 deg/s,
cmd heading: 323.079914 deg,
new cmd heading: 323.073554 deg.
2025-06-11T20:42:25.355Z,1749674545.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638697 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:25.529Z,1749674545.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005986
2025-06-11T20:42:25.714Z,1749674545.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:25.717Z,1749674545.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 558.415161 m,
bearing: 328.170251 deg,
approach rate: -0.531406 m/s,
LOS rate: -0.005288 deg/s,
cmd heading: 323.073548 deg,
new cmd heading: 323.067742 deg.
2025-06-11T20:42:25.718Z,1749674545.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638596 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:25.781Z,1749674545.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258042
2025-06-11T20:42:26.033Z,1749674546.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510181
2025-06-11T20:42:26.156Z,1749674546.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:26.159Z,1749674546.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 558.188599 m,
bearing: 328.167218 deg,
approach rate: -0.512383 m/s,
LOS rate: -0.006862 deg/s,
cmd heading: 323.067729 deg,
new cmd heading: 323.058627 deg.
2025-06-11T20:42:26.160Z,1749674546.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638437 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:26.285Z,1749674546.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762075
2025-06-11T20:42:26.533Z,1749674546.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:26.535Z,1749674546.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 558.001648 m,
bearing: 328.164708 deg,
approach rate: -0.502584 m/s,
LOS rate: -0.006752 deg/s,
cmd heading: 323.058631 deg,
new cmd heading: 323.051096 deg.
2025-06-11T20:42:26.537Z,1749674546.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014016
2025-06-11T20:42:26.541Z,1749674546.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638305 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:26.789Z,1749674546.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265937
2025-06-11T20:42:26.929Z,1749674546.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:26.933Z,1749674546.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 557.794556 m,
bearing: 328.161913 deg,
approach rate: -0.517874 m/s,
LOS rate: -0.006990 deg/s,
cmd heading: 323.051091 deg,
new cmd heading: 323.042705 deg.
2025-06-11T20:42:26.934Z,1749674546.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638159 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:27.042Z,1749674547.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519470
2025-06-11T20:42:27.293Z,1749674547.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769831
2025-06-11T20:42:27.354Z,1749674547.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:27.372Z,1749674547.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:27.378Z,1749674547.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 557.574097 m,
bearing: 328.157107 deg,
approach rate: -0.514991 m/s,
LOS rate: -0.011232 deg/s,
cmd heading: 323.042703 deg,
new cmd heading: 323.028278 deg.
2025-06-11T20:42:27.379Z,1749674547.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637907 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:27.545Z,1749674547.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021919
2025-06-11T20:42:27.797Z,1749674547.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274416
2025-06-11T20:42:27.800Z,1749674547.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:27.802Z,1749674547.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 557.347595 m,
bearing: 328.152140 deg,
approach rate: -0.510519 m/s,
LOS rate: -0.011199 deg/s,
cmd heading: 323.028278 deg,
new cmd heading: 323.013372 deg.
2025-06-11T20:42:27.803Z,1749674547.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637647 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:28.049Z,1749674548.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525889
2025-06-11T20:42:28.214Z,1749674548.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:28.221Z,1749674548.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 557.131042 m,
bearing: 328.146130 deg,
approach rate: -0.522077 m/s,
LOS rate: -0.014494 deg/s,
cmd heading: 323.013361 deg,
new cmd heading: 322.995325 deg.
2025-06-11T20:42:28.222Z,1749674548.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637332 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:28.302Z,1749674548.302 [DAT](INFO): DAT read: Rx Time:20:42:29.5097
2025-06-11T20:42:28.303Z,1749674548.303 [DAT](INFO): Rx dataTimestamp_ set to:1749674548.301877
2025-06-11T20:42:28.303Z,1749674548.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780222
2025-06-11T20:42:28.553Z,1749674548.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030064
2025-06-11T20:42:28.578Z,1749674548.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 578.01 m.
2025-06-11T20:42:28.585Z,1749674548.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 578.006470 m,
nav range: 556.948608 m,
bearing: 328.141063 deg,
approach rate: -0.501999 m/s,
LOS rate: -0.013949 deg/s,
cmd heading: 322.995329 deg,
new cmd heading: 322.980122 deg.
2025-06-11T20:42:28.586Z,1749674548.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637066 target range: 578.006470 and range: 574.80 m.
2025-06-11T20:42:28.811Z,1749674548.811 [DAT](INFO): DAT read: 20:42:29.5097 LVL= 16288, 25233, 17058, 28083, AGC= 71, IDX= 292, 0.06, 2.739, 0.965, 2.439, 1.902, PHS= 0.926,-0.890, 0.535, RAW= 138.2, -6.9, CAL= 144.2, -17.1, ROT= 5.8, 17.1
2025-06-11T20:42:28.812Z,1749674548.812 [DAT](INFO): got valid direction response:
20:42:29.5097 LVL= 16288, 25233, 17058, 28083, AGC= 71, IDX= 292, 0.06, 2.739, 0.965, 2.439, 1.902, PHS= 0.926,-0.890, 0.535, RAW= 138.2, -6.9, CAL= 144.2, -17.1, ROT= 5.8, 17.1
2025-06-11T20:42:28.813Z,1749674548.813 [DAT](INFO): DAT read: Bearing 5.8, 17.1 (Local)
2025-06-11T20:42:28.813Z,1749674548.813 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.8, 17.1 (Local)
2025-06-11T20:42:28.815Z,1749674548.815 [DAT](INFO): DAT read: Range 10 to 50 : 566.6 m (Round-trip 755.5 ms) speed 0.4 m/s
2025-06-11T20:42:28.815Z,1749674548.815 [DAT](INFO): DAT read: user:408>
2025-06-11T20:42:28.816Z,1749674548.816 [DAT](INFO): DAT read: Tx time:20:42:30.6000
2025-06-11T20:42:28.816Z,1749674548.816 [DAT](INFO): Ping request sent.
2025-06-11T20:42:28.817Z,1749674548.817 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:42:28.817Z,1749674548.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:42:28.818Z,1749674548.818 [DAT](INFO): direction in FSK: [0.950900,0.096589,-0.294040]
2025-06-11T20:42:28.818Z,1749674548.818 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:28.818Z,1749674548.818 [DAT](INFO): publishing direction and range info
2025-06-11T20:42:28.826Z,1749674548.826 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:28.827Z,1749674548.827 [DAT](INFO): publishing direction and range info
2025-06-11T20:42:29.060Z,1749674549.060 [DAT](INFO): DAT read: TxSync time:20:42:30.5993
2025-06-11T20:42:29.073Z,1749674549.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 566.599976 m,
deltaT: 15.119789 s,
deltaX: -8.200012 m,
approachRate: -0.542336 m/s,
rangeRepo size: 4
2025-06-11T20:42:29.075Z,1749674549.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 561.739868 m,
bearing: 329.418634 deg,
lat: 36.906383 deg,
lon: -122.115570 deg,
deltaT: 30.495849 s,
deltaX: -16.266602 m,
approachRate: -0.533404 m/s,
posRepo size: 4
2025-06-11T20:42:29.080Z,1749674549.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:29.083Z,1749674549.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 560.359314 m,
bearing: 328.970368 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013949 deg/s,
cmd heading: 322.980112 deg,
new cmd heading: 322.959408 deg.
2025-06-11T20:42:29.088Z,1749674549.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636705 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:29.367Z,1749674549.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:29.370Z,1749674549.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:29.393Z,1749674549.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 560.160400 m,
bearing: 328.963854 deg,
approach rate: -0.669398 m/s,
LOS rate: -0.021931 deg/s,
cmd heading: 322.959402 deg,
new cmd heading: 322.939852 deg.
2025-06-11T20:42:29.394Z,1749674549.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636364 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:29.560Z,1749674549.560 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:29.561Z,1749674549.561 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:29.561Z,1749674549.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:29.748Z,1749674549.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:29.751Z,1749674549.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 559.959778 m,
bearing: 328.957297 deg,
approach rate: -0.529934 m/s,
LOS rate: -0.017324 deg/s,
cmd heading: 322.939841 deg,
new cmd heading: 322.920165 deg.
2025-06-11T20:42:29.752Z,1749674549.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636020 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:29.814Z,1749674549.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997211
2025-06-11T20:42:30.066Z,1749674550.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249188
2025-06-11T20:42:30.178Z,1749674550.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:30.181Z,1749674550.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 559.729675 m,
bearing: 328.949531 deg,
approach rate: -0.535739 m/s,
LOS rate: -0.018089 deg/s,
cmd heading: 322.920170 deg,
new cmd heading: 322.896862 deg.
2025-06-11T20:42:30.182Z,1749674550.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635613 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:30.317Z,1749674550.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500127
2025-06-11T20:42:30.558Z,1749674550.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:30.561Z,1749674550.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 559.525818 m,
bearing: 328.942635 deg,
approach rate: -0.536165 m/s,
LOS rate: -0.018145 deg/s,
cmd heading: 322.896865 deg,
new cmd heading: 322.876168 deg.
2025-06-11T20:42:30.562Z,1749674550.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635252 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:30.569Z,1749674550.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752572
2025-06-11T20:42:30.823Z,1749674550.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006439
2025-06-11T20:42:30.997Z,1749674550.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:30.999Z,1749674550.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 559.297791 m,
bearing: 328.934913 deg,
approach rate: -0.520023 m/s,
LOS rate: -0.017618 deg/s,
cmd heading: 322.876156 deg,
new cmd heading: 322.852980 deg.
2025-06-11T20:42:31.000Z,1749674551.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634848 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:31.080Z,1749674551.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262687
2025-06-11T20:42:31.329Z,1749674551.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512456
2025-06-11T20:42:31.399Z,1749674551.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:31.402Z,1749674551.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:31.409Z,1749674551.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 559.071594 m,
bearing: 328.926710 deg,
approach rate: -0.559317 m/s,
LOS rate: -0.020292 deg/s,
cmd heading: 322.852988 deg,
new cmd heading: 322.828369 deg.
2025-06-11T20:42:31.410Z,1749674551.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634418 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:31.581Z,1749674551.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764196
2025-06-11T20:42:31.769Z,1749674551.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:31.771Z,1749674551.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 558.872314 m,
bearing: 328.919452 deg,
approach rate: -0.543474 m/s,
LOS rate: -0.019800 deg/s,
cmd heading: 322.828372 deg,
new cmd heading: 322.806592 deg.
2025-06-11T20:42:31.772Z,1749674551.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634038 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:31.833Z,1749674551.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016244
2025-06-11T20:42:32.087Z,1749674552.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270255
2025-06-11T20:42:32.213Z,1749674552.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:32.216Z,1749674552.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 558.641052 m,
bearing: 328.911891 deg,
approach rate: -0.518970 m/s,
LOS rate: -0.016974 deg/s,
cmd heading: 322.806597 deg,
new cmd heading: 322.783905 deg.
2025-06-11T20:42:32.217Z,1749674552.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633642 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:32.337Z,1749674552.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520245
2025-06-11T20:42:32.581Z,1749674552.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:32.583Z,1749674552.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 558.428284 m,
bearing: 328.904934 deg,
approach rate: -0.579227 m/s,
LOS rate: -0.018946 deg/s,
cmd heading: 322.783894 deg,
new cmd heading: 322.763015 deg.
2025-06-11T20:42:32.584Z,1749674552.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633277 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:32.591Z,1749674552.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774905
2025-06-11T20:42:32.841Z,1749674552.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024432
2025-06-11T20:42:32.993Z,1749674552.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:32.995Z,1749674552.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 558.206238 m,
bearing: 328.897668 deg,
approach rate: -0.538935 m/s,
LOS rate: -0.017644 deg/s,
cmd heading: 322.763021 deg,
new cmd heading: 322.741212 deg.
2025-06-11T20:42:32.996Z,1749674552.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632897 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:33.096Z,1749674553.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278817
2025-06-11T20:42:33.345Z,1749674553.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528164
2025-06-11T20:42:33.427Z,1749674553.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:33.434Z,1749674553.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:33.445Z,1749674553.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 557.966431 m,
bearing: 328.891162 deg,
approach rate: -0.543557 m/s,
LOS rate: -0.014753 deg/s,
cmd heading: 322.741219 deg,
new cmd heading: 322.721693 deg.
2025-06-11T20:42:33.446Z,1749674553.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632556 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:33.597Z,1749674553.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.780263
2025-06-11T20:42:33.809Z,1749674553.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:33.811Z,1749674553.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 557.755798 m,
bearing: 328.885490 deg,
approach rate: -0.561906 m/s,
LOS rate: -0.015138 deg/s,
cmd heading: 322.721684 deg,
new cmd heading: 322.704661 deg.
2025-06-11T20:42:33.813Z,1749674553.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632259 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:33.849Z,1749674553.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032727
2025-06-11T20:42:34.103Z,1749674554.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.285711
2025-06-11T20:42:34.232Z,1749674554.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:34.235Z,1749674554.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 557.527832 m,
bearing: 328.881255 deg,
approach rate: -0.538720 m/s,
LOS rate: -0.010012 deg/s,
cmd heading: 322.704664 deg,
new cmd heading: 322.691953 deg.
2025-06-11T20:42:34.236Z,1749674554.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632037 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:34.353Z,1749674554.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536452
2025-06-11T20:42:34.599Z,1749674554.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:34.602Z,1749674554.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 557.329895 m,
bearing: 328.877599 deg,
approach rate: -0.539238 m/s,
LOS rate: -0.009962 deg/s,
cmd heading: 322.691959 deg,
new cmd heading: 322.680989 deg.
2025-06-11T20:42:34.603Z,1749674554.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631845 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:34.605Z,1749674554.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788384
2025-06-11T20:42:34.857Z,1749674554.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040197
2025-06-11T20:42:35.004Z,1749674555.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:35.007Z,1749674555.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 557.111877 m,
bearing: 328.873588 deg,
approach rate: -0.538161 m/s,
LOS rate: -0.009905 deg/s,
cmd heading: 322.680977 deg,
new cmd heading: 322.668938 deg.
2025-06-11T20:42:35.024Z,1749674555.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631635 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:35.113Z,1749674555.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294903
2025-06-11T20:42:35.361Z,1749674555.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544393
2025-06-11T20:42:35.444Z,1749674555.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:35.446Z,1749674555.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:35.453Z,1749674555.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 556.892334 m,
bearing: 328.870715 deg,
approach rate: -0.496327 m/s,
LOS rate: -0.006499 deg/s,
cmd heading: 322.668928 deg,
new cmd heading: 322.660304 deg.
2025-06-11T20:42:35.454Z,1749674555.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631485 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:35.613Z,1749674555.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796184
2025-06-11T20:42:35.810Z,1749674555.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:35.813Z,1749674555.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 556.688782 m,
bearing: 328.868059 deg,
approach rate: -0.560088 m/s,
LOS rate: -0.007309 deg/s,
cmd heading: 322.660295 deg,
new cmd heading: 322.652325 deg.
2025-06-11T20:42:35.814Z,1749674555.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631345 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:35.866Z,1749674555.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.049173
2025-06-11T20:42:36.119Z,1749674556.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302433
2025-06-11T20:42:36.248Z,1749674556.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:36.251Z,1749674556.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 556.466248 m,
bearing: 328.866576 deg,
approach rate: -0.507854 m/s,
LOS rate: -0.003386 deg/s,
cmd heading: 322.652317 deg,
new cmd heading: 322.647865 deg.
2025-06-11T20:42:36.253Z,1749674556.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631268 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:36.369Z,1749674556.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552201
2025-06-11T20:42:36.618Z,1749674556.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:36.621Z,1749674556.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804583
2025-06-11T20:42:36.623Z,1749674556.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 556.278198 m,
bearing: 328.865330 deg,
approach rate: -0.508163 m/s,
LOS rate: -0.003369 deg/s,
cmd heading: 322.647864 deg,
new cmd heading: 322.644124 deg.
2025-06-11T20:42:36.624Z,1749674556.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631202 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:36.873Z,1749674556.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056410
2025-06-11T20:42:37.021Z,1749674557.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:37.044Z,1749674557.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 556.073425 m,
bearing: 328.863981 deg,
approach rate: -0.508118 m/s,
LOS rate: -0.003347 deg/s,
cmd heading: 322.644121 deg,
new cmd heading: 322.640074 deg.
2025-06-11T20:42:37.045Z,1749674557.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631132 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:37.127Z,1749674557.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.310362
2025-06-11T20:42:37.377Z,1749674557.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560328
2025-06-11T20:42:37.461Z,1749674557.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:37.463Z,1749674557.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:37.470Z,1749674557.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 555.865112 m,
bearing: 328.863864 deg,
approach rate: -0.471209 m/s,
LOS rate: -0.000265 deg/s,
cmd heading: 322.640077 deg,
new cmd heading: 322.639725 deg.
2025-06-11T20:42:37.471Z,1749674557.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631125 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:37.629Z,1749674557.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812230
2025-06-11T20:42:37.830Z,1749674557.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:37.833Z,1749674557.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 555.673340 m,
bearing: 328.863776 deg,
approach rate: -0.522248 m/s,
LOS rate: -0.000240 deg/s,
cmd heading: 322.639722 deg,
new cmd heading: 322.639457 deg.
2025-06-11T20:42:37.834Z,1749674557.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631121 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:37.882Z,1749674557.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064812
2025-06-11T20:42:38.136Z,1749674558.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318599
2025-06-11T20:42:38.251Z,1749674558.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:38.282Z,1749674558.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 555.470276 m,
bearing: 328.864188 deg,
approach rate: -0.482412 m/s,
LOS rate: 0.000980 deg/s,
cmd heading: 322.639449 deg,
new cmd heading: 322.640686 deg.
2025-06-11T20:42:38.283Z,1749674558.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631142 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:38.386Z,1749674558.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.569469
2025-06-11T20:42:38.637Z,1749674558.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820281
2025-06-11T20:42:38.641Z,1749674558.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:38.643Z,1749674558.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 555.283264 m,
bearing: 328.864580 deg,
approach rate: -0.480247 m/s,
LOS rate: 0.001006 deg/s,
cmd heading: 322.640678 deg,
new cmd heading: 322.641854 deg.
2025-06-11T20:42:38.644Z,1749674558.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631163 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:38.889Z,1749674558.889 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:38.889Z,1749674558.889 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:38.889Z,1749674558.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:39.049Z,1749674559.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:39.052Z,1749674559.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 555.085449 m,
bearing: 328.865008 deg,
approach rate: -0.484264 m/s,
LOS rate: 0.001048 deg/s,
cmd heading: 322.641853 deg,
new cmd heading: 322.643138 deg.
2025-06-11T20:42:39.053Z,1749674559.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631185 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:39.142Z,1749674559.142 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:39.142Z,1749674559.142 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:39.142Z,1749674559.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:39.392Z,1749674559.392 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:39.393Z,1749674559.393 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:39.393Z,1749674559.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:39.481Z,1749674559.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:39.483Z,1749674559.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:39.521Z,1749674559.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 554.884277 m,
bearing: 328.865362 deg,
approach rate: -0.463174 m/s,
LOS rate: 0.000817 deg/s,
cmd heading: 322.643137 deg,
new cmd heading: 322.644201 deg.
2025-06-11T20:42:39.521Z,1749674559.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631204 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:39.645Z,1749674559.645 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:42:39.645Z,1749674559.645 [DAT](INFO): response not received
2025-06-11T20:42:39.646Z,1749674559.646 [DAT](INFO): DAT read: user:409>
2025-06-11T20:42:39.646Z,1749674559.646 [DAT](INFO): DAT read: Tx time:20:42:41.5501
2025-06-11T20:42:39.647Z,1749674559.647 [DAT](INFO): Ping request sent.
2025-06-11T20:42:39.647Z,1749674559.647 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:42:39.647Z,1749674559.647 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:39.648Z,1749674559.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000781
2025-06-11T20:42:39.861Z,1749674559.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:39.880Z,1749674559.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 554.708435 m,
bearing: 328.865679 deg,
approach rate: -0.465632 m/s,
LOS rate: 0.000838 deg/s,
cmd heading: 322.644203 deg,
new cmd heading: 322.645152 deg.
2025-06-11T20:42:39.885Z,1749674559.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631220 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:39.897Z,1749674559.897 [DAT](INFO): DAT read: TxSync time:20:42:41.5494
2025-06-11T20:42:39.898Z,1749674559.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251019
2025-06-11T20:42:40.151Z,1749674560.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503656
2025-06-11T20:42:40.281Z,1749674560.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:40.283Z,1749674560.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 554.515076 m,
bearing: 328.865732 deg,
approach rate: -0.460772 m/s,
LOS rate: 0.000127 deg/s,
cmd heading: 322.645159 deg,
new cmd heading: 322.645318 deg.
2025-06-11T20:42:40.285Z,1749674560.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631223 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:40.401Z,1749674560.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754266
2025-06-11T20:42:40.653Z,1749674560.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005916
2025-06-11T20:42:40.665Z,1749674560.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:40.668Z,1749674560.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 554.337158 m,
bearing: 328.865771 deg,
approach rate: -0.462600 m/s,
LOS rate: 0.000103 deg/s,
cmd heading: 322.645323 deg,
new cmd heading: 322.645441 deg.
2025-06-11T20:42:40.669Z,1749674560.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631225 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:40.905Z,1749674560.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258025
2025-06-11T20:42:41.126Z,1749674561.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:41.145Z,1749674561.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 554.124695 m,
bearing: 328.865825 deg,
approach rate: -0.461412 m/s,
LOS rate: 0.000117 deg/s,
cmd heading: 322.645432 deg,
new cmd heading: 322.645593 deg.
2025-06-11T20:42:41.146Z,1749674561.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631228 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:41.157Z,1749674561.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510080
2025-06-11T20:42:41.410Z,1749674561.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762487
2025-06-11T20:42:41.531Z,1749674561.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:41.537Z,1749674561.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:41.544Z,1749674561.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 553.939941 m,
bearing: 328.864620 deg,
approach rate: -0.449216 m/s,
LOS rate: -0.002931 deg/s,
cmd heading: 322.645596 deg,
new cmd heading: 322.641979 deg.
2025-06-11T20:42:41.545Z,1749674561.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631165 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:41.662Z,1749674561.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015231
2025-06-11T20:42:41.911Z,1749674561.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:41.913Z,1749674561.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266072
2025-06-11T20:42:41.916Z,1749674561.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 553.752930 m,
bearing: 328.863396 deg,
approach rate: -0.499840 m/s,
LOS rate: -0.003271 deg/s,
cmd heading: 322.641990 deg,
new cmd heading: 322.638318 deg.
2025-06-11T20:42:41.917Z,1749674561.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631101 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:42.165Z,1749674562.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518129
2025-06-11T20:42:42.323Z,1749674562.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:42.326Z,1749674562.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 553.555908 m,
bearing: 328.860423 deg,
approach rate: -0.478740 m/s,
LOS rate: -0.007227 deg/s,
cmd heading: 322.638329 deg,
new cmd heading: 322.629406 deg.
2025-06-11T20:42:42.327Z,1749674562.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630945 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:42.417Z,1749674562.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770127
2025-06-11T20:42:42.669Z,1749674562.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022257
2025-06-11T20:42:42.713Z,1749674562.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:42.715Z,1749674562.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 553.369690 m,
bearing: 328.857611 deg,
approach rate: -0.477490 m/s,
LOS rate: -0.007213 deg/s,
cmd heading: 322.629395 deg,
new cmd heading: 322.620956 deg.
2025-06-11T20:42:42.717Z,1749674562.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630798 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:42.921Z,1749674562.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274493
2025-06-11T20:42:43.121Z,1749674563.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:43.124Z,1749674563.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 553.178223 m,
bearing: 328.854717 deg,
approach rate: -0.470397 m/s,
LOS rate: -0.007113 deg/s,
cmd heading: 322.620953 deg,
new cmd heading: 322.612268 deg.
2025-06-11T20:42:43.125Z,1749674563.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630646 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:43.174Z,1749674563.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526511
2025-06-11T20:42:43.425Z,1749674563.425 [DAT](INFO): DAT read: Rx Time:20:42:44.6996
2025-06-11T20:42:43.425Z,1749674563.425 [DAT](INFO): Rx dataTimestamp_ set to:1749674563.425021
2025-06-11T20:42:43.426Z,1749674563.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779046
2025-06-11T20:42:43.551Z,1749674563.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:43.557Z,1749674563.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:43.564Z,1749674563.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 552.960083 m,
bearing: 328.849673 deg,
approach rate: -0.498516 m/s,
LOS rate: -0.011530 deg/s,
cmd heading: 322.612265 deg,
new cmd heading: 322.597128 deg.
2025-06-11T20:42:43.565Z,1749674563.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630382 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:43.677Z,1749674563.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030035
2025-06-11T20:42:43.939Z,1749674563.939 [DAT](INFO): DAT read: 20:42:44.6996 LVL= 25712, 28449, 24898, 32755, AGC= 73, IDX= 300, 0.11,-2.888, 1.800, 3.105, 2.623, PHS= 0.860,-0.777, 0.479, RAW= 137.1, -7.6, CAL= 143.1, -18.2, ROT= 6.9, 18.2
2025-06-11T20:42:43.942Z,1749674563.942 [DAT](INFO): got valid direction response:
20:42:44.6996 LVL= 25712, 28449, 24898, 32755, AGC= 73, IDX= 300, 0.11,-2.888, 1.800, 3.105, 2.623, PHS= 0.860,-0.777, 0.479, RAW= 137.1, -7.6, CAL= 143.1, -18.2, ROT= 6.9, 18.2
2025-06-11T20:42:43.943Z,1749674563.943 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:42:43.943Z,1749674563.943 [DAT](INFO): Received a bad header
2025-06-11T20:42:43.956Z,1749674563.956 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:42:43.957Z,1749674563.957 [DAT](INFO): direction in FSK: [0.943092,0.114127,-0.312335]
2025-06-11T20:42:43.960Z,1749674563.960 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:43.960Z,1749674563.960 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:43.960Z,1749674563.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:43.974Z,1749674563.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:43.981Z,1749674563.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 552.769470 m,
bearing: 328.845244 deg,
approach rate: -0.457658 m/s,
LOS rate: -0.010638 deg/s,
cmd heading: 322.597129 deg,
new cmd heading: 322.583837 deg.
2025-06-11T20:42:43.982Z,1749674563.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630150 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:44.181Z,1749674564.181 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:44.181Z,1749674564.181 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:44.181Z,1749674564.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:44.335Z,1749674564.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:44.354Z,1749674564.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 552.560669 m,
bearing: 328.839293 deg,
approach rate: -0.577893 m/s,
LOS rate: -0.016476 deg/s,
cmd heading: 322.583824 deg,
new cmd heading: 322.565965 deg.
2025-06-11T20:42:44.355Z,1749674564.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629838 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:44.433Z,1749674564.433 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:44.433Z,1749674564.433 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:44.433Z,1749674564.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:44.685Z,1749674564.685 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:44.685Z,1749674564.685 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:44.685Z,1749674564.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:44.743Z,1749674564.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:44.750Z,1749674564.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 552.354309 m,
bearing: 328.833393 deg,
approach rate: -0.505858 m/s,
LOS rate: -0.014469 deg/s,
cmd heading: 322.565956 deg,
new cmd heading: 322.548249 deg.
2025-06-11T20:42:44.751Z,1749674564.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629529 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:44.937Z,1749674564.937 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:44.937Z,1749674564.937 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:44.937Z,1749674564.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:45.130Z,1749674565.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:45.137Z,1749674565.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 552.156982 m,
bearing: 328.827734 deg,
approach rate: -0.510515 m/s,
LOS rate: -0.014645 deg/s,
cmd heading: 322.548252 deg,
new cmd heading: 322.531270 deg.
2025-06-11T20:42:45.137Z,1749674565.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629232 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:45.189Z,1749674565.189 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:45.190Z,1749674565.190 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:45.190Z,1749674565.190 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:45.440Z,1749674565.440 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:45.441Z,1749674565.441 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:45.441Z,1749674565.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:45.569Z,1749674565.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:45.571Z,1749674565.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:45.574Z,1749674565.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 551.916870 m,
bearing: 328.819697 deg,
approach rate: -0.543963 m/s,
LOS rate: -0.018216 deg/s,
cmd heading: 322.531259 deg,
new cmd heading: 322.507137 deg.
2025-06-11T20:42:45.575Z,1749674565.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628811 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:45.693Z,1749674565.693 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:45.693Z,1749674565.693 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:45.693Z,1749674565.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:45.930Z,1749674565.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:45.935Z,1749674565.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 551.729004 m,
bearing: 328.813409 deg,
approach rate: -0.523392 m/s,
LOS rate: -0.017524 deg/s,
cmd heading: 322.507135 deg,
new cmd heading: 322.488265 deg.
2025-06-11T20:42:45.937Z,1749674565.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628482 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:45.945Z,1749674565.945 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:45.945Z,1749674565.945 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:45.946Z,1749674565.946 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:46.197Z,1749674566.197 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:46.198Z,1749674566.198 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:46.198Z,1749674566.198 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:46.380Z,1749674566.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:46.383Z,1749674566.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 551.497070 m,
bearing: 328.805087 deg,
approach rate: -0.520128 m/s,
LOS rate: -0.018671 deg/s,
cmd heading: 322.488256 deg,
new cmd heading: 322.463279 deg.
2025-06-11T20:42:46.388Z,1749674566.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628046 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:46.450Z,1749674566.450 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:46.450Z,1749674566.450 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:46.450Z,1749674566.450 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:46.701Z,1749674566.701 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:46.701Z,1749674566.701 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:46.701Z,1749674566.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:46.734Z,1749674566.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:46.765Z,1749674566.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 551.301208 m,
bearing: 328.798069 deg,
approach rate: -0.547195 m/s,
LOS rate: -0.019615 deg/s,
cmd heading: 322.463285 deg,
new cmd heading: 322.442222 deg.
2025-06-11T20:42:46.766Z,1749674566.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627678 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:46.953Z,1749674566.953 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:46.953Z,1749674566.953 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:46.953Z,1749674566.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:47.157Z,1749674567.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:47.159Z,1749674567.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 551.084473 m,
bearing: 328.790311 deg,
approach rate: -0.512520 m/s,
LOS rate: -0.018352 deg/s,
cmd heading: 322.442220 deg,
new cmd heading: 322.418938 deg.
2025-06-11T20:42:47.161Z,1749674567.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627272 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:47.205Z,1749674567.205 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:47.205Z,1749674567.205 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:47.206Z,1749674567.206 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:47.457Z,1749674567.457 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:47.457Z,1749674567.457 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:47.457Z,1749674567.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:47.566Z,1749674567.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:47.569Z,1749674567.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 550.859924 m,
bearing: 328.782231 deg,
approach rate: -0.548562 m/s,
LOS rate: -0.019747 deg/s,
cmd heading: 322.418943 deg,
new cmd heading: 322.394694 deg.
2025-06-11T20:42:47.570Z,1749674567.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626849 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:47.709Z,1749674567.709 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:47.709Z,1749674567.709 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:47.709Z,1749674567.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:47.961Z,1749674567.961 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:47.961Z,1749674567.961 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:47.961Z,1749674567.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:47.973Z,1749674567.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:47.975Z,1749674567.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:47.978Z,1749674567.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 550.647217 m,
bearing: 328.774568 deg,
approach rate: -0.520454 m/s,
LOS rate: -0.018758 deg/s,
cmd heading: 322.394682 deg,
new cmd heading: 322.371683 deg.
2025-06-11T20:42:47.979Z,1749674567.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626447 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:48.148Z,1749674568.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:42:48.213Z,1749674568.213 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:48.213Z,1749674568.213 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:48.213Z,1749674568.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:48.392Z,1749674568.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:48.395Z,1749674568.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 550.421936 m,
bearing: 328.767904 deg,
approach rate: -0.539371 m/s,
LOS rate: -0.015961 deg/s,
cmd heading: 322.371678 deg,
new cmd heading: 322.351679 deg.
2025-06-11T20:42:48.396Z,1749674568.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626098 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:48.465Z,1749674568.465 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:48.465Z,1749674568.465 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:48.465Z,1749674568.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:48.717Z,1749674568.717 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:48.717Z,1749674568.717 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:48.717Z,1749674568.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:48.847Z,1749674568.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:48.850Z,1749674568.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 550.185730 m,
bearing: 328.760923 deg,
approach rate: -0.519935 m/s,
LOS rate: -0.015374 deg/s,
cmd heading: 322.351679 deg,
new cmd heading: 322.330727 deg.
2025-06-11T20:42:48.851Z,1749674568.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625732 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:48.969Z,1749674568.969 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:48.969Z,1749674568.969 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:48.969Z,1749674568.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:49.152Z,1749674569.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:42:49.178Z,1749674569.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:49.182Z,1749674569.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 550.006165 m,
bearing: 328.755610 deg,
approach rate: -0.541382 m/s,
LOS rate: -0.016023 deg/s,
cmd heading: 322.330724 deg,
new cmd heading: 322.314781 deg.
2025-06-11T20:42:49.183Z,1749674569.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625454 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:49.222Z,1749674569.222 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:49.222Z,1749674569.222 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:49.222Z,1749674569.222 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:49.473Z,1749674569.473 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:49.473Z,1749674569.473 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:49.473Z,1749674569.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:42:49.607Z,1749674569.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:49.610Z,1749674569.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 549.788269 m,
bearing: 328.750391 deg,
approach rate: -0.508191 m/s,
LOS rate: -0.012176 deg/s,
cmd heading: 322.314769 deg,
new cmd heading: 322.299108 deg.
2025-06-11T20:42:49.611Z,1749674569.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625181 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:49.613Z,1749674569.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 60.153233 m.
2025-06-11T20:42:49.725Z,1749674569.725 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:49.725Z,1749674569.725 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:49.725Z,1749674569.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:49.977Z,1749674569.977 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:49.977Z,1749674569.977 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:49.977Z,1749674569.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:49.994Z,1749674569.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:50.004Z,1749674570.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:50.007Z,1749674570.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 549.601013 m,
bearing: 328.745902 deg,
approach rate: -0.481719 m/s,
LOS rate: -0.011553 deg/s,
cmd heading: 322.299114 deg,
new cmd heading: 322.285642 deg.
2025-06-11T20:42:50.013Z,1749674570.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624946 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:50.228Z,1749674570.228 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:50.229Z,1749674570.229 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:50.229Z,1749674570.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:50.418Z,1749674570.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:50.421Z,1749674570.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 549.380859 m,
bearing: 328.742004 deg,
approach rate: -0.521082 m/s,
LOS rate: -0.009229 deg/s,
cmd heading: 322.285645 deg,
new cmd heading: 322.273947 deg.
2025-06-11T20:42:50.422Z,1749674570.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624742 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:50.481Z,1749674570.481 [DAT](INFO): Reached modem response timeout
2025-06-11T20:42:50.482Z,1749674570.482 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:42:50.482Z,1749674570.482 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:50.733Z,1749674570.733 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:42:50.733Z,1749674570.733 [DAT](INFO): response not received
2025-06-11T20:42:50.734Z,1749674570.734 [DAT](INFO): DAT read: user:411>
2025-06-11T20:42:50.734Z,1749674570.734 [DAT](INFO): DAT read: Tx time:20:42:52.5002
2025-06-11T20:42:50.735Z,1749674570.735 [DAT](INFO): Ping request sent.
2025-06-11T20:42:50.735Z,1749674570.735 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:42:50.735Z,1749674570.735 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:50.736Z,1749674570.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000791
2025-06-11T20:42:50.831Z,1749674570.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:50.838Z,1749674570.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 549.181519 m,
bearing: 328.738472 deg,
approach rate: -0.482678 m/s,
LOS rate: -0.008556 deg/s,
cmd heading: 322.273952 deg,
new cmd heading: 322.263352 deg.
2025-06-11T20:42:50.839Z,1749674570.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624557 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:50.985Z,1749674570.985 [DAT](INFO): DAT read: TxSync time:20:42:52.4995
2025-06-11T20:42:50.986Z,1749674570.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250973
2025-06-11T20:42:51.178Z,1749674571.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:51.180Z,1749674571.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 549.003296 m,
bearing: 328.735343 deg,
approach rate: -0.514837 m/s,
LOS rate: -0.009044 deg/s,
cmd heading: 322.263351 deg,
new cmd heading: 322.253959 deg.
2025-06-11T20:42:51.181Z,1749674571.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624393 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:51.238Z,1749674571.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503166
2025-06-11T20:42:51.489Z,1749674571.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753991
2025-06-11T20:42:51.614Z,1749674571.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:51.617Z,1749674571.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 548.791565 m,
bearing: 328.733067 deg,
approach rate: -0.485313 m/s,
LOS rate: -0.005219 deg/s,
cmd heading: 322.253953 deg,
new cmd heading: 322.247123 deg.
2025-06-11T20:42:51.618Z,1749674571.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624273 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:51.741Z,1749674571.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006042
2025-06-11T20:42:51.994Z,1749674571.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258645
2025-06-11T20:42:52.058Z,1749674572.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:52.073Z,1749674572.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:52.075Z,1749674572.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 548.574402 m,
bearing: 328.730747 deg,
approach rate: -0.473227 m/s,
LOS rate: -0.005056 deg/s,
cmd heading: 322.247123 deg,
new cmd heading: 322.240162 deg.
2025-06-11T20:42:52.081Z,1749674572.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624152 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:52.245Z,1749674572.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509988
2025-06-11T20:42:52.497Z,1749674572.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762436
2025-06-11T20:42:52.507Z,1749674572.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:52.510Z,1749674572.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 548.364441 m,
bearing: 328.730057 deg,
approach rate: -0.483670 m/s,
LOS rate: -0.001592 deg/s,
cmd heading: 322.240156 deg,
new cmd heading: 322.238083 deg.
2025-06-11T20:42:52.511Z,1749674572.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624115 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:52.749Z,1749674572.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014092
2025-06-11T20:42:52.857Z,1749674572.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:52.860Z,1749674572.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 548.196411 m,
bearing: 328.729460 deg,
approach rate: -0.479630 m/s,
LOS rate: -0.001704 deg/s,
cmd heading: 322.238080 deg,
new cmd heading: 322.236289 deg.
2025-06-11T20:42:52.861Z,1749674572.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624084 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:53.001Z,1749674573.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266047
2025-06-11T20:42:53.253Z,1749674573.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518141
2025-06-11T20:42:53.286Z,1749674573.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:53.295Z,1749674573.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 548.004272 m,
bearing: 328.728760 deg,
approach rate: -0.447742 m/s,
LOS rate: -0.001631 deg/s,
cmd heading: 322.236277 deg,
new cmd heading: 322.234177 deg.
2025-06-11T20:42:53.328Z,1749674573.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624047 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:53.505Z,1749674573.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770013
2025-06-11T20:42:53.729Z,1749674573.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:53.731Z,1749674573.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 547.802917 m,
bearing: 328.729519 deg,
approach rate: -0.454996 m/s,
LOS rate: 0.001716 deg/s,
cmd heading: 322.234173 deg,
new cmd heading: 322.236451 deg.
2025-06-11T20:42:53.733Z,1749674573.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624087 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:53.757Z,1749674573.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022240
2025-06-11T20:42:54.009Z,1749674574.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274024
2025-06-11T20:42:54.099Z,1749674574.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:54.105Z,1749674574.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:54.114Z,1749674574.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 547.622681 m,
bearing: 328.730182 deg,
approach rate: -0.478756 m/s,
LOS rate: 0.001761 deg/s,
cmd heading: 322.236441 deg,
new cmd heading: 322.238429 deg.
2025-06-11T20:42:54.115Z,1749674574.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624122 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:54.261Z,1749674574.261 [DAT](INFO): DAT read: Rx Time:20:42:55.6422
2025-06-11T20:42:54.262Z,1749674574.262 [DAT](INFO): Rx dataTimestamp_ set to:1749674574.261439
2025-06-11T20:42:54.262Z,1749674574.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527553
2025-06-11T20:42:54.513Z,1749674574.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778080
2025-06-11T20:42:54.608Z,1749674574.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:54.611Z,1749674574.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 547.395569 m,
bearing: 328.731741 deg,
approach rate: -0.452219 m/s,
LOS rate: 0.003106 deg/s,
cmd heading: 322.238435 deg,
new cmd heading: 322.243114 deg.
2025-06-11T20:42:54.612Z,1749674574.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624203 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:54.765Z,1749674574.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030286
2025-06-11T20:42:54.893Z,1749674574.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.74 m.
2025-06-11T20:42:54.896Z,1749674574.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 561.739868 m,
nav range: 547.257812 m,
bearing: 328.732694 deg,
approach rate: -0.482541 m/s,
LOS rate: 0.003339 deg/s,
cmd heading: 322.243107 deg,
new cmd heading: 322.245967 deg.
2025-06-11T20:42:54.897Z,1749674574.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624253 target range: 561.739868 and range: 566.60 m.
2025-06-11T20:42:55.023Z,1749674575.023 [DAT](INFO): DAT read: 20:42:55.6422 LVL= 29264, 32753, 30098, 32755, AGC= 77, IDX= 384,-0.32,-1.763, 2.882,-1.951,-2.454, PHS= 0.779,-0.900, 0.500, RAW= 141.1, -4.9, CAL= 146.6, -14.3, ROT= 3.4, 14.3
2025-06-11T20:42:55.024Z,1749674575.024 [DAT](INFO): got valid direction response:
20:42:55.6422 LVL= 29264, 32753, 30098, 32755, AGC= 77, IDX= 384,-0.32,-1.763, 2.882,-1.951,-2.454, PHS= 0.779,-0.900, 0.500, RAW= 141.1, -4.9, CAL= 146.6, -14.3, ROT= 3.4, 14.3
2025-06-11T20:42:55.025Z,1749674575.025 [DAT](INFO): DAT read: Bearing 3.4, 14.3 (Local)
2025-06-11T20:42:55.025Z,1749674575.025 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.4, 14.3 (Local)
2025-06-11T20:42:55.028Z,1749674575.028 [DAT](INFO): DAT read: Range 10 to 50 : 553.3 m (Round-trip 737.8 ms) speed 0.2 m/s
2025-06-11T20:42:55.031Z,1749674575.031 [DAT](INFO): DAT read: user:412>
2025-06-11T20:42:55.033Z,1749674575.033 [DAT](INFO): DAT read: Tx time:20:42:56.7502
2025-06-11T20:42:55.033Z,1749674575.033 [DAT](INFO): Ping request sent.
2025-06-11T20:42:55.033Z,1749674575.033 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:42:55.034Z,1749674575.034 [DAT](INFO): DAT read: TxSync time:20:42:56.7495
2025-06-11T20:42:55.034Z,1749674575.034 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:42:55.035Z,1749674575.035 [DAT](INFO): direction in FSK: [0.967310,0.057469,-0.246999]
2025-06-11T20:42:55.036Z,1749674575.036 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:55.036Z,1749674575.036 [DAT](INFO): publishing direction and range info
2025-06-11T20:42:55.039Z,1749674575.039 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:55.040Z,1749674575.040 [DAT](INFO): publishing direction and range info
2025-06-11T20:42:55.474Z,1749674575.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 553.299988 m,
deltaT: 26.212126 s,
deltaX: -13.299988 m,
approachRate: -0.507398 m/s,
rangeRepo size: 4
2025-06-11T20:42:55.485Z,1749674575.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 548.525635 m,
bearing: 326.458095 deg,
lat: 36.906383 deg,
lon: -122.115570 deg,
deltaT: 26.212126 s,
deltaX: -13.214233 m,
approachRate: -0.504127 m/s,
posRepo size: 4
2025-06-11T20:42:55.486Z,1749674575.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:55.497Z,1749674575.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 547.031921 m,
bearing: 328.734272 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003339 deg/s,
cmd heading: 322.245975 deg,
new cmd heading: 322.251790 deg.
2025-06-11T20:42:55.498Z,1749674575.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624355 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:56.021Z,1749674576.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:56.023Z,1749674576.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 546.743225 m,
bearing: 328.735261 deg,
approach rate: -0.527585 m/s,
LOS rate: 0.001808 deg/s,
cmd heading: 322.251795 deg,
new cmd heading: 322.254763 deg.
2025-06-11T20:42:56.026Z,1749674576.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624407 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:56.463Z,1749674576.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:56.469Z,1749674576.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:56.474Z,1749674576.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 546.540771 m,
bearing: 328.735959 deg,
approach rate: -0.451458 m/s,
LOS rate: 0.001558 deg/s,
cmd heading: 322.254773 deg,
new cmd heading: 322.256869 deg.
2025-06-11T20:42:56.475Z,1749674576.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624444 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:56.530Z,1749674576.530 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:42:56.530Z,1749674576.530 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:42:56.530Z,1749674576.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:42:56.781Z,1749674576.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747343
2025-06-11T20:42:56.834Z,1749674576.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:56.853Z,1749674576.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 546.372620 m,
bearing: 328.735862 deg,
approach rate: -0.461169 m/s,
LOS rate: -0.000268 deg/s,
cmd heading: 322.256876 deg,
new cmd heading: 322.256583 deg.
2025-06-11T20:42:56.854Z,1749674576.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624438 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:57.033Z,1749674577.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999472
2025-06-11T20:42:57.222Z,1749674577.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:57.225Z,1749674577.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 546.195190 m,
bearing: 328.735763 deg,
approach rate: -0.456401 m/s,
LOS rate: -0.000255 deg/s,
cmd heading: 322.256576 deg,
new cmd heading: 322.256279 deg.
2025-06-11T20:42:57.226Z,1749674577.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624433 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:57.285Z,1749674577.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252032
2025-06-11T20:42:57.537Z,1749674577.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503439
2025-06-11T20:42:57.648Z,1749674577.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:57.651Z,1749674577.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 545.992615 m,
bearing: 328.733755 deg,
approach rate: -0.475611 m/s,
LOS rate: -0.004714 deg/s,
cmd heading: 322.256275 deg,
new cmd heading: 322.250251 deg.
2025-06-11T20:42:57.652Z,1749674577.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624328 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:57.789Z,1749674577.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755463
2025-06-11T20:42:58.025Z,1749674578.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:58.027Z,1749674578.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 545.813232 m,
bearing: 328.731993 deg,
approach rate: -0.476732 m/s,
LOS rate: -0.004686 deg/s,
cmd heading: 322.250265 deg,
new cmd heading: 322.244975 deg.
2025-06-11T20:42:58.041Z,1749674578.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007573
2025-06-11T20:42:58.042Z,1749674578.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624236 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:58.293Z,1749674578.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259389
2025-06-11T20:42:58.508Z,1749674578.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:42:58.510Z,1749674578.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:58.517Z,1749674578.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 545.585815 m,
bearing: 328.729769 deg,
approach rate: -0.468547 m/s,
LOS rate: -0.004584 deg/s,
cmd heading: 322.244965 deg,
new cmd heading: 322.238289 deg.
2025-06-11T20:42:58.518Z,1749674578.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624119 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:58.545Z,1749674578.545 [DAT](INFO): DAT read: Rx Time:20:42:59.8897
2025-06-11T20:42:58.545Z,1749674578.545 [DAT](INFO): Rx dataTimestamp_ set to:1749674578.545092
2025-06-11T20:42:58.546Z,1749674578.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512635
2025-06-11T20:42:58.797Z,1749674578.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763546
2025-06-11T20:42:58.875Z,1749674578.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:58.878Z,1749674578.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 545.405212 m,
bearing: 328.726559 deg,
approach rate: -0.495028 m/s,
LOS rate: -0.008801 deg/s,
cmd heading: 322.238298 deg,
new cmd heading: 322.228665 deg.
2025-06-11T20:42:58.879Z,1749674578.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623951 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:59.053Z,1749674579.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018851
2025-06-11T20:42:59.263Z,1749674579.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.53 m.
2025-06-11T20:42:59.270Z,1749674579.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 548.525635 m,
nav range: 545.224182 m,
bearing: 328.723327 deg,
approach rate: -0.466059 m/s,
LOS rate: -0.008321 deg/s,
cmd heading: 322.228654 deg,
new cmd heading: 322.218957 deg.
2025-06-11T20:42:59.271Z,1749674579.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623782 target range: 548.525635 and range: 553.30 m.
2025-06-11T20:42:59.307Z,1749674579.307 [DAT](INFO): DAT read: 20:42:59.8897 LVL= 19440, 25521, 16866, 26435, AGC= 71, IDX= 422, 0.04,-2.070, 2.398,-2.468,-2.963, PHS= 0.981,-0.875, 0.492, RAW= 135.3, -7.2, CAL= 141.0, -18.2, ROT= 9.0, 18.2
2025-06-11T20:42:59.309Z,1749674579.309 [DAT](INFO): got valid direction response:
20:42:59.8897 LVL= 19440, 25521, 16866, 26435, AGC= 71, IDX= 422, 0.04,-2.070, 2.398,-2.468,-2.963, PHS= 0.981,-0.875, 0.492, RAW= 135.3, -7.2, CAL= 141.0, -18.2, ROT= 9.0, 18.2
2025-06-11T20:42:59.310Z,1749674579.310 [DAT](INFO): DAT read: Bearing 9.0, 18.2 (Local)
2025-06-11T20:42:59.310Z,1749674579.310 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.0, 18.2 (Local)
2025-06-11T20:42:59.312Z,1749674579.312 [DAT](INFO): DAT read: Range 10 to 50 : 551.4 m (Round-trip 735.3 ms) speed 0.4 m/s
2025-06-11T20:42:59.313Z,1749674579.313 [DAT](INFO): DAT read: user:413>
2025-06-11T20:42:59.313Z,1749674579.313 [DAT](INFO): DAT read: Tx time:20:43:01.0002
2025-06-11T20:42:59.314Z,1749674579.314 [DAT](INFO): Ping request sent.
2025-06-11T20:42:59.314Z,1749674579.314 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:42:59.315Z,1749674579.315 [DAT](INFO): DAT read: TxSync time:20:43:00.9995
2025-06-11T20:42:59.315Z,1749674579.315 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:42:59.316Z,1749674579.316 [DAT](INFO): direction in FSK: [0.938276,0.148608,-0.312335]
2025-06-11T20:42:59.316Z,1749674579.316 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:59.317Z,1749674579.317 [DAT](INFO): publishing direction and range info
2025-06-11T20:42:59.320Z,1749674579.320 [DAT](INFO): publishing transmit ping time
2025-06-11T20:42:59.320Z,1749674579.320 [DAT](INFO): publishing direction and range info
2025-06-11T20:42:59.658Z,1749674579.658 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -238.72, +9 86
2025-06-11T20:42:59.678Z,1749674579.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 551.400024 m,
deltaT: 4.284104 s,
deltaX: -1.899963 m,
approachRate: -0.443491 m/s,
rangeRepo size: 4
2025-06-11T20:42:59.680Z,1749674579.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 546.623779 m,
bearing: 332.070816 deg,
lat: 36.906386 deg,
lon: -122.115515 deg,
deltaT: 4.284104 s,
deltaX: -1.901855 m,
approachRate: -0.443933 m/s,
posRepo size: 4
2025-06-11T20:42:59.681Z,1749674579.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.62 m.
2025-06-11T20:42:59.683Z,1749674579.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 546.623779 m,
nav range: 542.794067 m,
bearing: 329.181256 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008321 deg/s,
cmd heading: 322.218955 deg,
new cmd heading: 322.208624 deg.
2025-06-11T20:42:59.685Z,1749674579.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623601 target range: 546.623779 and range: 551.40 m.
2025-06-11T20:43:00.097Z,1749674580.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.62 m.
2025-06-11T20:43:00.104Z,1749674580.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 546.623779 m,
nav range: 542.597778 m,
bearing: 329.177888 deg,
approach rate: -0.467333 m/s,
LOS rate: -0.008021 deg/s,
cmd heading: 322.208628 deg,
new cmd heading: 322.198521 deg.
2025-06-11T20:43:00.105Z,1749674580.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623425 target range: 546.623779 and range: 551.40 m.
2025-06-11T20:43:00.526Z,1749674580.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:00.528Z,1749674580.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.62 m.
2025-06-11T20:43:00.531Z,1749674580.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 546.623779 m,
nav range: 542.381042 m,
bearing: 329.174133 deg,
approach rate: -0.502965 m/s,
LOS rate: -0.008718 deg/s,
cmd heading: 322.198519 deg,
new cmd heading: 322.187249 deg.
2025-06-11T20:43:00.532Z,1749674580.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623228 target range: 546.623779 and range: 551.40 m.
2025-06-11T20:43:00.561Z,1749674580.561 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:00.561Z,1749674580.561 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:00.562Z,1749674580.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:00.813Z,1749674580.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498844
2025-06-11T20:43:00.933Z,1749674580.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.62 m.
2025-06-11T20:43:00.942Z,1749674580.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 546.623779 m,
nav range: 542.175110 m,
bearing: 329.167854 deg,
approach rate: -0.508430 m/s,
LOS rate: -0.015509 deg/s,
cmd heading: 322.187236 deg,
new cmd heading: 322.168391 deg.
2025-06-11T20:43:00.943Z,1749674580.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622899 target range: 546.623779 and range: 551.40 m.
2025-06-11T20:43:01.065Z,1749674581.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751330
2025-06-11T20:43:01.268Z,1749674581.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.62 m.
2025-06-11T20:43:01.271Z,1749674581.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 546.623779 m,
nav range: 541.996765 m,
bearing: 329.162345 deg,
approach rate: -0.532845 m/s,
LOS rate: -0.016463 deg/s,
cmd heading: 322.168385 deg,
new cmd heading: 322.151854 deg.
2025-06-11T20:43:01.271Z,1749674581.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622611 target range: 546.623779 and range: 551.40 m.
2025-06-11T20:43:01.317Z,1749674581.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002982
2025-06-11T20:43:01.569Z,1749674581.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254855
2025-06-11T20:43:01.696Z,1749674581.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.62 m.
2025-06-11T20:43:01.699Z,1749674581.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 546.623779 m,
nav range: 541.775391 m,
bearing: 329.154288 deg,
approach rate: -0.516383 m/s,
LOS rate: -0.018802 deg/s,
cmd heading: 322.151855 deg,
new cmd heading: 322.127674 deg.
2025-06-11T20:43:01.700Z,1749674581.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622189 target range: 546.623779 and range: 551.40 m.
2025-06-11T20:43:01.821Z,1749674581.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506933
2025-06-11T20:43:02.073Z,1749674582.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758921
2025-06-11T20:43:02.078Z,1749674582.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.62 m.
2025-06-11T20:43:02.081Z,1749674582.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 546.623779 m,
nav range: 541.578247 m,
bearing: 329.147040 deg,
approach rate: -0.516496 m/s,
LOS rate: -0.018995 deg/s,
cmd heading: 322.127677 deg,
new cmd heading: 322.105926 deg.
2025-06-11T20:43:02.082Z,1749674582.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621809 target range: 546.623779 and range: 551.40 m.
2025-06-11T20:43:02.326Z,1749674582.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011760
2025-06-11T20:43:02.534Z,1749674582.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:02.547Z,1749674582.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.62 m.
2025-06-11T20:43:02.553Z,1749674582.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 546.623779 m,
nav range: 541.366577 m,
bearing: 329.139194 deg,
approach rate: -0.451944 m/s,
LOS rate: -0.016760 deg/s,
cmd heading: 322.105929 deg,
new cmd heading: 322.082381 deg.
2025-06-11T20:43:02.554Z,1749674582.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621398 target range: 546.623779 and range: 551.40 m.
2025-06-11T20:43:02.577Z,1749674582.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262981
2025-06-11T20:43:02.829Z,1749674582.829 [DAT](INFO): DAT read: Rx Time:20:43:04.1368
2025-06-11T20:43:02.829Z,1749674582.829 [DAT](INFO): Rx dataTimestamp_ set to:1749674582.828993
2025-06-11T20:43:02.830Z,1749674582.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515930
2025-06-11T20:43:02.921Z,1749674582.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.62 m.
2025-06-11T20:43:02.926Z,1749674582.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 546.623779 m,
nav range: 541.138733 m,
bearing: 329.131179 deg,
approach rate: -0.610177 m/s,
LOS rate: -0.021472 deg/s,
cmd heading: 322.082379 deg,
new cmd heading: 322.058326 deg.
2025-06-11T20:43:02.927Z,1749674582.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620978 target range: 546.623779 and range: 551.40 m.
2025-06-11T20:43:03.081Z,1749674583.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766862
2025-06-11T20:43:03.340Z,1749674583.340 [DAT](INFO): DAT read: 20:43:04.1368 LVL= 21200, 14609, 20274, 18659, AGC= 72, IDX= 407, 0.15,-0.743,-2.271,-1.038,-1.549, PHS= 0.895,-0.674, 0.508, RAW= 136.3, -10.3, CAL= 142.3, -21.0, ROT= 7.7, 21.0
2025-06-11T20:43:03.341Z,1749674583.341 [DAT](INFO): got valid direction response:
20:43:04.1368 LVL= 21200, 14609, 20274, 18659, AGC= 72, IDX= 407, 0.15,-0.743,-2.271,-1.038,-1.549, PHS= 0.895,-0.674, 0.508, RAW= 136.3, -10.3, CAL= 142.3, -21.0, ROT= 7.7, 21.0
2025-06-11T20:43:03.342Z,1749674583.342 [DAT](INFO): DAT read: Bearing 7.7, 21.0 (Local)
2025-06-11T20:43:03.343Z,1749674583.343 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.7, 21.0 (Local)
2025-06-11T20:43:03.344Z,1749674583.344 [DAT](INFO): DAT read: Range 10 to 50 : 549.3 m (Round-trip 732.4 ms) speed 0.5 m/s
2025-06-11T20:43:03.345Z,1749674583.345 [DAT](INFO): DAT read: user:414>
2025-06-11T20:43:03.346Z,1749674583.346 [DAT](INFO): DAT read: Tx time:20:43:05.2502
2025-06-11T20:43:03.346Z,1749674583.346 [DAT](INFO): Ping request sent.
2025-06-11T20:43:03.346Z,1749674583.346 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:43:03.347Z,1749674583.347 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:43:03.352Z,1749674583.352 [DAT](INFO): direction in FSK: [0.925163,0.125087,-0.358368]
2025-06-11T20:43:03.352Z,1749674583.352 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:03.352Z,1749674583.352 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:03.355Z,1749674583.355 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:03.360Z,1749674583.360 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:03.421Z,1749674583.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 549.299988 m,
deltaT: 4.033384 s,
deltaX: -2.100037 m,
approachRate: -0.520664 m/s,
rangeRepo size: 4
2025-06-11T20:43:03.423Z,1749674583.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 544.543701 m,
bearing: 332.815298 deg,
lat: 36.906386 deg,
lon: -122.115200 deg,
deltaT: 4.033384 s,
deltaX: -2.080078 m,
approachRate: -0.515715 m/s,
posRepo size: 4
2025-06-11T20:43:03.423Z,1749674583.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:03.430Z,1749674583.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 527.104004 m,
bearing: 331.735174 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021472 deg/s,
cmd heading: 322.058336 deg,
new cmd heading: 322.027156 deg.
2025-06-11T20:43:03.431Z,1749674583.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620434 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:03.585Z,1749674583.585 [DAT](INFO): DAT read: TxSync time:20:43:05.2495
2025-06-11T20:43:03.817Z,1749674583.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:03.824Z,1749674583.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 526.869141 m,
bearing: 331.727446 deg,
approach rate: -0.568493 m/s,
LOS rate: -0.018715 deg/s,
cmd heading: 322.027164 deg,
new cmd heading: 322.003968 deg.
2025-06-11T20:43:03.825Z,1749674583.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620029 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:04.151Z,1749674584.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:04.154Z,1749674584.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 526.690552 m,
bearing: 331.721537 deg,
approach rate: -0.535074 m/s,
LOS rate: -0.017711 deg/s,
cmd heading: 322.003968 deg,
new cmd heading: 321.986234 deg.
2025-06-11T20:43:04.155Z,1749674584.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619720 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:04.598Z,1749674584.598 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061112442667,35.0, +10.2, 0.0,1490.9,A, 0.00, 119.15, 105.40,
2025-06-11T20:43:04.613Z,1749674584.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:04.615Z,1749674584.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:04.645Z,1749674584.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 526.455750 m,
bearing: 331.713801 deg,
approach rate: -0.506188 m/s,
LOS rate: -0.016685 deg/s,
cmd heading: 321.986237 deg,
new cmd heading: 321.963019 deg.
2025-06-11T20:43:04.646Z,1749674584.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619315 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:04.845Z,1749674584.845 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:04.845Z,1749674584.845 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:04.845Z,1749674584.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:04.971Z,1749674584.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:04.974Z,1749674584.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 526.274902 m,
bearing: 331.707839 deg,
approach rate: -0.508059 m/s,
LOS rate: -0.016755 deg/s,
cmd heading: 321.963014 deg,
new cmd heading: 321.945122 deg.
2025-06-11T20:43:04.975Z,1749674584.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619002 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:05.097Z,1749674585.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750443
2025-06-11T20:43:05.353Z,1749674585.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006769
2025-06-11T20:43:05.384Z,1749674585.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:05.387Z,1749674585.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 526.082764 m,
bearing: 331.701486 deg,
approach rate: -0.483560 m/s,
LOS rate: -0.015994 deg/s,
cmd heading: 321.945119 deg,
new cmd heading: 321.926054 deg.
2025-06-11T20:43:05.388Z,1749674585.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618670 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:05.604Z,1749674585.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256983
2025-06-11T20:43:05.783Z,1749674585.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:05.786Z,1749674585.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 525.875671 m,
bearing: 331.698018 deg,
approach rate: -0.499342 m/s,
LOS rate: -0.008365 deg/s,
cmd heading: 321.926049 deg,
new cmd heading: 321.915641 deg.
2025-06-11T20:43:05.787Z,1749674585.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618488 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:05.853Z,1749674585.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506514
2025-06-11T20:43:06.105Z,1749674586.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758661
2025-06-11T20:43:06.255Z,1749674586.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:06.262Z,1749674586.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 525.651489 m,
bearing: 331.694299 deg,
approach rate: -0.474886 m/s,
LOS rate: -0.007881 deg/s,
cmd heading: 321.915640 deg,
new cmd heading: 321.904479 deg.
2025-06-11T20:43:06.263Z,1749674586.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618293 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:06.358Z,1749674586.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011267
2025-06-11T20:43:06.613Z,1749674586.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266392
2025-06-11T20:43:06.671Z,1749674586.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:06.673Z,1749674586.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:06.676Z,1749674586.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 525.453857 m,
bearing: 331.692885 deg,
approach rate: -0.472104 m/s,
LOS rate: -0.003380 deg/s,
cmd heading: 321.904466 deg,
new cmd heading: 321.900221 deg.
2025-06-11T20:43:06.677Z,1749674586.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618219 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:06.866Z,1749674586.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519194
2025-06-11T20:43:07.123Z,1749674587.123 [DAT](INFO): DAT read: 20:43:08.3839 LVL= 19152, 19985, 16466, 25555, AGC= 72, IDX= 410,-0.08,-1.013,-2.386,-1.291,-1.645, PHS= 0.720,-0.694, 0.351, RAW= 135.4, -6.0, CAL= 141.1, -16.5, ROT= 8.9, 16.5
2025-06-11T20:43:07.125Z,1749674587.125 [DAT](INFO): got valid direction response:
20:43:08.3839 LVL= 19152, 19985, 16466, 25555, AGC= 72, IDX= 410,-0.08,-1.013,-2.386,-1.291,-1.645, PHS= 0.720,-0.694, 0.351, RAW= 135.4, -6.0, CAL= 141.1, -16.5, ROT= 8.9, 16.5
2025-06-11T20:43:07.125Z,1749674587.125 [DAT](INFO): DAT read: Rx Time:20:43:08.3839
2025-06-11T20:43:07.126Z,1749674587.126 [DAT](INFO): Rx dataTimestamp_ set to:1749674587.125472
2025-06-11T20:43:07.126Z,1749674587.126 [DAT](INFO): DAT read: $Low SNR acquisition
2025-06-11T20:43:07.127Z,1749674587.127 [DAT](INFO): Received low SNR in chirp
2025-06-11T20:43:07.140Z,1749674587.140 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:43:07.141Z,1749674587.141 [DAT](INFO): direction in FSK: [0.947275,0.148339,-0.284015]
2025-06-11T20:43:07.144Z,1749674587.144 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:07.144Z,1749674587.144 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:07.144Z,1749674587.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:07.181Z,1749674587.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:07.212Z,1749674587.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 525.223572 m,
bearing: 331.691253 deg,
approach rate: -0.453669 m/s,
LOS rate: -0.003216 deg/s,
cmd heading: 321.900231 deg,
new cmd heading: 321.895334 deg.
2025-06-11T20:43:07.213Z,1749674587.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618134 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:07.370Z,1749674587.370 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:07.370Z,1749674587.370 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:07.370Z,1749674587.370 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:07.624Z,1749674587.624 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:07.624Z,1749674587.624 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:07.625Z,1749674587.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:07.695Z,1749674587.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:07.698Z,1749674587.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 524.987671 m,
bearing: 331.691973 deg,
approach rate: -0.458883 m/s,
LOS rate: 0.001401 deg/s,
cmd heading: 321.895341 deg,
new cmd heading: 321.897501 deg.
2025-06-11T20:43:07.699Z,1749674587.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618171 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:07.873Z,1749674587.873 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:07.873Z,1749674587.873 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:07.873Z,1749674587.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:08.093Z,1749674588.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:08.095Z,1749674588.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 524.810608 m,
bearing: 331.692529 deg,
approach rate: -0.445344 m/s,
LOS rate: 0.001400 deg/s,
cmd heading: 321.897499 deg,
new cmd heading: 321.899169 deg.
2025-06-11T20:43:08.097Z,1749674588.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618200 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:08.124Z,1749674588.124 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:08.125Z,1749674588.125 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:08.125Z,1749674588.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:08.377Z,1749674588.377 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:08.377Z,1749674588.377 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:08.377Z,1749674588.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:08.459Z,1749674588.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:08.462Z,1749674588.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 524.647583 m,
bearing: 331.693062 deg,
approach rate: -0.444577 m/s,
LOS rate: 0.001454 deg/s,
cmd heading: 321.899166 deg,
new cmd heading: 321.900765 deg.
2025-06-11T20:43:08.463Z,1749674588.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618228 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:08.631Z,1749674588.631 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:08.631Z,1749674588.631 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:08.632Z,1749674588.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:08.879Z,1749674588.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:08.881Z,1749674588.881 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:08.881Z,1749674588.881 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:08.881Z,1749674588.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:08.882Z,1749674588.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:08.885Z,1749674588.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 524.469666 m,
bearing: 331.694283 deg,
approach rate: -0.420592 m/s,
LOS rate: 0.002887 deg/s,
cmd heading: 321.900778 deg,
new cmd heading: 321.904442 deg.
2025-06-11T20:43:08.886Z,1749674588.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618292 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:09.133Z,1749674589.133 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:09.133Z,1749674589.133 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:09.133Z,1749674589.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:09.261Z,1749674589.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:09.264Z,1749674589.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 524.308411 m,
bearing: 331.695410 deg,
approach rate: -0.425889 m/s,
LOS rate: 0.002977 deg/s,
cmd heading: 321.904439 deg,
new cmd heading: 321.907821 deg.
2025-06-11T20:43:09.265Z,1749674589.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618351 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:09.387Z,1749674589.387 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:09.387Z,1749674589.387 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:09.388Z,1749674589.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:09.643Z,1749674589.643 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:09.643Z,1749674589.643 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:09.643Z,1749674589.643 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:09.730Z,1749674589.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:09.733Z,1749674589.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 524.104309 m,
bearing: 331.696428 deg,
approach rate: -0.435263 m/s,
LOS rate: 0.002171 deg/s,
cmd heading: 321.907826 deg,
new cmd heading: 321.910880 deg.
2025-06-11T20:43:09.734Z,1749674589.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618405 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:09.892Z,1749674589.892 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:09.893Z,1749674589.893 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:09.893Z,1749674589.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:10.054Z,1749674590.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:10.057Z,1749674590.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 523.963318 m,
bearing: 331.697131 deg,
approach rate: -0.435524 m/s,
LOS rate: 0.002174 deg/s,
cmd heading: 321.910886 deg,
new cmd heading: 321.912998 deg.
2025-06-11T20:43:10.058Z,1749674590.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618442 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:10.145Z,1749674590.145 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:10.145Z,1749674590.145 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:10.145Z,1749674590.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:10.397Z,1749674590.397 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:10.397Z,1749674590.397 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:10.397Z,1749674590.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:10.459Z,1749674590.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:10.462Z,1749674590.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 523.787109 m,
bearing: 331.698020 deg,
approach rate: -0.434734 m/s,
LOS rate: 0.002194 deg/s,
cmd heading: 321.912990 deg,
new cmd heading: 321.915658 deg.
2025-06-11T20:43:10.463Z,1749674590.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618488 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:10.652Z,1749674590.652 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:10.653Z,1749674590.653 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:10.653Z,1749674590.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:10.884Z,1749674590.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:10.886Z,1749674590.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:10.889Z,1749674590.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 523.605164 m,
bearing: 331.698704 deg,
approach rate: -0.426351 m/s,
LOS rate: 0.001603 deg/s,
cmd heading: 321.915668 deg,
new cmd heading: 321.917720 deg.
2025-06-11T20:43:10.889Z,1749674590.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618524 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:10.905Z,1749674590.905 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:10.905Z,1749674590.905 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:10.905Z,1749674590.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:11.156Z,1749674591.156 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:11.157Z,1749674591.157 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:11.157Z,1749674591.157 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:11.292Z,1749674591.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:11.294Z,1749674591.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 523.438232 m,
bearing: 331.699337 deg,
approach rate: -0.437369 m/s,
LOS rate: 0.001657 deg/s,
cmd heading: 321.917717 deg,
new cmd heading: 321.919614 deg.
2025-06-11T20:43:11.295Z,1749674591.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618557 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:11.409Z,1749674591.409 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:11.409Z,1749674591.409 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:11.409Z,1749674591.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:11.663Z,1749674591.663 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:11.664Z,1749674591.664 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:11.665Z,1749674591.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:11.749Z,1749674591.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:11.768Z,1749674591.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 523.220215 m,
bearing: 331.698942 deg,
approach rate: -0.452439 m/s,
LOS rate: -0.000819 deg/s,
cmd heading: 321.919602 deg,
new cmd heading: 321.918417 deg.
2025-06-11T20:43:11.769Z,1749674591.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618536 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:11.912Z,1749674591.912 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:11.913Z,1749674591.913 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:11.913Z,1749674591.913 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:12.098Z,1749674592.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:12.102Z,1749674592.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 523.068970 m,
bearing: 331.698668 deg,
approach rate: -0.433604 m/s,
LOS rate: -0.000786 deg/s,
cmd heading: 321.918427 deg,
new cmd heading: 321.917605 deg.
2025-06-11T20:43:12.103Z,1749674592.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618522 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:12.166Z,1749674592.166 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:12.166Z,1749674592.166 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:12.166Z,1749674592.166 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:12.417Z,1749674592.417 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:12.417Z,1749674592.417 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:12.417Z,1749674592.417 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:12.517Z,1749674592.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:12.519Z,1749674592.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 522.873352 m,
bearing: 331.698331 deg,
approach rate: -0.468520 m/s,
LOS rate: -0.000808 deg/s,
cmd heading: 321.917607 deg,
new cmd heading: 321.916595 deg.
2025-06-11T20:43:12.520Z,1749674592.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618505 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:12.671Z,1749674592.671 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:12.671Z,1749674592.671 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:12.671Z,1749674592.671 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:12.902Z,1749674592.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:12.904Z,1749674592.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:12.907Z,1749674592.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 522.690308 m,
bearing: 331.696969 deg,
approach rate: -0.471346 m/s,
LOS rate: -0.003508 deg/s,
cmd heading: 321.916596 deg,
new cmd heading: 321.912510 deg.
2025-06-11T20:43:12.908Z,1749674592.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618433 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:12.921Z,1749674592.921 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:12.921Z,1749674592.921 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:12.922Z,1749674592.922 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:13.173Z,1749674593.173 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:13.173Z,1749674593.173 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:13.173Z,1749674593.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:13.292Z,1749674593.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:13.295Z,1749674593.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 522.506958 m,
bearing: 331.695615 deg,
approach rate: -0.472717 m/s,
LOS rate: -0.003492 deg/s,
cmd heading: 321.912498 deg,
new cmd heading: 321.908435 deg.
2025-06-11T20:43:13.296Z,1749674593.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618362 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:13.424Z,1749674593.424 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:13.425Z,1749674593.425 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:13.425Z,1749674593.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:13.678Z,1749674593.678 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:13.679Z,1749674593.679 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:13.680Z,1749674593.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:13.774Z,1749674593.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:13.777Z,1749674593.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 522.274414 m,
bearing: 331.692246 deg,
approach rate: -0.482493 m/s,
LOS rate: -0.006993 deg/s,
cmd heading: 321.908428 deg,
new cmd heading: 321.898316 deg.
2025-06-11T20:43:13.778Z,1749674593.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618186 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:13.928Z,1749674593.928 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:13.929Z,1749674593.929 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:13.929Z,1749674593.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:14.092Z,1749674594.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:14.094Z,1749674594.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 522.121033 m,
bearing: 331.690026 deg,
approach rate: -0.482689 m/s,
LOS rate: -0.006987 deg/s,
cmd heading: 321.898319 deg,
new cmd heading: 321.891658 deg.
2025-06-11T20:43:14.095Z,1749674594.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618069 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:14.181Z,1749674594.181 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:14.182Z,1749674594.182 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:14.182Z,1749674594.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:14.433Z,1749674594.433 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:43:14.433Z,1749674594.433 [DAT](INFO): response not received
2025-06-11T20:43:14.434Z,1749674594.434 [DAT](INFO): DAT read: user:416>
2025-06-11T20:43:14.434Z,1749674594.434 [DAT](INFO): DAT read: Tx time:20:43:16.2003
2025-06-11T20:43:14.435Z,1749674594.435 [DAT](INFO): Ping request sent.
2025-06-11T20:43:14.435Z,1749674594.435 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:43:14.435Z,1749674594.435 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:14.436Z,1749674594.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000786
2025-06-11T20:43:14.572Z,1749674594.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:14.575Z,1749674594.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 521.888977 m,
bearing: 331.686674 deg,
approach rate: -0.482694 m/s,
LOS rate: -0.006976 deg/s,
cmd heading: 321.891653 deg,
new cmd heading: 321.881591 deg.
2025-06-11T20:43:14.576Z,1749674594.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617894 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:14.688Z,1749674594.688 [DAT](INFO): DAT read: TxSync time:20:43:16.1996
2025-06-11T20:43:14.691Z,1749674594.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255491
2025-06-11T20:43:14.935Z,1749674594.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:14.938Z,1749674594.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502688
2025-06-11T20:43:14.941Z,1749674594.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:14.945Z,1749674594.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 521.710205 m,
bearing: 331.682990 deg,
approach rate: -0.486212 m/s,
LOS rate: -0.010024 deg/s,
cmd heading: 321.881599 deg,
new cmd heading: 321.870541 deg.
2025-06-11T20:43:14.947Z,1749674594.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617701 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:15.189Z,1749674595.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753943
2025-06-11T20:43:15.299Z,1749674595.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:15.302Z,1749674595.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 521.527405 m,
bearing: 331.679230 deg,
approach rate: -0.508544 m/s,
LOS rate: -0.010463 deg/s,
cmd heading: 321.870534 deg,
new cmd heading: 321.859251 deg.
2025-06-11T20:43:15.303Z,1749674595.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617504 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:15.441Z,1749674595.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005939
2025-06-11T20:43:15.695Z,1749674595.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260191
2025-06-11T20:43:15.789Z,1749674595.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:15.792Z,1749674595.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 521.278015 m,
bearing: 331.673426 deg,
approach rate: -0.509118 m/s,
LOS rate: -0.011854 deg/s,
cmd heading: 321.859250 deg,
new cmd heading: 321.841830 deg.
2025-06-11T20:43:15.793Z,1749674595.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617199 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:15.945Z,1749674595.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510654
2025-06-11T20:43:16.112Z,1749674596.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:16.114Z,1749674596.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 521.113892 m,
bearing: 331.669599 deg,
approach rate: -0.509272 m/s,
LOS rate: -0.011880 deg/s,
cmd heading: 321.841820 deg,
new cmd heading: 321.830333 deg.
2025-06-11T20:43:16.115Z,1749674596.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616999 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:16.198Z,1749674596.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762991
2025-06-11T20:43:16.449Z,1749674596.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013917
2025-06-11T20:43:16.536Z,1749674596.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:16.538Z,1749674596.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 520.902222 m,
bearing: 331.664659 deg,
approach rate: -0.499193 m/s,
LOS rate: -0.011654 deg/s,
cmd heading: 321.830345 deg,
new cmd heading: 321.815520 deg.
2025-06-11T20:43:16.539Z,1749674596.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616740 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:16.704Z,1749674596.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268159
2025-06-11T20:43:16.953Z,1749674596.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518254
2025-06-11T20:43:16.963Z,1749674596.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:16.969Z,1749674596.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:16.976Z,1749674596.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 520.691101 m,
bearing: 331.658538 deg,
approach rate: -0.487079 m/s,
LOS rate: -0.014128 deg/s,
cmd heading: 321.815510 deg,
new cmd heading: 321.797138 deg.
2025-06-11T20:43:16.977Z,1749674596.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616420 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:17.205Z,1749674597.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769985
2025-06-11T20:43:17.333Z,1749674597.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:17.335Z,1749674597.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 520.492615 m,
bearing: 331.652749 deg,
approach rate: -0.546161 m/s,
LOS rate: -0.015935 deg/s,
cmd heading: 321.797150 deg,
new cmd heading: 321.779777 deg.
2025-06-11T20:43:17.336Z,1749674597.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616117 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:17.457Z,1749674597.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022289
2025-06-11T20:43:17.709Z,1749674597.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273962
2025-06-11T20:43:17.801Z,1749674597.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:17.808Z,1749674597.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 520.258301 m,
bearing: 331.645888 deg,
approach rate: -0.499747 m/s,
LOS rate: -0.014640 deg/s,
cmd heading: 321.779774 deg,
new cmd heading: 321.759182 deg.
2025-06-11T20:43:17.809Z,1749674597.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615757 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:17.961Z,1749674597.961 [DAT](INFO): DAT read: Rx Time:20:43:19.3273
2025-06-11T20:43:17.961Z,1749674597.961 [DAT](INFO): Rx dataTimestamp_ set to:1749674597.960984
2025-06-11T20:43:17.962Z,1749674597.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527022
2025-06-11T20:43:18.213Z,1749674598.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778045
2025-06-11T20:43:18.218Z,1749674598.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:18.221Z,1749674598.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 520.042175 m,
bearing: 331.639539 deg,
approach rate: -0.519045 m/s,
LOS rate: -0.015255 deg/s,
cmd heading: 321.759174 deg,
new cmd heading: 321.740118 deg.
2025-06-11T20:43:18.222Z,1749674598.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615424 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:18.468Z,1749674598.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032706
2025-06-11T20:43:18.561Z,1749674598.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 544.54 m.
2025-06-11T20:43:18.563Z,1749674598.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 544.543701 m,
nav range: 519.866211 m,
bearing: 331.634363 deg,
approach rate: -0.513150 m/s,
LOS rate: -0.015099 deg/s,
cmd heading: 321.740104 deg,
new cmd heading: 321.724572 deg.
2025-06-11T20:43:18.565Z,1749674598.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615153 target range: 544.543701 and range: 549.30 m.
2025-06-11T20:43:18.739Z,1749674598.739 [DAT](INFO): DAT read: 20:43:19.3273 LVL= 26992, 23441, 27570, 32755, AGC= 74, IDX= 469,-0.10,-2.381, 2.096,-2.669, 3.032, PHS= 0.959,-0.889, 0.580, RAW= 138.8, -7.7, CAL= 144.9, -17.9, ROT= 5.1, 17.9
2025-06-11T20:43:18.742Z,1749674598.742 [DAT](INFO): got valid direction response:
20:43:19.3273 LVL= 26992, 23441, 27570, 32755, AGC= 74, IDX= 469,-0.10,-2.381, 2.096,-2.669, 3.032, PHS= 0.959,-0.889, 0.580, RAW= 138.8, -7.7, CAL= 144.9, -17.9, ROT= 5.1, 17.9
2025-06-11T20:43:18.784Z,1749674598.784 [DAT](INFO): DAT read: Bearing 5.1, 17.9 (Local)
2025-06-11T20:43:18.785Z,1749674598.785 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.1, 17.9 (Local)
2025-06-11T20:43:18.787Z,1749674598.787 [DAT](INFO): DAT read: Range 10 to 50 : 542.1 m (Round-trip 722.8 ms) speed 0.4 m/s
2025-06-11T20:43:18.787Z,1749674598.787 [DAT](INFO): DAT read: user:417>
2025-06-11T20:43:18.793Z,1749674598.793 [DAT](INFO): DAT read: Tx time:20:43:20.4503
2025-06-11T20:43:18.793Z,1749674598.793 [DAT](INFO): Ping request sent.
2025-06-11T20:43:18.794Z,1749674598.794 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:43:18.794Z,1749674598.794 [DAT](INFO): DAT read: TxSync time:20:43:20.4496
2025-06-11T20:43:18.795Z,1749674598.795 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:43:18.801Z,1749674598.801 [DAT](INFO): direction in FSK: [0.947827,0.084591,-0.307357]
2025-06-11T20:43:18.802Z,1749674598.802 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:18.802Z,1749674598.802 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:18.815Z,1749674598.815 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:18.815Z,1749674598.815 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:19.015Z,1749674599.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 542.099976 m,
deltaT: 15.383806 s,
deltaX: -7.200012 m,
approachRate: -0.468025 m/s,
rangeRepo size: 4
2025-06-11T20:43:19.025Z,1749674599.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 537.429016 m,
bearing: 328.889003 deg,
lat: 36.906341 deg,
lon: -122.115368 deg,
deltaT: 15.383806 s,
deltaX: -7.114685 m,
approachRate: -0.462479 m/s,
posRepo size: 4
2025-06-11T20:43:19.026Z,1749674599.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:19.032Z,1749674599.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 522.559326 m,
bearing: 329.929789 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.015099 deg/s,
cmd heading: 321.724559 deg,
new cmd heading: 321.704030 deg.
2025-06-11T20:43:19.033Z,1749674599.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614795 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:19.276Z,1749674599.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:43:19.367Z,1749674599.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:19.370Z,1749674599.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:19.373Z,1749674599.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 522.379028 m,
bearing: 329.923746 deg,
approach rate: -0.506641 m/s,
LOS rate: -0.016988 deg/s,
cmd heading: 321.704041 deg,
new cmd heading: 321.685904 deg.
2025-06-11T20:43:19.374Z,1749674599.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614478 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:19.473Z,1749674599.473 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:19.473Z,1749674599.473 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:19.473Z,1749674599.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:19.725Z,1749674599.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.931238
2025-06-11T20:43:19.835Z,1749674599.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:19.842Z,1749674599.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 522.153137 m,
bearing: 329.916180 deg,
approach rate: -0.485139 m/s,
LOS rate: -0.016255 deg/s,
cmd heading: 321.685900 deg,
new cmd heading: 321.663194 deg.
2025-06-11T20:43:19.843Z,1749674599.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614082 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:19.977Z,1749674599.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.183441
2025-06-11T20:43:20.198Z,1749674600.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:20.201Z,1749674600.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 521.968079 m,
bearing: 329.911012 deg,
approach rate: -0.510429 m/s,
LOS rate: -0.014259 deg/s,
cmd heading: 321.663196 deg,
new cmd heading: 321.647688 deg.
2025-06-11T20:43:20.202Z,1749674600.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613811 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:20.229Z,1749674600.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.435403
2025-06-11T20:43:20.281Z,1749674600.281 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:43:20.481Z,1749674600.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687290
2025-06-11T20:43:20.588Z,1749674600.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:20.590Z,1749674600.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 521.778992 m,
bearing: 329.905698 deg,
approach rate: -0.485158 m/s,
LOS rate: -0.013642 deg/s,
cmd heading: 321.647678 deg,
new cmd heading: 321.631728 deg.
2025-06-11T20:43:20.591Z,1749674600.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613533 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:20.734Z,1749674600.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940050
2025-06-11T20:43:20.985Z,1749674600.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191361
2025-06-11T20:43:21.013Z,1749674601.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:21.015Z,1749674601.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 521.561707 m,
bearing: 329.900701 deg,
approach rate: -0.511443 m/s,
LOS rate: -0.011767 deg/s,
cmd heading: 321.631723 deg,
new cmd heading: 321.616726 deg.
2025-06-11T20:43:21.016Z,1749674601.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613271 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:21.237Z,1749674601.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443419
2025-06-11T20:43:21.446Z,1749674601.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:21.448Z,1749674601.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:21.451Z,1749674601.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 521.344788 m,
bearing: 329.895694 deg,
approach rate: -0.498000 m/s,
LOS rate: -0.011500 deg/s,
cmd heading: 321.616724 deg,
new cmd heading: 321.601697 deg.
2025-06-11T20:43:21.453Z,1749674601.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613008 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:21.489Z,1749674601.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.695726
2025-06-11T20:43:21.741Z,1749674601.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.947391
2025-06-11T20:43:21.921Z,1749674601.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:21.930Z,1749674601.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 521.111755 m,
bearing: 329.891987 deg,
approach rate: -0.492682 m/s,
LOS rate: -0.007840 deg/s,
cmd heading: 321.601697 deg,
new cmd heading: 321.590572 deg.
2025-06-11T20:43:21.931Z,1749674601.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612814 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:21.993Z,1749674601.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199826
2025-06-11T20:43:22.225Z,1749674602.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:22.228Z,1749674602.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 520.959778 m,
bearing: 329.889574 deg,
approach rate: -0.499885 m/s,
LOS rate: -0.007939 deg/s,
cmd heading: 321.590578 deg,
new cmd heading: 321.583336 deg.
2025-06-11T20:43:22.229Z,1749674602.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612688 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:22.245Z,1749674602.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451405
2025-06-11T20:43:22.498Z,1749674602.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703682
2025-06-11T20:43:22.619Z,1749674602.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:22.623Z,1749674602.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 520.764526 m,
bearing: 329.886489 deg,
approach rate: -0.495418 m/s,
LOS rate: -0.007831 deg/s,
cmd heading: 321.583338 deg,
new cmd heading: 321.574079 deg.
2025-06-11T20:43:22.665Z,1749674602.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612526 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:22.749Z,1749674602.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.955484
2025-06-11T20:43:23.001Z,1749674603.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.207412
2025-06-11T20:43:23.026Z,1749674603.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:23.030Z,1749674603.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 520.566284 m,
bearing: 329.884410 deg,
approach rate: -0.486999 m/s,
LOS rate: -0.005108 deg/s,
cmd heading: 321.574076 deg,
new cmd heading: 321.567839 deg.
2025-06-11T20:43:23.031Z,1749674603.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612418 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:23.254Z,1749674603.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.460571
2025-06-11T20:43:23.426Z,1749674603.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:23.429Z,1749674603.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 520.373291 m,
bearing: 329.882408 deg,
approach rate: -0.482962 m/s,
LOS rate: -0.005013 deg/s,
cmd heading: 321.567847 deg,
new cmd heading: 321.561837 deg.
2025-06-11T20:43:23.430Z,1749674603.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612313 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:23.509Z,1749674603.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.715448
2025-06-11T20:43:23.757Z,1749674603.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.963327
2025-06-11T20:43:23.872Z,1749674603.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:23.881Z,1749674603.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:23.883Z,1749674603.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 520.183594 m,
bearing: 329.880446 deg,
approach rate: -0.417214 m/s,
LOS rate: -0.004316 deg/s,
cmd heading: 321.561836 deg,
new cmd heading: 321.555949 deg.
2025-06-11T20:43:23.888Z,1749674603.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612210 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:24.009Z,1749674604.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.215255
2025-06-11T20:43:24.259Z,1749674604.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:24.261Z,1749674604.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.467409
2025-06-11T20:43:24.266Z,1749674604.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 519.978394 m,
bearing: 329.878981 deg,
approach rate: -0.541903 m/s,
LOS rate: -0.003869 deg/s,
cmd heading: 321.555935 deg,
new cmd heading: 321.551540 deg.
2025-06-11T20:43:24.267Z,1749674604.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612133 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:24.514Z,1749674604.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.719681
2025-06-11T20:43:24.636Z,1749674604.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:24.638Z,1749674604.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 519.787903 m,
bearing: 329.877639 deg,
approach rate: -0.506097 m/s,
LOS rate: -0.003568 deg/s,
cmd heading: 321.551536 deg,
new cmd heading: 321.547507 deg.
2025-06-11T20:43:24.639Z,1749674604.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612063 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:24.765Z,1749674604.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.971261
2025-06-11T20:43:25.017Z,1749674605.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.223772
2025-06-11T20:43:25.066Z,1749674605.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:25.069Z,1749674605.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 519.591125 m,
bearing: 329.876830 deg,
approach rate: -0.457454 m/s,
LOS rate: -0.001880 deg/s,
cmd heading: 321.547520 deg,
new cmd heading: 321.545094 deg.
2025-06-11T20:43:25.070Z,1749674605.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612020 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:25.269Z,1749674605.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.475367
2025-06-11T20:43:25.441Z,1749674605.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:25.443Z,1749674605.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 519.419678 m,
bearing: 329.876126 deg,
approach rate: -0.457394 m/s,
LOS rate: -0.001880 deg/s,
cmd heading: 321.545089 deg,
new cmd heading: 321.542974 deg.
2025-06-11T20:43:25.444Z,1749674605.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611984 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:25.521Z,1749674605.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.727382
2025-06-11T20:43:25.773Z,1749674605.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.979275
2025-06-11T20:43:25.854Z,1749674605.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:25.871Z,1749674605.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 519.238586 m,
bearing: 329.875382 deg,
approach rate: -0.453890 m/s,
LOS rate: -0.001866 deg/s,
cmd heading: 321.542985 deg,
new cmd heading: 321.540751 deg.
2025-06-11T20:43:25.884Z,1749674605.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611945 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:26.025Z,1749674606.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.231442
2025-06-11T20:43:26.277Z,1749674606.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.483365
2025-06-11T20:43:26.285Z,1749674606.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:26.287Z,1749674606.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:26.290Z,1749674606.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 519.038086 m,
bearing: 329.874590 deg,
approach rate: -0.448372 m/s,
LOS rate: -0.001770 deg/s,
cmd heading: 321.540745 deg,
new cmd heading: 321.538370 deg.
2025-06-11T20:43:26.291Z,1749674606.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611903 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:26.529Z,1749674606.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.735285
2025-06-11T20:43:26.645Z,1749674606.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:26.648Z,1749674606.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 518.878113 m,
bearing: 329.873947 deg,
approach rate: -0.446132 m/s,
LOS rate: -0.001795 deg/s,
cmd heading: 321.538368 deg,
new cmd heading: 321.536437 deg.
2025-06-11T20:43:26.649Z,1749674606.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611869 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:26.782Z,1749674606.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.988310
2025-06-11T20:43:27.033Z,1749674607.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.239309
2025-06-11T20:43:27.094Z,1749674607.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:27.100Z,1749674607.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 518.677002 m,
bearing: 329.872735 deg,
approach rate: -0.447951 m/s,
LOS rate: -0.002701 deg/s,
cmd heading: 321.536428 deg,
new cmd heading: 321.532790 deg.
2025-06-11T20:43:27.101Z,1749674607.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611806 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:27.285Z,1749674607.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.491303
2025-06-11T20:43:27.483Z,1749674607.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:27.486Z,1749674607.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 518.512512 m,
bearing: 329.871725 deg,
approach rate: -0.426370 m/s,
LOS rate: -0.002619 deg/s,
cmd heading: 321.532794 deg,
new cmd heading: 321.529763 deg.
2025-06-11T20:43:27.487Z,1749674607.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611753 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:27.538Z,1749674607.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.744061
2025-06-11T20:43:27.789Z,1749674607.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.995244
2025-06-11T20:43:27.894Z,1749674607.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:27.918Z,1749674607.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 518.330261 m,
bearing: 329.870589 deg,
approach rate: -0.460296 m/s,
LOS rate: -0.002869 deg/s,
cmd heading: 321.529762 deg,
new cmd heading: 321.526354 deg.
2025-06-11T20:43:27.927Z,1749674607.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611693 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:28.041Z,1749674608.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.247619
2025-06-11T20:43:28.290Z,1749674608.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:28.293Z,1749674608.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.499473
2025-06-11T20:43:28.293Z,1749674608.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:28.296Z,1749674608.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 518.144348 m,
bearing: 329.868880 deg,
approach rate: -0.447338 m/s,
LOS rate: -0.004113 deg/s,
cmd heading: 321.526347 deg,
new cmd heading: 321.521219 deg.
2025-06-11T20:43:28.297Z,1749674608.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611604 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:28.302Z,1749674608.302 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-11T20:33:28.1Z
2025-06-11T20:43:28.302Z,1749674608.302 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-11T20:43:28.302Z,1749674608.302 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T20:43:28.302Z,1749674608.302 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-11T20:43:28.302Z,1749674608.302 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T20:43:28.302Z,1749674608.302 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-11T20:43:28.545Z,1749674608.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.751253
2025-06-11T20:43:28.669Z,1749674608.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:28.672Z,1749674608.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 517.978333 m,
bearing: 329.867368 deg,
approach rate: -0.439926 m/s,
LOS rate: -0.004008 deg/s,
cmd heading: 321.521210 deg,
new cmd heading: 321.516673 deg.
2025-06-11T20:43:28.673Z,1749674608.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611525 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:28.677Z,1749674608.677 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-11T20:43:28.677Z,1749674608.677 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-11T20:43:28.678Z,1749674608.678 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-11T20:43:28.678Z,1749674608.678 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T20:43:28.678Z,1749674608.678 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-11T20:43:28.797Z,1749674608.797 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:28.797Z,1749674608.797 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:28.797Z,1749674608.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:29.050Z,1749674609.050 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:29.050Z,1749674609.050 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:29.051Z,1749674609.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:29.235Z,1749674609.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:29.242Z,1749674609.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 517.735718 m,
bearing: 329.863979 deg,
approach rate: -0.428822 m/s,
LOS rate: -0.005994 deg/s,
cmd heading: 321.516675 deg,
new cmd heading: 321.506502 deg.
2025-06-11T20:43:29.243Z,1749674609.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611347 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:29.301Z,1749674609.301 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:29.302Z,1749674609.302 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:29.302Z,1749674609.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:29.553Z,1749674609.553 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:43:29.553Z,1749674609.553 [DAT](INFO): response not received
2025-06-11T20:43:29.554Z,1749674609.554 [DAT](INFO): DAT read: user:418>
2025-06-11T20:43:29.554Z,1749674609.554 [DAT](INFO): DAT read: Tx time:20:43:31.4004
2025-06-11T20:43:29.555Z,1749674609.555 [DAT](INFO): Ping request sent.
2025-06-11T20:43:29.555Z,1749674609.555 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:43:29.555Z,1749674609.555 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:29.556Z,1749674609.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000773
2025-06-11T20:43:29.645Z,1749674609.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:29.652Z,1749674609.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 517.554565 m,
bearing: 329.861465 deg,
approach rate: -0.441380 m/s,
LOS rate: -0.006127 deg/s,
cmd heading: 321.506512 deg,
new cmd heading: 321.498968 deg.
2025-06-11T20:43:29.653Z,1749674609.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611216 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:29.805Z,1749674609.805 [DAT](INFO): DAT read: TxSync time:20:43:31.3997
2025-06-11T20:43:29.806Z,1749674609.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250937
2025-06-11T20:43:30.031Z,1749674610.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:30.034Z,1749674610.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 517.369812 m,
bearing: 329.858385 deg,
approach rate: -0.478898 m/s,
LOS rate: -0.007988 deg/s,
cmd heading: 321.498971 deg,
new cmd heading: 321.489726 deg.
2025-06-11T20:43:30.035Z,1749674610.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611054 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:30.073Z,1749674610.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.518148
2025-06-11T20:43:30.325Z,1749674610.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.770249
2025-06-11T20:43:30.390Z,1749674610.390 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 4.
2025-06-11T20:43:30.393Z,1749674610.393 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 46.
2025-06-11T20:43:30.414Z,1749674610.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:30.417Z,1749674610.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:30.419Z,1749674610.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 517.192078 m,
bearing: 329.855511 deg,
approach rate: -0.460917 m/s,
LOS rate: -0.007456 deg/s,
cmd heading: 321.489737 deg,
new cmd heading: 321.481112 deg.
2025-06-11T20:43:30.420Z,1749674610.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610904 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:30.577Z,1749674610.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.021999
2025-06-11T20:43:30.818Z,1749674610.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:30.829Z,1749674610.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.273932
2025-06-11T20:43:30.837Z,1749674610.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 517.006653 m,
bearing: 329.852560 deg,
approach rate: -0.461919 m/s,
LOS rate: -0.007353 deg/s,
cmd heading: 321.481104 deg,
new cmd heading: 321.472249 deg.
2025-06-11T20:43:30.838Z,1749674610.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610749 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:31.081Z,1749674611.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526198
2025-06-11T20:43:31.244Z,1749674611.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:31.247Z,1749674611.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 516.804932 m,
bearing: 329.848927 deg,
approach rate: -0.473779 m/s,
LOS rate: -0.008536 deg/s,
cmd heading: 321.472252 deg,
new cmd heading: 321.461349 deg.
2025-06-11T20:43:31.248Z,1749674611.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610559 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:31.333Z,1749674611.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778170
2025-06-11T20:43:31.585Z,1749674611.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029924
2025-06-11T20:43:31.701Z,1749674611.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:31.708Z,1749674611.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 516.590332 m,
bearing: 329.845079 deg,
approach rate: -0.469028 m/s,
LOS rate: -0.008415 deg/s,
cmd heading: 321.461351 deg,
new cmd heading: 321.449800 deg.
2025-06-11T20:43:31.709Z,1749674611.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610357 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:31.837Z,1749674611.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281953
2025-06-11T20:43:32.090Z,1749674612.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535580
2025-06-11T20:43:32.144Z,1749674612.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:32.147Z,1749674612.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 516.368530 m,
bearing: 329.840938 deg,
approach rate: -0.501060 m/s,
LOS rate: -0.009357 deg/s,
cmd heading: 321.449794 deg,
new cmd heading: 321.437368 deg.
2025-06-11T20:43:32.164Z,1749674612.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610140 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:32.341Z,1749674612.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785869
2025-06-11T20:43:32.534Z,1749674612.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:32.536Z,1749674612.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:32.539Z,1749674612.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 516.182678 m,
bearing: 329.837499 deg,
approach rate: -0.474023 m/s,
LOS rate: -0.008774 deg/s,
cmd heading: 321.437363 deg,
new cmd heading: 321.427043 deg.
2025-06-11T20:43:32.540Z,1749674612.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609960 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:32.594Z,1749674612.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038961
2025-06-11T20:43:32.845Z,1749674612.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289924
2025-06-11T20:43:33.097Z,1749674613.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542002
2025-06-11T20:43:33.147Z,1749674613.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:33.180Z,1749674613.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 515.900635 m,
bearing: 329.831623 deg,
approach rate: -0.461951 m/s,
LOS rate: -0.009630 deg/s,
cmd heading: 321.427036 deg,
new cmd heading: 321.409397 deg.
2025-06-11T20:43:33.181Z,1749674613.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609652 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:33.353Z,1749674613.353 [DAT](INFO): DAT read: Rx Time:20:43:34.5179
2025-06-11T20:43:33.353Z,1749674613.353 [DAT](INFO): Rx dataTimestamp_ set to:1749674613.352731
2025-06-11T20:43:33.354Z,1749674613.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.798774
2025-06-11T20:43:33.539Z,1749674613.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 537.43 m.
2025-06-11T20:43:33.545Z,1749674613.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 537.429016 m,
nav range: 515.653015 m,
bearing: 329.826506 deg,
approach rate: -0.631332 m/s,
LOS rate: -0.013052 deg/s,
cmd heading: 321.409387 deg,
new cmd heading: 321.394028 deg.
2025-06-11T20:43:33.548Z,1749674613.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609384 target range: 537.429016 and range: 542.10 m.
2025-06-11T20:43:33.606Z,1749674613.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.050926
2025-06-11T20:43:33.863Z,1749674613.863 [DAT](INFO): DAT read: 20:43:34.5179 LVL= 15632, 21745, 18274, 21907, AGC= 71, IDX= 406, 0.03, 2.415, 0.771, 2.244, 1.673, PHS= 0.830,-0.855, 0.568, RAW= 141.7, -7.0, CAL= 147.8, -16.4, ROT= 2.2, 16.4
2025-06-11T20:43:33.864Z,1749674613.864 [DAT](INFO): got valid direction response:
20:43:34.5179 LVL= 15632, 21745, 18274, 21907, AGC= 71, IDX= 406, 0.03, 2.415, 0.771, 2.244, 1.673, PHS= 0.830,-0.855, 0.568, RAW= 141.7, -7.0, CAL= 147.8, -16.4, ROT= 2.2, 16.4
2025-06-11T20:43:33.865Z,1749674613.865 [DAT](INFO): DAT read: Bearing 2.2, 16.4 (Local)
2025-06-11T20:43:33.865Z,1749674613.865 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.2, 16.4 (Local)
2025-06-11T20:43:33.867Z,1749674613.867 [DAT](INFO): DAT read: Range 10 to 50 : 534.9 m (Round-trip 713.2 ms) speed 0.4 m/s
2025-06-11T20:43:33.867Z,1749674613.867 [DAT](INFO): DAT read: user:419>
2025-06-11T20:43:33.868Z,1749674613.868 [DAT](INFO): DAT read: Tx time:20:43:35.6005
2025-06-11T20:43:33.869Z,1749674613.869 [DAT](INFO): Ping request sent.
2025-06-11T20:43:33.869Z,1749674613.869 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:43:33.869Z,1749674613.869 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:43:33.870Z,1749674613.870 [DAT](INFO): direction in FSK: [0.958607,0.036826,-0.282341]
2025-06-11T20:43:33.870Z,1749674613.870 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:33.871Z,1749674613.871 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:33.874Z,1749674613.874 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:33.874Z,1749674613.874 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:34.089Z,1749674614.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 534.900024 m,
deltaT: 15.138650 s,
deltaX: -7.199951 m,
approachRate: -0.475601 m/s,
rangeRepo size: 4
2025-06-11T20:43:34.091Z,1749674614.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 530.260376 m,
bearing: 324.545829 deg,
lat: 36.906276 deg,
lon: -122.115368 deg,
deltaT: 15.138650 s,
deltaX: -7.168640 m,
approachRate: -0.473532 m/s,
posRepo size: 4
2025-06-11T20:43:34.091Z,1749674614.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:34.098Z,1749674614.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 509.168823 m,
bearing: 329.413044 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013052 deg/s,
cmd heading: 321.394032 deg,
new cmd heading: 321.372856 deg.
2025-06-11T20:43:34.099Z,1749674614.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609015 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:34.109Z,1749674614.109 [DAT](INFO): DAT read: TxSync time:20:43:35.5998
2025-06-11T20:43:34.416Z,1749674614.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:34.422Z,1749674614.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 508.980530 m,
bearing: 329.409023 deg,
approach rate: -0.566565 m/s,
LOS rate: -0.012102 deg/s,
cmd heading: 321.372859 deg,
new cmd heading: 321.360792 deg.
2025-06-11T20:43:34.423Z,1749674614.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608804 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:34.782Z,1749674614.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:34.784Z,1749674614.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:34.787Z,1749674614.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 508.787659 m,
bearing: 329.404899 deg,
approach rate: -0.518618 m/s,
LOS rate: -0.011096 deg/s,
cmd heading: 321.360783 deg,
new cmd heading: 321.348404 deg.
2025-06-11T20:43:34.788Z,1749674614.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608588 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:34.865Z,1749674614.865 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:34.865Z,1749674614.865 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:34.865Z,1749674614.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:35.117Z,1749674615.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248033
2025-06-11T20:43:35.216Z,1749674615.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:35.219Z,1749674615.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 508.571350 m,
bearing: 329.399761 deg,
approach rate: -0.505307 m/s,
LOS rate: -0.012006 deg/s,
cmd heading: 321.348407 deg,
new cmd heading: 321.332988 deg.
2025-06-11T20:43:35.224Z,1749674615.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608319 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:35.369Z,1749674615.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499968
2025-06-11T20:43:35.595Z,1749674615.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:35.598Z,1749674615.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 508.363617 m,
bearing: 329.394824 deg,
approach rate: -0.541611 m/s,
LOS rate: -0.012877 deg/s,
cmd heading: 321.332998 deg,
new cmd heading: 321.318180 deg.
2025-06-11T20:43:35.599Z,1749674615.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608060 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:35.621Z,1749674615.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752084
2025-06-11T20:43:35.873Z,1749674615.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004031
2025-06-11T20:43:36.058Z,1749674616.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:36.064Z,1749674616.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 508.148315 m,
bearing: 329.389702 deg,
approach rate: -0.465892 m/s,
LOS rate: -0.011089 deg/s,
cmd heading: 321.318190 deg,
new cmd heading: 321.302817 deg.
2025-06-11T20:43:36.065Z,1749674616.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607792 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:36.126Z,1749674616.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256513
2025-06-11T20:43:36.377Z,1749674616.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508059
2025-06-11T20:43:36.419Z,1749674616.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:36.422Z,1749674616.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 507.944244 m,
bearing: 329.384867 deg,
approach rate: -0.564298 m/s,
LOS rate: -0.013375 deg/s,
cmd heading: 321.302808 deg,
new cmd heading: 321.288298 deg.
2025-06-11T20:43:36.423Z,1749674616.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607539 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:36.629Z,1749674616.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760068
2025-06-11T20:43:36.795Z,1749674616.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:36.797Z,1749674616.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:36.800Z,1749674616.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 507.754059 m,
bearing: 329.380343 deg,
approach rate: -0.503092 m/s,
LOS rate: -0.011973 deg/s,
cmd heading: 321.288301 deg,
new cmd heading: 321.274723 deg.
2025-06-11T20:43:36.801Z,1749674616.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607302 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:36.882Z,1749674616.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012668
2025-06-11T20:43:37.133Z,1749674617.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264260
2025-06-11T20:43:37.254Z,1749674617.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:37.256Z,1749674617.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 507.530457 m,
bearing: 329.375340 deg,
approach rate: -0.490035 m/s,
LOS rate: -0.010968 deg/s,
cmd heading: 321.274723 deg,
new cmd heading: 321.259709 deg.
2025-06-11T20:43:37.257Z,1749674617.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607039 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:37.385Z,1749674617.385 [DAT](INFO): DAT read: Rx Time:20:43:38.7149
2025-06-11T20:43:37.385Z,1749674617.385 [DAT](INFO): Rx dataTimestamp_ set to:1749674617.385083
2025-06-11T20:43:37.386Z,1749674617.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517179
2025-06-11T20:43:37.595Z,1749674617.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 530.26 m.
2025-06-11T20:43:37.598Z,1749674617.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 530.260376 m,
nav range: 507.363068 m,
bearing: 329.371581 deg,
approach rate: -0.489756 m/s,
LOS rate: -0.011004 deg/s,
cmd heading: 321.259696 deg,
new cmd heading: 321.248413 deg.
2025-06-11T20:43:37.599Z,1749674617.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606843 target range: 530.260376 and range: 534.90 m.
2025-06-11T20:43:37.637Z,1749674617.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768158
2025-06-11T20:43:37.910Z,1749674617.910 [DAT](INFO): DAT read: 20:43:38.7149 LVL= 16368, 17521, 17394, 20851, AGC= 70, IDX= 405,-0.18,-0.702,-2.262,-1.083,-1.353, PHS= 0.739,-0.862, 0.267, RAW= 133.3, -2.0, CAL= 138.8, -11.6, ROT= 11.2, 11.6
2025-06-11T20:43:37.911Z,1749674617.911 [DAT](INFO): got valid direction response:
20:43:38.7149 LVL= 16368, 17521, 17394, 20851, AGC= 70, IDX= 405,-0.18,-0.702,-2.262,-1.083,-1.353, PHS= 0.739,-0.862, 0.267, RAW= 133.3, -2.0, CAL= 138.8, -11.6, ROT= 11.2, 11.6
2025-06-11T20:43:37.924Z,1749674617.924 [DAT](INFO): DAT read: Bearing 11.2, 11.6 (Local)
2025-06-11T20:43:37.925Z,1749674617.925 [DAT](INFO): Local bearing/azimuth received:
Bearing 11.2, 11.6 (Local)
2025-06-11T20:43:37.927Z,1749674617.927 [DAT](INFO): DAT read: Range 10 to 50 : 532.6 m (Round-trip 710.2 ms) speed 0.4 m/s
2025-06-11T20:43:37.932Z,1749674617.932 [DAT](INFO): DAT read: user:420>
2025-06-11T20:43:37.934Z,1749674617.934 [DAT](INFO): DAT read: Tx time:20:43:39.8005
2025-06-11T20:43:37.934Z,1749674617.934 [DAT](INFO): Ping request sent.
2025-06-11T20:43:37.934Z,1749674617.934 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:43:37.935Z,1749674617.935 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:43:37.941Z,1749674617.941 [DAT](INFO): direction in FSK: [0.960919,0.190267,-0.201078]
2025-06-11T20:43:37.941Z,1749674617.941 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:37.942Z,1749674617.942 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:37.952Z,1749674617.952 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:37.953Z,1749674617.953 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:38.109Z,1749674618.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 532.599976 m,
deltaT: 4.033590 s,
deltaX: -2.300049 m,
approachRate: -0.570224 m/s,
rangeRepo size: 4
2025-06-11T20:43:38.117Z,1749674618.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 527.970703 m,
bearing: 334.116655 deg,
lat: 36.906341 deg,
lon: -122.115200 deg,
deltaT: 4.033590 s,
deltaX: -2.289673 m,
approachRate: -0.567651 m/s,
posRepo size: 4
2025-06-11T20:43:38.118Z,1749674618.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:38.125Z,1749674618.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 506.038879 m,
bearing: 331.234822 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011004 deg/s,
cmd heading: 321.248413 deg,
new cmd heading: 321.231653 deg.
2025-06-11T20:43:38.126Z,1749674618.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606550 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:38.141Z,1749674618.141 [DAT](INFO): DAT read: TxSync time:20:43:39.7998
2025-06-11T20:43:38.465Z,1749674618.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:38.472Z,1749674618.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 505.827728 m,
bearing: 331.231644 deg,
approach rate: -0.583108 m/s,
LOS rate: -0.008781 deg/s,
cmd heading: 321.231665 deg,
new cmd heading: 321.222126 deg.
2025-06-11T20:43:38.473Z,1749674618.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606384 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:38.993Z,1749674618.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:38.995Z,1749674618.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:39.008Z,1749674619.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 505.593781 m,
bearing: 331.228217 deg,
approach rate: -0.441588 m/s,
LOS rate: -0.006471 deg/s,
cmd heading: 321.222130 deg,
new cmd heading: 321.211845 deg.
2025-06-11T20:43:39.009Z,1749674619.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606205 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:39.149Z,1749674619.149 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:39.150Z,1749674619.150 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:39.150Z,1749674619.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:39.401Z,1749674619.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467158
2025-06-11T20:43:39.405Z,1749674619.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:39.407Z,1749674619.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 505.375305 m,
bearing: 331.225775 deg,
approach rate: -0.534237 m/s,
LOS rate: -0.005974 deg/s,
cmd heading: 321.211857 deg,
new cmd heading: 321.204529 deg.
2025-06-11T20:43:39.409Z,1749674619.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606077 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:39.653Z,1749674619.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718970
2025-06-11T20:43:39.785Z,1749674619.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:39.792Z,1749674619.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 505.203125 m,
bearing: 331.223812 deg,
approach rate: -0.451514 m/s,
LOS rate: -0.005150 deg/s,
cmd heading: 321.204536 deg,
new cmd heading: 321.198644 deg.
2025-06-11T20:43:39.793Z,1749674619.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605974 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:39.905Z,1749674619.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970714
2025-06-11T20:43:40.157Z,1749674620.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222857
2025-06-11T20:43:40.237Z,1749674620.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:40.239Z,1749674620.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 504.982666 m,
bearing: 331.222486 deg,
approach rate: -0.489178 m/s,
LOS rate: -0.002943 deg/s,
cmd heading: 321.198634 deg,
new cmd heading: 321.194656 deg.
2025-06-11T20:43:40.244Z,1749674620.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605904 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:40.409Z,1749674620.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474822
2025-06-11T20:43:40.599Z,1749674620.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:40.601Z,1749674620.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 504.812469 m,
bearing: 331.221423 deg,
approach rate: -0.469209 m/s,
LOS rate: -0.002933 deg/s,
cmd heading: 321.194645 deg,
new cmd heading: 321.191454 deg.
2025-06-11T20:43:40.602Z,1749674620.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605848 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:40.661Z,1749674620.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726909
2025-06-11T20:43:40.913Z,1749674620.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978769
2025-06-11T20:43:41.010Z,1749674621.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:41.012Z,1749674621.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:41.015Z,1749674621.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 504.618927 m,
bearing: 331.220215 deg,
approach rate: -0.468181 m/s,
LOS rate: -0.002922 deg/s,
cmd heading: 321.191449 deg,
new cmd heading: 321.187825 deg.
2025-06-11T20:43:41.016Z,1749674621.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605785 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:41.165Z,1749674621.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230944
2025-06-11T20:43:41.417Z,1749674621.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482809
2025-06-11T20:43:41.466Z,1749674621.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:41.471Z,1749674621.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 504.410156 m,
bearing: 331.219953 deg,
approach rate: -0.459720 m/s,
LOS rate: -0.000578 deg/s,
cmd heading: 321.187815 deg,
new cmd heading: 321.187028 deg.
2025-06-11T20:43:41.492Z,1749674621.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605771 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:41.669Z,1749674621.669 [DAT](INFO): DAT read: Rx Time:20:43:42.9123
2025-06-11T20:43:41.669Z,1749674621.669 [DAT](INFO): Rx dataTimestamp_ set to:1749674621.669087
2025-06-11T20:43:41.670Z,1749674621.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735959
2025-06-11T20:43:41.823Z,1749674621.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.97 m.
2025-06-11T20:43:41.826Z,1749674621.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 527.970703 m,
nav range: 504.238953 m,
bearing: 331.219744 deg,
approach rate: -0.479925 m/s,
LOS rate: -0.000585 deg/s,
cmd heading: 321.187023 deg,
new cmd heading: 321.186397 deg.
2025-06-11T20:43:41.827Z,1749674621.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605760 target range: 527.970703 and range: 532.60 m.
2025-06-11T20:43:41.922Z,1749674621.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.987699
2025-06-11T20:43:42.179Z,1749674622.179 [DAT](INFO): DAT read: 20:43:42.9123 LVL= 15328, 17905, 15298, 20659, AGC= 74, IDX= 508, 0.20, 2.108, 0.562, 2.059, 1.360, PHS= 0.836,-0.751, 0.696, RAW= 145.4, -10.3, CAL= 152.3, -19.0, ROT= 357.7, 19.0
2025-06-11T20:43:42.180Z,1749674622.180 [DAT](INFO): got valid direction response:
20:43:42.9123 LVL= 15328, 17905, 15298, 20659, AGC= 74, IDX= 508, 0.20, 2.108, 0.562, 2.059, 1.360, PHS= 0.836,-0.751, 0.696, RAW= 145.4, -10.3, CAL= 152.3, -19.0, ROT= 357.7, 19.0
2025-06-11T20:43:42.181Z,1749674622.181 [DAT](INFO): DAT read: Bearing 357.7, 19.0 (Local)
2025-06-11T20:43:42.181Z,1749674622.181 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.7, 19.0 (Local)
2025-06-11T20:43:42.183Z,1749674622.183 [DAT](INFO): DAT read: Range 10 to 50 : 530.7 m (Round-trip 707.6 ms) speed 0.4 m/s
2025-06-11T20:43:42.184Z,1749674622.184 [DAT](INFO): DAT read: user:421>
2025-06-11T20:43:42.197Z,1749674622.197 [DAT](INFO): DAT read: Tx time:20:43:44.0005
2025-06-11T20:43:42.197Z,1749674622.197 [DAT](INFO): Ping request sent.
2025-06-11T20:43:42.197Z,1749674622.197 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:43:42.198Z,1749674622.198 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:43:42.199Z,1749674622.199 [DAT](INFO): direction in FSK: [0.944757,-0.037945,-0.325568]
2025-06-11T20:43:42.199Z,1749674622.199 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:42.199Z,1749674622.199 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:42.202Z,1749674622.202 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:42.203Z,1749674622.203 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:42.351Z,1749674622.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 530.700012 m,
deltaT: 4.282399 s,
deltaX: -1.899963 m,
approachRate: -0.443668 m/s,
rangeRepo size: 4
2025-06-11T20:43:42.358Z,1749674622.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 526.107849 m,
bearing: 321.025258 deg,
lat: 36.906176 deg,
lon: -122.115368 deg,
deltaT: 4.282399 s,
deltaX: -1.862854 m,
approachRate: -0.435002 m/s,
posRepo size: 4
2025-06-11T20:43:42.358Z,1749674622.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:42.365Z,1749674622.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 495.576691 m,
bearing: 328.688787 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000585 deg/s,
cmd heading: 321.186395 deg,
new cmd heading: 321.185469 deg.
2025-06-11T20:43:42.366Z,1749674622.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605744 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:42.426Z,1749674622.426 [DAT](INFO): DAT read: TxSync time:20:43:43.9998
2025-06-11T20:43:42.649Z,1749674622.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:42.652Z,1749674622.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 495.427917 m,
bearing: 328.688435 deg,
approach rate: -0.498713 m/s,
LOS rate: -0.001180 deg/s,
cmd heading: 321.185466 deg,
new cmd heading: 321.184409 deg.
2025-06-11T20:43:42.653Z,1749674622.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605725 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:43.140Z,1749674623.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:43.153Z,1749674623.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:43.155Z,1749674623.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 495.231628 m,
bearing: 328.688011 deg,
approach rate: -0.389569 m/s,
LOS rate: -0.000841 deg/s,
cmd heading: 321.184400 deg,
new cmd heading: 321.183129 deg.
2025-06-11T20:43:43.165Z,1749674623.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605703 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:43.185Z,1749674623.185 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:43.185Z,1749674623.185 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:43.185Z,1749674623.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:43.437Z,1749674623.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239287
2025-06-11T20:43:43.619Z,1749674623.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:43.626Z,1749674623.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 494.979950 m,
bearing: 328.687327 deg,
approach rate: -0.539706 m/s,
LOS rate: -0.001467 deg/s,
cmd heading: 321.183116 deg,
new cmd heading: 321.181063 deg.
2025-06-11T20:43:43.627Z,1749674623.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605667 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:43.691Z,1749674623.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493714
2025-06-11T20:43:43.946Z,1749674623.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747978
2025-06-11T20:43:43.999Z,1749674623.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:44.002Z,1749674624.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 494.795258 m,
bearing: 328.686809 deg,
approach rate: -0.486472 m/s,
LOS rate: -0.001366 deg/s,
cmd heading: 321.181067 deg,
new cmd heading: 321.179511 deg.
2025-06-11T20:43:44.003Z,1749674624.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605640 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:44.197Z,1749674624.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999368
2025-06-11T20:43:44.419Z,1749674624.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:44.422Z,1749674624.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 494.599609 m,
bearing: 328.685498 deg,
approach rate: -0.465799 m/s,
LOS rate: -0.003122 deg/s,
cmd heading: 321.179510 deg,
new cmd heading: 321.175576 deg.
2025-06-11T20:43:44.423Z,1749674624.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605571 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:44.449Z,1749674624.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251124
2025-06-11T20:43:44.701Z,1749674624.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503233
2025-06-11T20:43:44.810Z,1749674624.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:44.818Z,1749674624.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 494.424164 m,
bearing: 328.684318 deg,
approach rate: -0.448558 m/s,
LOS rate: -0.003018 deg/s,
cmd heading: 321.175576 deg,
new cmd heading: 321.172034 deg.
2025-06-11T20:43:44.825Z,1749674624.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605509 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:44.954Z,1749674624.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756081
2025-06-11T20:43:45.205Z,1749674625.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007309
2025-06-11T20:43:45.239Z,1749674625.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:45.244Z,1749674625.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:45.247Z,1749674625.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 494.222260 m,
bearing: 328.682068 deg,
approach rate: -0.464746 m/s,
LOS rate: -0.005183 deg/s,
cmd heading: 321.172024 deg,
new cmd heading: 321.165269 deg.
2025-06-11T20:43:45.248Z,1749674625.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605392 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:45.457Z,1749674625.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259340
2025-06-11T20:43:45.604Z,1749674625.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:45.607Z,1749674625.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 494.057007 m,
bearing: 328.680232 deg,
approach rate: -0.459040 m/s,
LOS rate: -0.005101 deg/s,
cmd heading: 321.165276 deg,
new cmd heading: 321.159767 deg.
2025-06-11T20:43:45.612Z,1749674625.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605295 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:45.709Z,1749674625.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511343
2025-06-11T20:43:45.961Z,1749674625.961 [DAT](INFO): DAT read: Rx Time:20:43:47.1098
2025-06-11T20:43:45.962Z,1749674625.962 [DAT](INFO): Rx dataTimestamp_ set to:1749674625.961669
2025-06-11T20:43:45.964Z,1749674625.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765929
2025-06-11T20:43:46.037Z,1749674626.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:46.044Z,1749674626.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 493.864197 m,
bearing: 328.678096 deg,
approach rate: -0.445635 m/s,
LOS rate: -0.004939 deg/s,
cmd heading: 321.159757 deg,
new cmd heading: 321.153346 deg.
2025-06-11T20:43:46.045Z,1749674626.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605183 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:46.213Z,1749674626.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015552
2025-06-11T20:43:46.438Z,1749674626.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.11 m.
2025-06-11T20:43:46.441Z,1749674626.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 526.107849 m,
nav range: 493.681213 m,
bearing: 328.674861 deg,
approach rate: -0.456885 m/s,
LOS rate: -0.008080 deg/s,
cmd heading: 321.153336 deg,
new cmd heading: 321.143628 deg.
2025-06-11T20:43:46.441Z,1749674626.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605014 target range: 526.107849 and range: 530.70 m.
2025-06-11T20:43:46.471Z,1749674626.471 [DAT](INFO): DAT read: 20:43:47.1098 LVL= 19248, 26929, 22546, 29267, AGC= 71, IDX= 416, 0.18,-0.472,-1.968,-0.775,-1.154, PHS= 0.770,-0.767, 0.376, RAW= 135.7, -5.5, CAL= 141.4, -15.9, ROT= 8.6, 15.9
2025-06-11T20:43:46.472Z,1749674626.472 [DAT](INFO): got valid direction response:
20:43:47.1098 LVL= 19248, 26929, 22546, 29267, AGC= 71, IDX= 416, 0.18,-0.472,-1.968,-0.775,-1.154, PHS= 0.770,-0.767, 0.376, RAW= 135.7, -5.5, CAL= 141.4, -15.9, ROT= 8.6, 15.9
2025-06-11T20:43:46.473Z,1749674626.473 [DAT](INFO): DAT read: Bearing 8.6, 15.9 (Local)
2025-06-11T20:43:46.473Z,1749674626.473 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.6, 15.9 (Local)
2025-06-11T20:43:46.475Z,1749674626.475 [DAT](INFO): DAT read: Range 10 to 50 : 528.7 m (Round-trip 705.0 ms) speed 0.2 m/s
2025-06-11T20:43:46.476Z,1749674626.476 [DAT](INFO): DAT read: user:422>
2025-06-11T20:43:46.477Z,1749674626.477 [DAT](INFO): DAT read: Tx time:20:43:48.2006
2025-06-11T20:43:46.477Z,1749674626.477 [DAT](INFO): Ping request sent.
2025-06-11T20:43:46.477Z,1749674626.477 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:43:46.477Z,1749674626.477 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:43:46.479Z,1749674626.479 [DAT](INFO): direction in FSK: [0.950928,0.143814,-0.273959]
2025-06-11T20:43:46.485Z,1749674626.485 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:46.485Z,1749674626.485 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:46.496Z,1749674626.496 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:46.496Z,1749674626.496 [DAT](INFO): publishing direction and range info
2025-06-11T20:43:46.717Z,1749674626.717 [DAT](INFO): DAT read: TxSync time:20:43:48.1999
2025-06-11T20:43:46.853Z,1749674626.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 528.700012 m,
deltaT: 4.292146 s,
deltaX: -2.000000 m,
approachRate: -0.465967 m/s,
rangeRepo size: 4
2025-06-11T20:43:46.855Z,1749674626.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 524.143433 m,
bearing: 331.090774 deg,
lat: 36.906176 deg,
lon: -122.115368 deg,
deltaT: 4.292146 s,
deltaX: -1.964417 m,
approachRate: -0.457677 m/s,
posRepo size: 4
2025-06-11T20:43:46.856Z,1749674626.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:46.858Z,1749674626.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 493.506531 m,
bearing: 328.671816 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008080 deg/s,
cmd heading: 321.143638 deg,
new cmd heading: 321.133603 deg.
2025-06-11T20:43:46.859Z,1749674626.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604839 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:47.261Z,1749674627.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:47.263Z,1749674627.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:47.266Z,1749674627.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 493.313843 m,
bearing: 328.667029 deg,
approach rate: -0.468624 m/s,
LOS rate: -0.011647 deg/s,
cmd heading: 321.133611 deg,
new cmd heading: 321.119244 deg.
2025-06-11T20:43:47.267Z,1749674627.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604588 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:47.472Z,1749674627.472 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:47.473Z,1749674627.473 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:47.473Z,1749674627.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:47.631Z,1749674627.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:47.634Z,1749674627.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 493.148010 m,
bearing: 328.662941 deg,
approach rate: -0.449841 m/s,
LOS rate: -0.011095 deg/s,
cmd heading: 321.119240 deg,
new cmd heading: 321.106970 deg.
2025-06-11T20:43:47.635Z,1749674627.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604374 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:47.725Z,1749674627.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248409
2025-06-11T20:43:47.981Z,1749674627.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503594
2025-06-11T20:43:48.028Z,1749674628.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:48.031Z,1749674628.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 492.970917 m,
bearing: 328.658614 deg,
approach rate: -0.447087 m/s,
LOS rate: -0.010927 deg/s,
cmd heading: 321.106973 deg,
new cmd heading: 321.093988 deg.
2025-06-11T20:43:48.056Z,1749674628.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604147 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:48.234Z,1749674628.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755962
2025-06-11T20:43:48.465Z,1749674628.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:48.467Z,1749674628.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 492.774139 m,
bearing: 328.653035 deg,
approach rate: -0.449920 m/s,
LOS rate: -0.012760 deg/s,
cmd heading: 321.093996 deg,
new cmd heading: 321.077254 deg.
2025-06-11T20:43:48.469Z,1749674628.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603855 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:48.481Z,1749674628.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004120
2025-06-11T20:43:48.733Z,1749674628.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255955
2025-06-11T20:43:48.844Z,1749674628.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:48.846Z,1749674628.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 492.603088 m,
bearing: 328.648214 deg,
approach rate: -0.451627 m/s,
LOS rate: -0.012735 deg/s,
cmd heading: 321.077248 deg,
new cmd heading: 321.062778 deg.
2025-06-11T20:43:48.847Z,1749674628.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603602 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:48.985Z,1749674628.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507810
2025-06-11T20:43:49.237Z,1749674629.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759882
2025-06-11T20:43:49.291Z,1749674629.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:49.294Z,1749674629.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:49.297Z,1749674629.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 492.391876 m,
bearing: 328.642018 deg,
approach rate: -0.469335 m/s,
LOS rate: -0.013774 deg/s,
cmd heading: 321.062768 deg,
new cmd heading: 321.044173 deg.
2025-06-11T20:43:49.297Z,1749674629.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603278 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:49.489Z,1749674629.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011810
2025-06-11T20:43:49.667Z,1749674629.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:49.686Z,1749674629.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 492.215942 m,
bearing: 328.636852 deg,
approach rate: -0.470615 m/s,
LOS rate: -0.013823 deg/s,
cmd heading: 321.044163 deg,
new cmd heading: 321.028660 deg.
2025-06-11T20:43:49.687Z,1749674629.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603007 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:49.741Z,1749674629.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263849
2025-06-11T20:43:49.993Z,1749674629.993 [DAT](INFO): DAT read: Rx Time:20:43:51.3073
2025-06-11T20:43:49.993Z,1749674629.993 [DAT](INFO): Rx dataTimestamp_ set to:1749674629.993034
2025-06-11T20:43:49.994Z,1749674629.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516875
2025-06-11T20:43:50.075Z,1749674630.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:50.078Z,1749674630.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 492.024628 m,
bearing: 328.631210 deg,
approach rate: -0.469302 m/s,
LOS rate: -0.013846 deg/s,
cmd heading: 321.028672 deg,
new cmd heading: 321.011738 deg.
2025-06-11T20:43:50.079Z,1749674630.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602712 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:50.248Z,1749674630.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770197
2025-06-11T20:43:50.400Z,1749674630.400 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:43:50.508Z,1749674630.508 [DAT](INFO): DAT read: 20:43:51.3073 LVL= 21808, 23729, 20210, 26579, AGC= 69, IDX= 421, 0.44, 2.079, 0.498, 1.755, 1.354, PHS= 0.813,-0.809, 0.397, RAW= 135.7, -5.5, CAL= 141.4, -15.9, ROT= 8.6, 15.9
2025-06-11T20:43:50.509Z,1749674630.509 [DAT](INFO): got valid direction response:
20:43:51.3073 LVL= 21808, 23729, 20210, 26579, AGC= 69, IDX= 421, 0.44, 2.079, 0.498, 1.755, 1.354, PHS= 0.813,-0.809, 0.397, RAW= 135.7, -5.5, CAL= 141.4, -15.9, ROT= 8.6, 15.9
2025-06-11T20:43:50.509Z,1749674630.509 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:43:50.510Z,1749674630.510 [DAT](INFO): Received a bad header
2025-06-11T20:43:50.524Z,1749674630.524 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:43:50.525Z,1749674630.525 [DAT](INFO): direction in FSK: [0.950928,0.143814,-0.273959]
2025-06-11T20:43:50.528Z,1749674630.528 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:50.528Z,1749674630.528 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:50.528Z,1749674630.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:50.597Z,1749674630.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:50.599Z,1749674630.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 491.778687 m,
bearing: 328.624463 deg,
approach rate: -0.471536 m/s,
LOS rate: -0.012942 deg/s,
cmd heading: 321.011733 deg,
new cmd heading: 320.991482 deg.
2025-06-11T20:43:50.607Z,1749674630.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602358 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:50.749Z,1749674630.749 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:50.749Z,1749674630.749 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:50.749Z,1749674630.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:50.877Z,1749674630.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:50.881Z,1749674630.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 491.636322 m,
bearing: 328.620593 deg,
approach rate: -0.507211 m/s,
LOS rate: -0.013792 deg/s,
cmd heading: 320.991488 deg,
new cmd heading: 320.979875 deg.
2025-06-11T20:43:50.882Z,1749674630.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602156 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:51.001Z,1749674631.001 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:51.001Z,1749674631.001 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:51.001Z,1749674631.001 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:51.255Z,1749674631.255 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:51.255Z,1749674631.255 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:51.255Z,1749674631.255 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:51.339Z,1749674631.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:51.341Z,1749674631.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:51.344Z,1749674631.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 491.407410 m,
bearing: 328.614900 deg,
approach rate: -0.493475 m/s,
LOS rate: -0.012278 deg/s,
cmd heading: 320.979877 deg,
new cmd heading: 320.962791 deg.
2025-06-11T20:43:51.345Z,1749674631.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601858 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:51.404Z,1749674631.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:43:51.504Z,1749674631.504 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:51.505Z,1749674631.505 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:51.505Z,1749674631.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:51.680Z,1749674631.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:51.683Z,1749674631.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 491.239838 m,
bearing: 328.610809 deg,
approach rate: -0.494957 m/s,
LOS rate: -0.012090 deg/s,
cmd heading: 320.962801 deg,
new cmd heading: 320.950522 deg.
2025-06-11T20:43:51.684Z,1749674631.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601644 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:51.758Z,1749674631.758 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:51.758Z,1749674631.758 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:51.758Z,1749674631.758 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:52.008Z,1749674632.008 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:52.009Z,1749674632.009 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:52.009Z,1749674632.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:52.093Z,1749674632.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:52.095Z,1749674632.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 491.035522 m,
bearing: 328.605933 deg,
approach rate: -0.494620 m/s,
LOS rate: -0.011809 deg/s,
cmd heading: 320.950534 deg,
new cmd heading: 320.935901 deg.
2025-06-11T20:43:52.097Z,1749674632.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601388 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:52.263Z,1749674632.263 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:52.264Z,1749674632.264 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:52.264Z,1749674632.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:52.513Z,1749674632.513 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:52.513Z,1749674632.513 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:52.513Z,1749674632.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:52.530Z,1749674632.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:52.532Z,1749674632.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 490.817810 m,
bearing: 328.602147 deg,
approach rate: -0.498587 m/s,
LOS rate: -0.008675 deg/s,
cmd heading: 320.935891 deg,
new cmd heading: 320.924527 deg.
2025-06-11T20:43:52.533Z,1749674632.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601190 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:52.765Z,1749674632.765 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:52.765Z,1749674632.765 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:52.765Z,1749674632.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:52.894Z,1749674632.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:52.897Z,1749674632.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 490.636292 m,
bearing: 328.599165 deg,
approach rate: -0.498532 m/s,
LOS rate: -0.008193 deg/s,
cmd heading: 320.924525 deg,
new cmd heading: 320.915576 deg.
2025-06-11T20:43:52.898Z,1749674632.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601033 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:53.017Z,1749674633.017 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:53.017Z,1749674633.017 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:53.017Z,1749674633.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:53.271Z,1749674633.271 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:53.271Z,1749674633.271 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:53.272Z,1749674633.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:53.371Z,1749674633.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:53.374Z,1749674633.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:53.376Z,1749674633.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 490.393585 m,
bearing: 328.596166 deg,
approach rate: -0.505807 m/s,
LOS rate: -0.006253 deg/s,
cmd heading: 320.915564 deg,
new cmd heading: 320.906562 deg.
2025-06-11T20:43:53.377Z,1749674633.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600876 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:53.520Z,1749674633.520 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:53.521Z,1749674633.521 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:53.521Z,1749674633.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:53.701Z,1749674633.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:53.705Z,1749674633.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 490.227814 m,
bearing: 328.594159 deg,
approach rate: -0.505874 m/s,
LOS rate: -0.006127 deg/s,
cmd heading: 320.906575 deg,
new cmd heading: 320.900552 deg.
2025-06-11T20:43:53.706Z,1749674633.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600771 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:53.773Z,1749674633.773 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:53.773Z,1749674633.773 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:53.773Z,1749674633.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:54.025Z,1749674634.025 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:54.025Z,1749674634.025 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:54.025Z,1749674634.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:54.144Z,1749674634.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:54.147Z,1749674634.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 490.010956 m,
bearing: 328.591571 deg,
approach rate: -0.489236 m/s,
LOS rate: -0.005840 deg/s,
cmd heading: 320.900565 deg,
new cmd heading: 320.892799 deg.
2025-06-11T20:43:54.148Z,1749674634.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600636 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:54.279Z,1749674634.279 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:54.279Z,1749674634.279 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:54.279Z,1749674634.279 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:54.529Z,1749674634.529 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:54.529Z,1749674634.529 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:54.529Z,1749674634.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:54.534Z,1749674634.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:54.537Z,1749674634.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 489.811279 m,
bearing: 328.589880 deg,
approach rate: -0.512293 m/s,
LOS rate: -0.004340 deg/s,
cmd heading: 320.892806 deg,
new cmd heading: 320.887731 deg.
2025-06-11T20:43:54.538Z,1749674634.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600547 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:54.781Z,1749674634.781 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:54.781Z,1749674634.781 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:54.782Z,1749674634.782 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:54.962Z,1749674634.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:54.965Z,1749674634.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 489.610901 m,
bearing: 328.588182 deg,
approach rate: -0.468723 m/s,
LOS rate: -0.003974 deg/s,
cmd heading: 320.887724 deg,
new cmd heading: 320.882627 deg.
2025-06-11T20:43:54.966Z,1749674634.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600458 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:55.033Z,1749674635.033 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:55.034Z,1749674635.034 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:55.034Z,1749674635.034 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:55.287Z,1749674635.287 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:55.287Z,1749674635.287 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:55.288Z,1749674635.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:55.424Z,1749674635.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:55.426Z,1749674635.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:55.429Z,1749674635.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 489.373108 m,
bearing: 328.586954 deg,
approach rate: -0.511944 m/s,
LOS rate: -0.002645 deg/s,
cmd heading: 320.882615 deg,
new cmd heading: 320.878929 deg.
2025-06-11T20:43:55.430Z,1749674635.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600394 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:55.537Z,1749674635.537 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:55.537Z,1749674635.537 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:55.537Z,1749674635.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:55.723Z,1749674635.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:55.726Z,1749674635.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 489.228210 m,
bearing: 328.586159 deg,
approach rate: -0.487532 m/s,
LOS rate: -0.002675 deg/s,
cmd heading: 320.878927 deg,
new cmd heading: 320.876542 deg.
2025-06-11T20:43:55.727Z,1749674635.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600352 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:55.789Z,1749674635.789 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:55.789Z,1749674635.789 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:55.790Z,1749674635.790 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:56.041Z,1749674636.041 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:56.041Z,1749674636.041 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:56.041Z,1749674636.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:56.148Z,1749674636.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:56.151Z,1749674636.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 489.022278 m,
bearing: 328.584956 deg,
approach rate: -0.485223 m/s,
LOS rate: -0.002837 deg/s,
cmd heading: 320.876550 deg,
new cmd heading: 320.872938 deg.
2025-06-11T20:43:56.152Z,1749674636.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600289 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:56.297Z,1749674636.297 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:43:56.297Z,1749674636.297 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:43:56.297Z,1749674636.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:43:56.545Z,1749674636.545 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:56.545Z,1749674636.545 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:56.545Z,1749674636.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:56.571Z,1749674636.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:56.577Z,1749674636.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 488.835297 m,
bearing: 328.584346 deg,
approach rate: -0.442269 m/s,
LOS rate: -0.001443 deg/s,
cmd heading: 320.872944 deg,
new cmd heading: 320.871113 deg.
2025-06-11T20:43:56.578Z,1749674636.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600257 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:56.798Z,1749674636.798 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:56.798Z,1749674636.798 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:56.798Z,1749674636.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:56.954Z,1749674636.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:56.957Z,1749674636.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 488.650330 m,
bearing: 328.583672 deg,
approach rate: -0.483100 m/s,
LOS rate: -0.001761 deg/s,
cmd heading: 320.871113 deg,
new cmd heading: 320.869090 deg.
2025-06-11T20:43:56.958Z,1749674636.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600222 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:57.049Z,1749674637.049 [DAT](INFO): Reached modem response timeout
2025-06-11T20:43:57.049Z,1749674637.049 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:43:57.049Z,1749674637.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:43:57.304Z,1749674637.304 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:43:57.305Z,1749674637.305 [DAT](INFO): response not received
2025-06-11T20:43:57.306Z,1749674637.306 [DAT](INFO): DAT read: user:424>
2025-06-11T20:43:57.325Z,1749674637.325 [DAT](INFO): DAT read: Tx time:20:43:59.1507
2025-06-11T20:43:57.326Z,1749674637.326 [DAT](INFO): Ping request sent.
2025-06-11T20:43:57.326Z,1749674637.326 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:43:57.327Z,1749674637.327 [DAT](INFO): publishing transmit ping time
2025-06-11T20:43:57.333Z,1749674637.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007367
2025-06-11T20:43:57.475Z,1749674637.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:57.477Z,1749674637.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:57.481Z,1749674637.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 488.412201 m,
bearing: 328.582572 deg,
approach rate: -0.454475 m/s,
LOS rate: -0.002099 deg/s,
cmd heading: 320.869091 deg,
new cmd heading: 320.865791 deg.
2025-06-11T20:43:57.482Z,1749674637.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600164 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:57.555Z,1749674637.555 [DAT](INFO): DAT read: TxSync time:20:43:59.1500
2025-06-11T20:43:57.556Z,1749674637.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.229826
2025-06-11T20:43:57.756Z,1749674637.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:57.758Z,1749674637.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 488.286530 m,
bearing: 328.581956 deg,
approach rate: -0.451920 m/s,
LOS rate: -0.002216 deg/s,
cmd heading: 320.865785 deg,
new cmd heading: 320.863937 deg.
2025-06-11T20:43:57.759Z,1749674637.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600132 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:57.806Z,1749674637.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.480008
2025-06-11T20:43:58.057Z,1749674638.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.731031
2025-06-11T20:43:58.169Z,1749674638.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:58.171Z,1749674638.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 488.100220 m,
bearing: 328.581065 deg,
approach rate: -0.450875 m/s,
LOS rate: -0.002156 deg/s,
cmd heading: 320.863928 deg,
new cmd heading: 320.861254 deg.
2025-06-11T20:43:58.173Z,1749674638.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600085 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:58.309Z,1749674638.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983014
2025-06-11T20:43:58.561Z,1749674638.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235177
2025-06-11T20:43:58.597Z,1749674638.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:58.599Z,1749674638.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 487.914520 m,
bearing: 328.580172 deg,
approach rate: -0.434054 m/s,
LOS rate: -0.002090 deg/s,
cmd heading: 320.861250 deg,
new cmd heading: 320.858568 deg.
2025-06-11T20:43:58.600Z,1749674638.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600039 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:58.814Z,1749674638.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488537
2025-06-11T20:43:58.980Z,1749674638.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:58.982Z,1749674638.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 487.748322 m,
bearing: 328.579357 deg,
approach rate: -0.433847 m/s,
LOS rate: -0.002128 deg/s,
cmd heading: 320.858573 deg,
new cmd heading: 320.856128 deg.
2025-06-11T20:43:58.983Z,1749674638.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599996 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:59.065Z,1749674639.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739551
2025-06-11T20:43:59.319Z,1749674639.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993184
2025-06-11T20:43:59.438Z,1749674639.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:59.457Z,1749674639.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 487.551544 m,
bearing: 328.578594 deg,
approach rate: -0.429545 m/s,
LOS rate: -0.001666 deg/s,
cmd heading: 320.856141 deg,
new cmd heading: 320.853851 deg.
2025-06-11T20:43:59.458Z,1749674639.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599956 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:59.569Z,1749674639.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243238
2025-06-11T20:43:59.776Z,1749674639.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:43:59.778Z,1749674639.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:43:59.781Z,1749674639.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 487.404358 m,
bearing: 328.578011 deg,
approach rate: -0.432282 m/s,
LOS rate: -0.001713 deg/s,
cmd heading: 320.853846 deg,
new cmd heading: 320.852096 deg.
2025-06-11T20:43:59.782Z,1749674639.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599926 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:43:59.824Z,1749674639.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498110
2025-06-11T20:44:00.073Z,1749674640.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747071
2025-06-11T20:44:00.191Z,1749674640.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:00.198Z,1749674640.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 487.231323 m,
bearing: 328.577337 deg,
approach rate: -0.418959 m/s,
LOS rate: -0.001632 deg/s,
cmd heading: 320.852098 deg,
new cmd heading: 320.850076 deg.
2025-06-11T20:44:00.199Z,1749674640.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599890 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:44:00.325Z,1749674640.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999353
2025-06-11T20:44:00.577Z,1749674640.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251384
2025-06-11T20:44:00.617Z,1749674640.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:00.639Z,1749674640.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 487.045135 m,
bearing: 328.576298 deg,
approach rate: -0.438453 m/s,
LOS rate: -0.002448 deg/s,
cmd heading: 320.850076 deg,
new cmd heading: 320.846958 deg.
2025-06-11T20:44:00.645Z,1749674640.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599836 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:44:00.829Z,1749674640.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503173
2025-06-11T20:44:00.988Z,1749674640.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:01.013Z,1749674641.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 486.881378 m,
bearing: 328.575421 deg,
approach rate: -0.440675 m/s,
LOS rate: -0.002360 deg/s,
cmd heading: 320.846961 deg,
new cmd heading: 320.844331 deg.
2025-06-11T20:44:01.014Z,1749674641.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599790 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:44:01.082Z,1749674641.082 [DAT](INFO): DAT read: Rx Time:20:44:02.2502
2025-06-11T20:44:01.082Z,1749674641.082 [DAT](INFO): Rx dataTimestamp_ set to:1749674641.081923
2025-06-11T20:44:01.083Z,1749674641.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757417
2025-06-11T20:44:01.333Z,1749674641.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007235
2025-06-11T20:44:01.486Z,1749674641.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:01.489Z,1749674641.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 486.667847 m,
bearing: 328.573988 deg,
approach rate: -0.428594 m/s,
LOS rate: -0.002878 deg/s,
cmd heading: 320.844339 deg,
new cmd heading: 320.840037 deg.
2025-06-11T20:44:01.490Z,1749674641.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599715 target range: 524.143433 and range: 528.70 m.
2025-06-11T20:44:01.593Z,1749674641.593 [DAT](INFO): DAT read: 20:44:02.2502 LVL= 15712, 17857, 18098, 21779, AGC= 74, IDX= 380, 0.34, 1.381,-0.563, 1.031, 0.546,923,-1.061, 0.482, RAW= 137.8, -3.8, CAL= 143.2, -13.5, ROT= 6.8, 13.5
2025-06-11T20:44:01.595Z,1749674641.595 [DAT](INFO): unknown deviceResponse_: 20:44:02.2502 LVL= 15712, 17857, 18098, 21779, AGC= 74, IDX= 380, 0.34, 1.381,-0.563, 1.031, 0.546,923,-1.061, 0.482, RAW= 137.8, -3.8, CAL= 143.2, -13.5, ROT= 6.8, 13.5
2025-06-11T20:44:01.604Z,1749674641.604 [DAT](INFO): DAT read: Bearing 6.8, 13.5 (Local)
2025-06-11T20:44:01.605Z,1749674641.605 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.8, 13.5 (Local)
2025-06-11T20:44:01.607Z,1749674641.607 [DAT](INFO): DAT read: Range 10 to 50 : 521.5 m (Round-trip 695.4 ms) speed 0.4 m/s
2025-06-11T20:44:01.635Z,1749674641.635 [DAT](INFO): DAT read: user:425>
2025-06-11T20:44:01.644Z,1749674641.644 [DAT](INFO): DAT read: Tx time:20:44:03.3507
2025-06-11T20:44:01.644Z,1749674641.644 [DAT](INFO): Ping request sent.
2025-06-11T20:44:01.645Z,1749674641.645 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:01.645Z,1749674641.645 [DAT](INFO): DAT read: TxSync time:20:44:03.3500
2025-06-11T20:44:01.646Z,1749674641.646 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:44:01.646Z,1749674641.646 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:01.646Z,1749674641.646 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:01.835Z,1749674641.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:01.837Z,1749674641.837 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:01.837Z,1749674641.837 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:01.837Z,1749674641.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:01.841Z,1749674641.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 521.500000 m,
deltaT: 15.120436 s,
deltaX: -7.200012 m,
approachRate: -0.476178 m/s,
rangeRepo size: 4
2025-06-11T20:44:01.842Z,1749674641.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:01.845Z,1749674641.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 486.517212 m,
bearing: 328.573132 deg,
approach rate: -0.424311 m/s,
LOS rate: -0.002411 deg/s,
cmd heading: 320.840049 deg,
new cmd heading: 320.837481 deg.
2025-06-11T20:44:01.846Z,1749674641.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599670 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:02.089Z,1749674642.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.444343
2025-06-11T20:44:02.229Z,1749674642.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:02.232Z,1749674642.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 486.349060 m,
bearing: 328.572278 deg,
approach rate: -0.433057 m/s,
LOS rate: -0.002202 deg/s,
cmd heading: 320.837481 deg,
new cmd heading: 320.834916 deg.
2025-06-11T20:44:02.233Z,1749674642.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599626 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:02.342Z,1749674642.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.697171
2025-06-11T20:44:02.593Z,1749674642.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.948201
2025-06-11T20:44:02.666Z,1749674642.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:02.673Z,1749674642.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 486.161896 m,
bearing: 328.571444 deg,
approach rate: -0.428648 m/s,
LOS rate: -0.001910 deg/s,
cmd heading: 320.834913 deg,
new cmd heading: 320.832411 deg.
2025-06-11T20:44:02.674Z,1749674642.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599582 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:02.846Z,1749674642.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.201195
2025-06-11T20:44:03.036Z,1749674643.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:03.038Z,1749674643.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 485.997955 m,
bearing: 328.570741 deg,
approach rate: -0.443167 m/s,
LOS rate: -0.001900 deg/s,
cmd heading: 320.832400 deg,
new cmd heading: 320.830291 deg.
2025-06-11T20:44:03.039Z,1749674643.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599545 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:03.098Z,1749674643.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453192
2025-06-11T20:44:03.349Z,1749674643.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704198
2025-06-11T20:44:03.508Z,1749674643.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:03.511Z,1749674643.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 485.790741 m,
bearing: 328.569430 deg,
approach rate: -0.439582 m/s,
LOS rate: -0.002782 deg/s,
cmd heading: 320.830296 deg,
new cmd heading: 320.826361 deg.
2025-06-11T20:44:03.512Z,1749674643.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599476 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:03.601Z,1749674643.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956455
2025-06-11T20:44:03.850Z,1749674643.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:03.853Z,1749674643.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208365
2025-06-11T20:44:03.854Z,1749674643.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:03.857Z,1749674643.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 485.629822 m,
bearing: 328.568396 deg,
approach rate: -0.463711 m/s,
LOS rate: -0.002980 deg/s,
cmd heading: 320.826362 deg,
new cmd heading: 320.823259 deg.
2025-06-11T20:44:03.858Z,1749674643.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599422 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:04.105Z,1749674644.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460198
2025-06-11T20:44:04.245Z,1749674644.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:04.248Z,1749674644.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 485.444611 m,
bearing: 328.567187 deg,
approach rate: -0.473498 m/s,
LOS rate: -0.003094 deg/s,
cmd heading: 320.823247 deg,
new cmd heading: 320.819616 deg.
2025-06-11T20:44:04.249Z,1749674644.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599359 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:04.357Z,1749674644.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712387
2025-06-11T20:44:04.612Z,1749674644.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967898
2025-06-11T20:44:04.689Z,1749674644.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:04.691Z,1749674644.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 485.234528 m,
bearing: 328.565159 deg,
approach rate: -0.473738 m/s,
LOS rate: -0.004575 deg/s,
cmd heading: 320.819613 deg,
new cmd heading: 320.813527 deg.
2025-06-11T20:44:04.693Z,1749674644.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599252 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:04.865Z,1749674644.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220173
2025-06-11T20:44:05.063Z,1749674645.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:05.066Z,1749674645.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 485.062775 m,
bearing: 328.563394 deg,
approach rate: -0.458840 m/s,
LOS rate: -0.004716 deg/s,
cmd heading: 320.813521 deg,
new cmd heading: 320.808225 deg.
2025-06-11T20:44:05.067Z,1749674645.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599160 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:05.118Z,1749674645.118 [DAT](INFO): DAT read: Rx Time:20:44:06.4573
2025-06-11T20:44:05.118Z,1749674645.118 [DAT](INFO): Rx dataTimestamp_ set to:1749674645.117887
2025-06-11T20:44:05.119Z,1749674645.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474510
2025-06-11T20:44:05.369Z,1749674645.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724248
2025-06-11T20:44:05.523Z,1749674645.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:05.526Z,1749674645.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 484.829895 m,
bearing: 328.560405 deg,
approach rate: -0.505987 m/s,
LOS rate: -0.006498 deg/s,
cmd heading: 320.808221 deg,
new cmd heading: 320.799248 deg.
2025-06-11T20:44:05.527Z,1749674645.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599003 target range: 524.143433 and range: 521.50 m.
2025-06-11T20:44:05.625Z,1749674645.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.978987
2025-06-11T20:44:05.879Z,1749674645.879 [DAT](INFO): DAT read: 20:44:06.4573 LVL= 30480, 31665, 32754, 32755, AGC= 73, IDX= 5,-0.34,-0.019,-1.719,-0.204,-0.922, PHS= 0.991,-0.750, 0.715, RAW= 141.5, -11.8, CAL= 148.3, -21.1, ROT= 1.7, 21.1
2025-06-11T20:44:05.880Z,1749674645.880 [DAT](INFO): got valid direction response:
20:44:06.4573 LVL= 30480, 31665, 32754, 32755, AGC= 73, IDX= 5,-0.34,-0.019,-1.719,-0.204,-0.922, PHS= 0.991,-0.750, 0.715, RAW= 141.5, -11.8, CAL= 148.3, -21.1, ROT= 1.7, 21.1
2025-06-11T20:44:05.882Z,1749674645.882 [DAT](INFO): DAT read: Bearing 1.7, 21.1 (Local)
2025-06-11T20:44:05.882Z,1749674645.882 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.7, 21.1 (Local)
2025-06-11T20:44:05.884Z,1749674645.884 [DAT](INFO): DAT read: Range 10 to 50 : 526.8 m (Round-trip 702.4 ms) speed 0.4 m/s
2025-06-11T20:44:05.884Z,1749674645.884 [DAT](INFO): DAT read: user:426>
2025-06-11T20:44:05.885Z,1749674645.885 [DAT](INFO): DAT read: Tx time:20:44:07.5507
2025-06-11T20:44:05.885Z,1749674645.885 [DAT](INFO): Ping request sent.
2025-06-11T20:44:05.886Z,1749674645.886 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:05.886Z,1749674645.886 [DAT](INFO): DAT read: TxSync time:20:44:07.5500
2025-06-11T20:44:05.887Z,1749674645.887 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:44:05.891Z,1749674645.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:05.892Z,1749674645.892 [DAT](INFO): direction in FSK: [0.932543,0.027677,-0.359997]
2025-06-11T20:44:05.892Z,1749674645.892 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:05.892Z,1749674645.892 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:05.898Z,1749674645.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 526.799988 m,
deltaT: 4.287540 s,
deltaX: 5.299988 m,
approachRate: 1.236137 m/s,
rangeRepo size: 4
2025-06-11T20:44:05.899Z,1749674645.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:05.895Z,1749674645.895 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:05.900Z,1749674645.900 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:05.903Z,1749674645.903 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:05.903Z,1749674645.903 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:05.903Z,1749674645.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:05.907Z,1749674645.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 484.661835 m,
bearing: 328.558184 deg,
approach rate: -0.449102 m/s,
LOS rate: -0.005937 deg/s,
cmd heading: 320.799259 deg,
new cmd heading: 320.792595 deg.
2025-06-11T20:44:05.917Z,1749674645.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598887 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:06.125Z,1749674646.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.239344
2025-06-11T20:44:06.309Z,1749674646.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:06.316Z,1749674646.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 484.457306 m,
bearing: 328.555439 deg,
approach rate: -0.497129 m/s,
LOS rate: -0.006674 deg/s,
cmd heading: 320.792593 deg,
new cmd heading: 320.784355 deg.
2025-06-11T20:44:06.317Z,1749674646.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598743 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:06.378Z,1749674646.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.491994
2025-06-11T20:44:06.629Z,1749674646.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743387
2025-06-11T20:44:06.730Z,1749674646.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:06.733Z,1749674646.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 484.229553 m,
bearing: 328.551932 deg,
approach rate: -0.541264 m/s,
LOS rate: -0.008340 deg/s,
cmd heading: 320.784342 deg,
new cmd heading: 320.773815 deg.
2025-06-11T20:44:06.734Z,1749674646.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598559 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:06.881Z,1749674646.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995209
2025-06-11T20:44:07.072Z,1749674647.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:07.075Z,1749674647.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 484.057068 m,
bearing: 328.549229 deg,
approach rate: -0.503972 m/s,
LOS rate: -0.007901 deg/s,
cmd heading: 320.773824 deg,
new cmd heading: 320.765712 deg.
2025-06-11T20:44:07.076Z,1749674647.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598418 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:07.134Z,1749674647.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247996
2025-06-11T20:44:07.386Z,1749674647.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500518
2025-06-11T20:44:07.550Z,1749674647.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:07.553Z,1749674647.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 483.810577 m,
bearing: 328.544874 deg,
approach rate: -0.515330 m/s,
LOS rate: -0.009109 deg/s,
cmd heading: 320.765710 deg,
new cmd heading: 320.752638 deg.
2025-06-11T20:44:07.554Z,1749674647.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598190 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:07.638Z,1749674647.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752096
2025-06-11T20:44:07.881Z,1749674647.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:07.884Z,1749674647.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 483.640289 m,
bearing: 328.541796 deg,
approach rate: -0.514699 m/s,
LOS rate: -0.009306 deg/s,
cmd heading: 320.752650 deg,
new cmd heading: 320.743414 deg.
2025-06-11T20:44:07.885Z,1749674647.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598029 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:07.889Z,1749674647.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003243
2025-06-11T20:44:08.141Z,1749674648.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255102
2025-06-11T20:44:08.287Z,1749674648.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:08.289Z,1749674648.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:08.292Z,1749674648.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 483.430420 m,
bearing: 328.537957 deg,
approach rate: -0.513883 m/s,
LOS rate: -0.009404 deg/s,
cmd heading: 320.743416 deg,
new cmd heading: 320.731893 deg.
2025-06-11T20:44:08.293Z,1749674648.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597827 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:08.394Z,1749674648.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507728
2025-06-11T20:44:08.645Z,1749674648.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759070
2025-06-11T20:44:08.726Z,1749674648.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:08.733Z,1749674648.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 483.212341 m,
bearing: 328.533930 deg,
approach rate: -0.500093 m/s,
LOS rate: -0.009239 deg/s,
cmd heading: 320.731886 deg,
new cmd heading: 320.719800 deg.
2025-06-11T20:44:08.734Z,1749674648.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597617 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:08.902Z,1749674648.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016079
2025-06-11T20:44:09.092Z,1749674649.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:09.095Z,1749674649.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 483.025116 m,
bearing: 328.530469 deg,
approach rate: -0.510184 m/s,
LOS rate: -0.009435 deg/s,
cmd heading: 320.719811 deg,
new cmd heading: 320.709423 deg.
2025-06-11T20:44:09.096Z,1749674649.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597435 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:09.150Z,1749674649.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263963
2025-06-11T20:44:09.401Z,1749674649.401 [DAT](INFO): DAT read: Rx Time:20:44:10.6451
2025-06-11T20:44:09.401Z,1749674649.401 [DAT](INFO): Rx dataTimestamp_ set to:1749674649.401014
2025-06-11T20:44:09.402Z,1749674649.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516239
2025-06-11T20:44:09.616Z,1749674649.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.14 m.
2025-06-11T20:44:09.618Z,1749674649.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 524.143433 m,
nav range: 482.773285 m,
bearing: 328.526243 deg,
approach rate: -0.500555 m/s,
LOS rate: -0.008404 deg/s,
cmd heading: 320.709429 deg,
new cmd heading: 320.696745 deg.
2025-06-11T20:44:09.619Z,1749674649.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597214 target range: 524.143433 and range: 526.80 m.
2025-06-11T20:44:09.654Z,1749674649.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768386
2025-06-11T20:44:09.913Z,1749674649.913 [DAT](INFO): DAT read: 20:44:10.6452 LVL= 14592, 17521, 15858, 20675, AGC= 70, IDX= 312,-0.26, 1.159,-0.733, 0.790, 0.289, PHS= 0.958,-0.975, 0.498, RAW= 136.8, -5.5, CAL= 142.5, -15.7, ROT= 7.5, 15.7
2025-06-11T20:44:09.914Z,1749674649.914 [DAT](INFO): got valid direction response:
20:44:10.6452 LVL= 14592, 17521, 15858, 20675, AGC= 70, IDX= 312,-0.26, 1.159,-0.733, 0.790, 0.289, PHS= 0.958,-0.975, 0.498, RAW= 136.8, -5.5, CAL= 142.5, -15.7, ROT= 7.5, 15.7
2025-06-11T20:44:09.915Z,1749674649.915 [DAT](INFO): DAT read: Bearing 7.5, 15.7 (Local)
2025-06-11T20:44:09.916Z,1749674649.916 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.5, 15.7 (Local)
2025-06-11T20:44:09.918Z,1749674649.918 [DAT](INFO): DAT read: Range 10 to 50 : 517.6 m (Round-trip 690.2 ms) speed 0.4 m/s
2025-06-11T20:44:09.919Z,1749674649.919 [DAT](INFO): DAT read: user:427>
2025-06-11T20:44:09.920Z,1749674649.920 [DAT](INFO): DAT read: Tx time:20:44:11.7508
2025-06-11T20:44:09.921Z,1749674649.921 [DAT](INFO): Ping request sent.
2025-06-11T20:44:09.921Z,1749674649.921 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:09.921Z,1749674649.921 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:44:09.923Z,1749674649.923 [DAT](INFO): direction in FSK: [0.954456,0.125656,-0.270600]
2025-06-11T20:44:09.923Z,1749674649.923 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:09.924Z,1749674649.924 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:09.945Z,1749674649.945 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:09.945Z,1749674649.945 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:10.066Z,1749674650.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 517.599976 m,
deltaT: 4.032006 s,
deltaX: -9.200012 m,
approachRate: -2.281746 m/s,
rangeRepo size: 4
2025-06-11T20:44:10.072Z,1749674650.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 513.055786 m,
bearing: 329.693591 deg,
lat: 36.906364 deg,
lon: -122.115417 deg,
deltaT: 23.439982 s,
deltaX: -11.087646 m,
approachRate: -0.473023 m/s,
posRepo size: 4
2025-06-11T20:44:10.073Z,1749674650.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:10.083Z,1749674650.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 502.683960 m,
bearing: 329.347009 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008404 deg/s,
cmd heading: 320.696752 deg,
new cmd heading: 320.684906 deg.
2025-06-11T20:44:10.093Z,1749674650.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597007 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:10.158Z,1749674650.158 [DAT](INFO): DAT read: TxSync time:20:44:11.7500
2025-06-11T20:44:10.377Z,1749674650.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:10.379Z,1749674650.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:10.382Z,1749674650.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 502.503082 m,
bearing: 329.344459 deg,
approach rate: -0.576611 m/s,
LOS rate: -0.008129 deg/s,
cmd heading: 320.684895 deg,
new cmd heading: 320.677245 deg.
2025-06-11T20:44:10.383Z,1749674650.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596874 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:10.408Z,1749674650.408 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:10.409Z,1749674650.409 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:10.409Z,1749674650.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:10.661Z,1749674650.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739760
2025-06-11T20:44:10.822Z,1749674650.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:10.825Z,1749674650.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 502.284668 m,
bearing: 329.342352 deg,
approach rate: -0.492942 m/s,
LOS rate: -0.004758 deg/s,
cmd heading: 320.677245 deg,
new cmd heading: 320.670921 deg.
2025-06-11T20:44:10.826Z,1749674650.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596764 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:10.915Z,1749674650.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993737
2025-06-11T20:44:11.169Z,1749674651.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247892
2025-06-11T20:44:11.201Z,1749674651.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:11.208Z,1749674651.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 502.106537 m,
bearing: 329.340848 deg,
approach rate: -0.469874 m/s,
LOS rate: -0.003970 deg/s,
cmd heading: 320.670934 deg,
new cmd heading: 320.666419 deg.
2025-06-11T20:44:11.209Z,1749674651.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596685 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:11.421Z,1749674651.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499918
2025-06-11T20:44:11.613Z,1749674651.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:11.615Z,1749674651.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 501.902924 m,
bearing: 329.340135 deg,
approach rate: -0.495087 m/s,
LOS rate: -0.001734 deg/s,
cmd heading: 320.666426 deg,
new cmd heading: 320.664287 deg.
2025-06-11T20:44:11.616Z,1749674651.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596648 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:11.673Z,1749674651.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751772
2025-06-11T20:44:11.925Z,1749674651.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004221
2025-06-11T20:44:12.001Z,1749674652.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:12.003Z,1749674652.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 501.719574 m,
bearing: 329.339540 deg,
approach rate: -0.472393 m/s,
LOS rate: -0.001535 deg/s,
cmd heading: 320.664295 deg,
new cmd heading: 320.662508 deg.
2025-06-11T20:44:12.004Z,1749674652.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596617 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:12.177Z,1749674652.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255703
2025-06-11T20:44:12.395Z,1749674652.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:12.418Z,1749674652.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:12.425Z,1749674652.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 501.532623 m,
bearing: 329.338948 deg,
approach rate: -0.448394 m/s,
LOS rate: -0.001419 deg/s,
cmd heading: 320.662519 deg,
new cmd heading: 320.660745 deg.
2025-06-11T20:44:12.426Z,1749674652.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596586 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:12.429Z,1749674652.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507829
2025-06-11T20:44:12.682Z,1749674652.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760685
2025-06-11T20:44:12.816Z,1749674652.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:12.818Z,1749674652.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 501.338226 m,
bearing: 329.339789 deg,
approach rate: -0.488473 m/s,
LOS rate: 0.002114 deg/s,
cmd heading: 320.660743 deg,
new cmd heading: 320.663267 deg.
2025-06-11T20:44:12.819Z,1749674652.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596630 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:12.934Z,1749674652.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012717
2025-06-11T20:44:13.185Z,1749674653.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263717
2025-06-11T20:44:13.305Z,1749674653.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:13.322Z,1749674653.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 501.134644 m,
bearing: 329.340662 deg,
approach rate: -0.415690 m/s,
LOS rate: 0.001784 deg/s,
cmd heading: 320.663257 deg,
new cmd heading: 320.665877 deg.
2025-06-11T20:44:13.323Z,1749674653.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596675 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:13.437Z,1749674653.437 [DAT](INFO): DAT read: Rx Time:20:44:14.8423
2025-06-11T20:44:13.437Z,1749674653.437 [DAT](INFO): Rx dataTimestamp_ set to:1749674653.437101
2025-06-11T20:44:13.438Z,1749674653.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516911
2025-06-11T20:44:13.657Z,1749674653.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:13.660Z,1749674653.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 500.952911 m,
bearing: 329.341979 deg,
approach rate: -0.516109 m/s,
LOS rate: 0.003739 deg/s,
cmd heading: 320.665879 deg,
new cmd heading: 320.669829 deg.
2025-06-11T20:44:13.661Z,1749674653.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596745 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:13.689Z,1749674653.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767783
2025-06-11T20:44:13.941Z,1749674653.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020117
2025-06-11T20:44:14.079Z,1749674654.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.06 m.
2025-06-11T20:44:14.082Z,1749674654.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 513.055786 m,
nav range: 500.763336 m,
bearing: 329.343353 deg,
approach rate: -0.449395 m/s,
LOS rate: 0.003259 deg/s,
cmd heading: 320.669841 deg,
new cmd heading: 320.673965 deg.
2025-06-11T20:44:14.083Z,1749674654.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596817 target range: 513.055786 and range: 517.60 m.
2025-06-11T20:44:14.199Z,1749674654.199 [DAT](INFO): DAT read: 20:44:14.8423 LVL= 31152, 32753, 28498, 32755, AGC= 76, IDX= 411, 0.07, 3.049, 1.342, 2.640, 2.210, PHS= 0.927,-0.821, 0.426, RAW= 133.9, -6.9, CAL= 139.4, -18.1, ROT= 10.6, 18.1
2025-06-11T20:44:14.200Z,1749674654.200 [DAT](INFO): got valid direction response:
20:44:14.8423 LVL= 31152, 32753, 28498, 32755, AGC= 76, IDX= 411, 0.07, 3.049, 1.342, 2.640, 2.210, PHS= 0.927,-0.821, 0.426, RAW= 133.9, -6.9, CAL= 139.4, -18.1, ROT= 10.6, 18.1
2025-06-11T20:44:14.201Z,1749674654.201 [DAT](INFO): DAT read: Bearing 10.6, 18.1 (Local)
2025-06-11T20:44:14.202Z,1749674654.202 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.6, 18.1 (Local)
2025-06-11T20:44:14.203Z,1749674654.203 [DAT](INFO): DAT read: Range 10 to 50 : 515.5 m (Round-trip 687.4 ms) speed 0.0 m/s
2025-06-11T20:44:14.204Z,1749674654.204 [DAT](INFO): DAT read: user:428>
2025-06-11T20:44:14.205Z,1749674654.205 [DAT](INFO): DAT read: Tx time:20:44:15.9508
2025-06-11T20:44:14.205Z,1749674654.205 [DAT](INFO): Ping request sent.
2025-06-11T20:44:14.205Z,1749674654.205 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:14.206Z,1749674654.206 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:44:14.207Z,1749674654.207 [DAT](INFO): direction in FSK: [0.934296,0.174849,-0.310676]
2025-06-11T20:44:14.207Z,1749674654.207 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:14.207Z,1749674654.207 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:14.211Z,1749674654.211 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:14.211Z,1749674654.211 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:14.445Z,1749674654.445 [DAT](INFO): DAT read: TxSync time:20:44:15.9500
2025-06-11T20:44:14.478Z,1749674654.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 515.500000 m,
deltaT: 4.288065 s,
deltaX: -2.099976 m,
approachRate: -0.489726 m/s,
rangeRepo size: 4
2025-06-11T20:44:14.492Z,1749674654.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 510.974243 m,
bearing: 331.447731 deg,
lat: 36.906364 deg,
lon: -122.115417 deg,
deltaT: 4.288065 s,
deltaX: -2.081543 m,
approachRate: -0.485427 m/s,
posRepo size: 4
2025-06-11T20:44:14.493Z,1749674654.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:14.495Z,1749674654.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 500.598053 m,
bearing: 329.344551 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003259 deg/s,
cmd heading: 320.673966 deg,
new cmd heading: 320.677859 deg.
2025-06-11T20:44:14.505Z,1749674654.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596884 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:14.869Z,1749674654.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:14.871Z,1749674654.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:14.878Z,1749674654.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 500.416962 m,
bearing: 329.345713 deg,
approach rate: -0.460363 m/s,
LOS rate: 0.002954 deg/s,
cmd heading: 320.677846 deg,
new cmd heading: 320.681331 deg.
2025-06-11T20:44:14.879Z,1749674654.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596945 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:14.949Z,1749674654.949 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:14.950Z,1749674654.950 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:14.950Z,1749674654.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:15.201Z,1749674655.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995646
2025-06-11T20:44:15.254Z,1749674655.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:15.257Z,1749674655.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 500.235504 m,
bearing: 329.346807 deg,
approach rate: -0.473683 m/s,
LOS rate: 0.002858 deg/s,
cmd heading: 320.681343 deg,
new cmd heading: 320.684628 deg.
2025-06-11T20:44:15.258Z,1749674655.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597003 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:15.453Z,1749674655.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247494
2025-06-11T20:44:15.686Z,1749674655.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:15.693Z,1749674655.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 500.045837 m,
bearing: 329.348144 deg,
approach rate: -0.439177 m/s,
LOS rate: 0.003096 deg/s,
cmd heading: 320.684622 deg,
new cmd heading: 320.688633 deg.
2025-06-11T20:44:15.697Z,1749674655.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597073 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:15.705Z,1749674655.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499586
2025-06-11T20:44:15.957Z,1749674655.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751634
2025-06-11T20:44:16.059Z,1749674656.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:16.062Z,1749674656.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 499.871460 m,
bearing: 329.349318 deg,
approach rate: -0.466804 m/s,
LOS rate: 0.003144 deg/s,
cmd heading: 320.688638 deg,
new cmd heading: 320.692161 deg.
2025-06-11T20:44:16.063Z,1749674656.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597134 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:16.209Z,1749674656.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003931
2025-06-11T20:44:16.461Z,1749674656.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255474
2025-06-11T20:44:16.488Z,1749674656.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:16.491Z,1749674656.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 499.677795 m,
bearing: 329.350622 deg,
approach rate: -0.452141 m/s,
LOS rate: 0.003047 deg/s,
cmd heading: 320.692162 deg,
new cmd heading: 320.696077 deg.
2025-06-11T20:44:16.491Z,1749674656.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597202 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:16.713Z,1749674656.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508058
2025-06-11T20:44:16.892Z,1749674656.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:16.894Z,1749674656.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:16.901Z,1749674656.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 499.498718 m,
bearing: 329.351746 deg,
approach rate: -0.440648 m/s,
LOS rate: 0.002766 deg/s,
cmd heading: 320.696069 deg,
new cmd heading: 320.699442 deg.
2025-06-11T20:44:16.902Z,1749674656.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597261 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:16.966Z,1749674656.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760370
2025-06-11T20:44:17.217Z,1749674657.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011481
2025-06-11T20:44:17.278Z,1749674657.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:17.282Z,1749674657.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 499.310822 m,
bearing: 329.352965 deg,
approach rate: -0.488911 m/s,
LOS rate: 0.003173 deg/s,
cmd heading: 320.699429 deg,
new cmd heading: 320.703088 deg.
2025-06-11T20:44:17.283Z,1749674657.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597325 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:17.469Z,1749674657.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264108
2025-06-11T20:44:17.704Z,1749674657.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:17.707Z,1749674657.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 499.104889 m,
bearing: 329.353819 deg,
approach rate: -0.484053 m/s,
LOS rate: 0.002008 deg/s,
cmd heading: 320.703090 deg,
new cmd heading: 320.705654 deg.
2025-06-11T20:44:17.708Z,1749674657.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597370 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:17.721Z,1749674657.721 [DAT](INFO): DAT read: Rx Time:20:44:19.0397
2025-06-11T20:44:17.721Z,1749674657.721 [DAT](INFO): Rx dataTimestamp_ set to:1749674657.721124
2025-06-11T20:44:17.722Z,1749674657.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516737
2025-06-11T20:44:17.973Z,1749674657.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767824
2025-06-11T20:44:18.121Z,1749674658.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:18.123Z,1749674658.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 498.902863 m,
bearing: 329.354706 deg,
approach rate: -0.484523 m/s,
LOS rate: 0.002127 deg/s,
cmd heading: 320.705659 deg,
new cmd heading: 320.708320 deg.
2025-06-11T20:44:18.125Z,1749674658.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597416 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:18.242Z,1749674658.242 [DAT](INFO): DAT read: 20:44:19.0397 LVL= 17424, 23697, 16626, 22867, AGC= 72, IDX= 416,-0.19,-2.629, 1.958,-3.056, 2.802, PHS= 0.940,-0.797, 0.422, RAW= 133.1, -7.4, CAL= 138.5, -18.9, ROT= 11.5, 18.9
2025-06-11T20:44:18.243Z,1749674658.243 [DAT](INFO): got valid direction response:
20:44:19.0397 LVL= 17424, 23697, 16626, 22867, AGC= 72, IDX= 416,-0.19,-2.629, 1.958,-3.056, 2.802, PHS= 0.940,-0.797, 0.422, RAW= 133.1, -7.4, CAL= 138.5, -18.9, ROT= 11.5, 18.9
2025-06-11T20:44:18.243Z,1749674658.243 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:44:18.252Z,1749674658.252 [DAT](INFO): Received a bad header
2025-06-11T20:44:18.264Z,1749674658.264 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:44:18.265Z,1749674658.265 [DAT](INFO): direction in FSK: [0.927092,0.188619,-0.323917]
2025-06-11T20:44:18.269Z,1749674658.269 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:18.269Z,1749674658.269 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:18.270Z,1749674658.270 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:18.477Z,1749674658.477 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:18.477Z,1749674658.477 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:18.477Z,1749674658.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:18.505Z,1749674658.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:18.513Z,1749674658.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 498.722626 m,
bearing: 329.355557 deg,
approach rate: -0.468706 m/s,
LOS rate: 0.002213 deg/s,
cmd heading: 320.708309 deg,
new cmd heading: 320.710862 deg.
2025-06-11T20:44:18.514Z,1749674658.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597460 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:18.729Z,1749674658.729 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:18.729Z,1749674658.729 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:18.729Z,1749674658.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:18.913Z,1749674658.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:18.920Z,1749674658.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:18.928Z,1749674658.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 498.526123 m,
bearing: 329.355659 deg,
approach rate: -0.479344 m/s,
LOS rate: 0.000251 deg/s,
cmd heading: 320.710849 deg,
new cmd heading: 320.711158 deg.
2025-06-11T20:44:18.933Z,1749674658.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597466 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:18.981Z,1749674658.981 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:18.981Z,1749674658.981 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:18.981Z,1749674658.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:19.232Z,1749674659.232 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:19.233Z,1749674659.233 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:19.233Z,1749674659.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:19.306Z,1749674659.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:19.309Z,1749674659.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 498.324982 m,
bearing: 329.355765 deg,
approach rate: -0.514336 m/s,
LOS rate: 0.000269 deg/s,
cmd heading: 320.711150 deg,
new cmd heading: 320.711466 deg.
2025-06-11T20:44:19.310Z,1749674659.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597471 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:19.484Z,1749674659.484 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:19.485Z,1749674659.485 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:19.485Z,1749674659.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:19.734Z,1749674659.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:19.737Z,1749674659.737 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:19.737Z,1749674659.737 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:19.737Z,1749674659.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:19.738Z,1749674659.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 498.112793 m,
bearing: 329.354960 deg,
approach rate: -0.496443 m/s,
LOS rate: -0.001883 deg/s,
cmd heading: 320.711478 deg,
new cmd heading: 320.709063 deg.
2025-06-11T20:44:19.739Z,1749674659.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597429 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:19.988Z,1749674659.988 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:19.989Z,1749674659.989 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:19.989Z,1749674659.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:20.095Z,1749674660.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:20.098Z,1749674660.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 497.933411 m,
bearing: 329.354252 deg,
approach rate: -0.496159 m/s,
LOS rate: -0.001958 deg/s,
cmd heading: 320.709074 deg,
new cmd heading: 320.706949 deg.
2025-06-11T20:44:20.099Z,1749674660.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597392 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:20.241Z,1749674660.241 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:20.242Z,1749674660.242 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:20.242Z,1749674660.242 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:20.493Z,1749674660.493 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:20.493Z,1749674660.493 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:20.493Z,1749674660.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:20.497Z,1749674660.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:20.517Z,1749674660.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 497.734924 m,
bearing: 329.353425 deg,
approach rate: -0.493659 m/s,
LOS rate: -0.002059 deg/s,
cmd heading: 320.706943 deg,
new cmd heading: 320.704460 deg.
2025-06-11T20:44:20.518Z,1749674660.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597349 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:20.745Z,1749674660.745 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:20.745Z,1749674660.745 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:20.745Z,1749674660.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:20.997Z,1749674660.997 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:20.997Z,1749674660.997 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:20.997Z,1749674660.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:20.000Z,1749674661.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:21.002Z,1749674661.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:21.005Z,1749674661.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 497.485687 m,
bearing: 329.351235 deg,
approach rate: -0.494048 m/s,
LOS rate: -0.004342 deg/s,
cmd heading: 320.704456 deg,
new cmd heading: 320.697884 deg.
2025-06-11T20:44:21.006Z,1749674661.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597234 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:21.249Z,1749674661.249 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:21.249Z,1749674661.249 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:21.249Z,1749674661.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:21.362Z,1749674661.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:21.364Z,1749674661.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 497.305573 m,
bearing: 329.349625 deg,
approach rate: -0.500721 m/s,
LOS rate: -0.004479 deg/s,
cmd heading: 320.697872 deg,
new cmd heading: 320.693039 deg.
2025-06-11T20:44:21.365Z,1749674661.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597149 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:21.500Z,1749674661.500 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:21.501Z,1749674661.501 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:21.501Z,1749674661.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:21.525Z,1749674661.525 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:44:21.760Z,1749674661.760 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:21.760Z,1749674661.760 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:21.760Z,1749674661.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:21.791Z,1749674661.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:21.794Z,1749674661.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 497.087677 m,
bearing: 329.346560 deg,
approach rate: -0.506918 m/s,
LOS rate: -0.007134 deg/s,
cmd heading: 320.693036 deg,
new cmd heading: 320.683837 deg.
2025-06-11T20:44:21.795Z,1749674661.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596989 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:22.013Z,1749674662.013 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:22.013Z,1749674662.013 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:22.013Z,1749674662.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:22.167Z,1749674662.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:22.170Z,1749674662.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 496.897400 m,
bearing: 329.343850 deg,
approach rate: -0.506207 m/s,
LOS rate: -0.007212 deg/s,
cmd heading: 320.683829 deg,
new cmd heading: 320.675696 deg.
2025-06-11T20:44:22.171Z,1749674662.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596847 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:22.265Z,1749674662.265 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:22.265Z,1749674662.265 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:22.265Z,1749674662.265 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:22.516Z,1749674662.516 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:22.517Z,1749674662.517 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:22.517Z,1749674662.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:22.528Z,1749674662.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:44:22.601Z,1749674662.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:22.613Z,1749674662.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 496.682007 m,
bearing: 329.340756 deg,
approach rate: -0.496219 m/s,
LOS rate: -0.007130 deg/s,
cmd heading: 320.675688 deg,
new cmd heading: 320.666403 deg.
2025-06-11T20:44:22.614Z,1749674662.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596684 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:22.769Z,1749674662.769 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:22.769Z,1749674662.769 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:22.769Z,1749674662.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:23.020Z,1749674663.020 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:23.020Z,1749674663.020 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:23.021Z,1749674663.021 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:23.102Z,1749674663.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:23.104Z,1749674663.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:23.117Z,1749674663.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 496.467102 m,
bearing: 329.337592 deg,
approach rate: -0.427775 m/s,
LOS rate: -0.006300 deg/s,
cmd heading: 320.666399 deg,
new cmd heading: 320.656903 deg.
2025-06-11T20:44:23.118Z,1749674663.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596519 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:23.272Z,1749674663.272 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:23.273Z,1749674663.273 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:23.273Z,1749674663.273 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:23.402Z,1749674663.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:23.405Z,1749674663.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 496.273193 m,
bearing: 329.334739 deg,
approach rate: -0.650301 m/s,
LOS rate: -0.009571 deg/s,
cmd heading: 320.656891 deg,
new cmd heading: 320.648329 deg.
2025-06-11T20:44:23.406Z,1749674663.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596369 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:23.525Z,1749674663.525 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:23.525Z,1749674663.525 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:23.525Z,1749674663.525 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:23.776Z,1749674663.776 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:23.776Z,1749674663.776 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:23.777Z,1749674663.777 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:23.851Z,1749674663.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:23.854Z,1749674663.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 496.048889 m,
bearing: 329.330754 deg,
approach rate: -0.499581 m/s,
LOS rate: -0.008882 deg/s,
cmd heading: 320.648340 deg,
new cmd heading: 320.636376 deg.
2025-06-11T20:44:23.855Z,1749674663.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596160 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:24.028Z,1749674664.028 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:24.029Z,1749674664.029 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:24.029Z,1749674664.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:24.216Z,1749674664.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:24.219Z,1749674664.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 495.874695 m,
bearing: 329.327701 deg,
approach rate: -0.499247 m/s,
LOS rate: -0.008751 deg/s,
cmd heading: 320.636373 deg,
new cmd heading: 320.627213 deg.
2025-06-11T20:44:24.220Z,1749674664.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596001 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:24.281Z,1749674664.281 [DAT](INFO): Reached modem response timeout
2025-06-11T20:44:24.282Z,1749674664.282 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:44:24.282Z,1749674664.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:24.533Z,1749674664.533 [DAT](INFO): Reached modem response timeout
2025-06-11T20:44:24.533Z,1749674664.533 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:44:24.533Z,1749674664.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:24.639Z,1749674664.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:24.642Z,1749674664.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 495.655151 m,
bearing: 329.323887 deg,
approach rate: -0.500075 m/s,
LOS rate: -0.008691 deg/s,
cmd heading: 320.627221 deg,
new cmd heading: 320.615774 deg.
2025-06-11T20:44:24.643Z,1749674664.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595801 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:24.785Z,1749674664.785 [DAT](INFO): Reached modem response timeout
2025-06-11T20:44:24.785Z,1749674664.785 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:44:24.785Z,1749674664.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:25.047Z,1749674665.047 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:44:25.047Z,1749674665.047 [DAT](INFO): response not received
2025-06-11T20:44:25.047Z,1749674665.047 [DAT](INFO): DAT read: user:430>
2025-06-11T20:44:25.048Z,1749674665.048 [DAT](INFO): DAT read: Tx time:20:44:26.9008
2025-06-11T20:44:25.049Z,1749674665.049 [DAT](INFO): Ping request sent.
2025-06-11T20:44:25.049Z,1749674665.049 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:25.049Z,1749674665.049 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:25.050Z,1749674665.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-06-11T20:44:25.062Z,1749674665.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:25.065Z,1749674665.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 495.442566 m,
bearing: 329.320787 deg,
approach rate: -0.501887 m/s,
LOS rate: -0.007323 deg/s,
cmd heading: 320.615773 deg,
new cmd heading: 320.606468 deg.
2025-06-11T20:44:25.066Z,1749674665.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595638 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:25.304Z,1749674665.304 [DAT](INFO): DAT read: TxSync time:20:44:26.9000
2025-06-11T20:44:25.304Z,1749674665.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255640
2025-06-11T20:44:25.422Z,1749674665.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:25.431Z,1749674665.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:25.447Z,1749674665.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 495.261017 m,
bearing: 329.318199 deg,
approach rate: -0.492985 m/s,
LOS rate: -0.007029 deg/s,
cmd heading: 320.606457 deg,
new cmd heading: 320.598692 deg.
2025-06-11T20:44:25.449Z,1749674665.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595503 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:25.557Z,1749674665.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508108
2025-06-11T20:44:25.809Z,1749674665.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759921
2025-06-11T20:44:25.855Z,1749674665.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:25.880Z,1749674665.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 495.044067 m,
bearing: 329.315776 deg,
approach rate: -0.510807 m/s,
LOS rate: -0.005707 deg/s,
cmd heading: 320.598698 deg,
new cmd heading: 320.591426 deg.
2025-06-11T20:44:25.881Z,1749674665.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595376 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:26.061Z,1749674666.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011886
2025-06-11T20:44:26.227Z,1749674666.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:26.230Z,1749674666.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 494.856873 m,
bearing: 329.313731 deg,
approach rate: -0.503132 m/s,
LOS rate: -0.005501 deg/s,
cmd heading: 320.591430 deg,
new cmd heading: 320.585290 deg.
2025-06-11T20:44:26.231Z,1749674666.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595269 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:26.313Z,1749674666.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264277
2025-06-11T20:44:26.565Z,1749674666.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516409
2025-06-11T20:44:26.672Z,1749674666.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:26.675Z,1749674666.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 494.653595 m,
bearing: 329.311556 deg,
approach rate: -0.456909 m/s,
LOS rate: -0.004889 deg/s,
cmd heading: 320.585283 deg,
new cmd heading: 320.578758 deg.
2025-06-11T20:44:26.683Z,1749674666.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595155 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:26.817Z,1749674666.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767990
2025-06-11T20:44:27.048Z,1749674667.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:27.051Z,1749674667.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 494.445526 m,
bearing: 329.310409 deg,
approach rate: -0.554383 m/s,
LOS rate: -0.003057 deg/s,
cmd heading: 320.578754 deg,
new cmd heading: 320.575311 deg.
2025-06-11T20:44:27.069Z,1749674667.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019865
2025-06-11T20:44:27.081Z,1749674667.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595095 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:27.322Z,1749674667.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272969
2025-06-11T20:44:27.469Z,1749674667.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:27.471Z,1749674667.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:27.477Z,1749674667.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 494.253418 m,
bearing: 329.309307 deg,
approach rate: -0.454185 m/s,
LOS rate: -0.002607 deg/s,
cmd heading: 320.575311 deg,
new cmd heading: 320.572003 deg.
2025-06-11T20:44:27.478Z,1749674667.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595037 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:27.573Z,1749674667.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523957
2025-06-11T20:44:27.825Z,1749674667.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776324
2025-06-11T20:44:27.881Z,1749674667.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:27.883Z,1749674667.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 494.033020 m,
bearing: 329.309149 deg,
approach rate: -0.537260 m/s,
LOS rate: -0.000385 deg/s,
cmd heading: 320.572005 deg,
new cmd heading: 320.571532 deg.
2025-06-11T20:44:27.885Z,1749674667.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595029 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:28.078Z,1749674668.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028515
2025-06-11T20:44:28.315Z,1749674668.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:28.318Z,1749674668.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 493.820068 m,
bearing: 329.308947 deg,
approach rate: -0.490730 m/s,
LOS rate: -0.000467 deg/s,
cmd heading: 320.571541 deg,
new cmd heading: 320.570933 deg.
2025-06-11T20:44:28.319Z,1749674668.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595018 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:28.329Z,1749674668.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280190
2025-06-11T20:44:28.584Z,1749674668.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534277
2025-06-11T20:44:28.735Z,1749674668.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:28.738Z,1749674668.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 493.623566 m,
bearing: 329.308758 deg,
approach rate: -0.471554 m/s,
LOS rate: -0.000452 deg/s,
cmd heading: 320.570940 deg,
new cmd heading: 320.570374 deg.
2025-06-11T20:44:28.739Z,1749674668.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595008 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:28.837Z,1749674668.837 [DAT](INFO): DAT read: Rx Time:20:44:29.9826
2025-06-11T20:44:28.838Z,1749674668.838 [DAT](INFO): Rx dataTimestamp_ set to:1749674668.837253
2025-06-11T20:44:28.839Z,1749674668.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789779
2025-06-11T20:44:29.089Z,1749674669.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039989
2025-06-11T20:44:29.239Z,1749674669.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.97 m.
2025-06-11T20:44:29.246Z,1749674669.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 510.974243 m,
nav range: 493.371643 m,
bearing: 329.310333 deg,
approach rate: -0.496136 m/s,
LOS rate: 0.003104 deg/s,
cmd heading: 320.570366 deg,
new cmd heading: 320.575094 deg.
2025-06-11T20:44:29.247Z,1749674669.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595091 target range: 510.974243 and range: 515.50 m.
2025-06-11T20:44:29.347Z,1749674669.347 [DAT](INFO): DAT read: 20:44:29.9826 LVL= 27632, 32033, 22194, 27635, AGC= 70, IDX= 390,-0.14, 1.734,-0.172, 1.307, 0.835, PHS= 0.987,-0.960, 0.469, RAW= 135.1, -5.7, CAL= 140.8, -16.3, ROT= 9.2, 16.3
2025-06-11T20:44:29.351Z,1749674669.351 [DAT](INFO): got valid direction response:
20:44:29.9826 LVL= 27632, 32033, 22194, 27635, AGC= 70, IDX= 390,-0.14, 1.734,-0.172, 1.307, 0.835, PHS= 0.987,-0.960, 0.469, RAW= 135.1, -5.7, CAL= 140.8, -16.3, ROT= 9.2, 16.3
2025-06-11T20:44:29.360Z,1749674669.360 [DAT](INFO): DAT read: Bearing 9.2, 16.3 (Local)
2025-06-11T20:44:29.361Z,1749674669.361 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.2, 16.3 (Local)
2025-06-11T20:44:29.362Z,1749674669.362 [DAT](INFO): DAT read: Range 10 to 50 : 508.1 m (Round-trip 677.5 ms) speed 0.3 m/s
2025-06-11T20:44:29.363Z,1749674669.363 [DAT](INFO): DAT read: user:431>
2025-06-11T20:44:29.364Z,1749674669.364 [DAT](INFO): DAT read: Tx time:20:44:31.1009
2025-06-11T20:44:29.364Z,1749674669.364 [DAT](INFO): Ping request sent.
2025-06-11T20:44:29.364Z,1749674669.364 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:29.365Z,1749674669.365 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:44:29.366Z,1749674669.366 [DAT](INFO): direction in FSK: [0.947459,0.153455,-0.280667]
2025-06-11T20:44:29.366Z,1749674669.366 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:29.366Z,1749674669.366 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:29.402Z,1749674669.402 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:29.402Z,1749674669.402 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:29.593Z,1749674669.593 [DAT](INFO): DAT read: TxSync time:20:44:31.1001
2025-06-11T20:44:29.663Z,1749674669.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 508.100006 m,
deltaT: 15.147975 s,
deltaX: -7.399994 m,
approachRate: -0.488514 m/s,
rangeRepo size: 4
2025-06-11T20:44:29.666Z,1749674669.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 503.643707 m,
bearing: 330.613179 deg,
lat: 36.906419 deg,
lon: -122.115344 deg,
deltaT: 15.147975 s,
deltaX: -7.330536 m,
approachRate: -0.483928 m/s,
posRepo size: 4
2025-06-11T20:44:29.667Z,1749674669.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:29.686Z,1749674669.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 495.132324 m,
bearing: 330.313183 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003104 deg/s,
cmd heading: 320.575093 deg,
new cmd heading: 320.579033 deg.
2025-06-11T20:44:29.687Z,1749674669.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595160 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:30.083Z,1749674670.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:30.085Z,1749674670.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:30.087Z,1749674670.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 494.925079 m,
bearing: 330.315549 deg,
approach rate: -0.490739 m/s,
LOS rate: 0.005603 deg/s,
cmd heading: 320.579027 deg,
new cmd heading: 320.586126 deg.
2025-06-11T20:44:30.089Z,1749674670.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595284 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:30.097Z,1749674670.097 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:30.097Z,1749674670.097 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:30.097Z,1749674670.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:30.349Z,1749674670.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984513
2025-06-11T20:44:30.479Z,1749674670.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:30.482Z,1749674670.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 494.732971 m,
bearing: 330.317752 deg,
approach rate: -0.487481 m/s,
LOS rate: 0.005593 deg/s,
cmd heading: 320.586130 deg,
new cmd heading: 320.592743 deg.
2025-06-11T20:44:30.483Z,1749674670.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595399 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:30.601Z,1749674670.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236586
2025-06-11T20:44:30.857Z,1749674670.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492202
2025-06-11T20:44:30.923Z,1749674670.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:30.927Z,1749674670.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 494.525055 m,
bearing: 330.320293 deg,
approach rate: -0.468877 m/s,
LOS rate: 0.005733 deg/s,
cmd heading: 320.592742 deg,
new cmd heading: 320.600369 deg.
2025-06-11T20:44:30.929Z,1749674670.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595532 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:31.105Z,1749674671.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740629
2025-06-11T20:44:31.273Z,1749674671.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:31.275Z,1749674671.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 494.358490 m,
bearing: 330.322292 deg,
approach rate: -0.475635 m/s,
LOS rate: 0.005709 deg/s,
cmd heading: 320.600364 deg,
new cmd heading: 320.606362 deg.
2025-06-11T20:44:31.276Z,1749674671.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595637 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:31.357Z,1749674671.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992690
2025-06-11T20:44:31.609Z,1749674671.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244520
2025-06-11T20:44:31.683Z,1749674671.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:31.686Z,1749674671.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 494.164551 m,
bearing: 330.324544 deg,
approach rate: -0.472021 m/s,
LOS rate: 0.005483 deg/s,
cmd heading: 320.606375 deg,
new cmd heading: 320.613133 deg.
2025-06-11T20:44:31.687Z,1749674671.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595755 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:31.863Z,1749674671.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498732
2025-06-11T20:44:32.113Z,1749674672.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748626
2025-06-11T20:44:32.117Z,1749674672.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:32.119Z,1749674672.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:32.126Z,1749674672.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 493.971588 m,
bearing: 330.326821 deg,
approach rate: -0.443200 m/s,
LOS rate: 0.005234 deg/s,
cmd heading: 320.613123 deg,
new cmd heading: 320.619959 deg.
2025-06-11T20:44:32.127Z,1749674672.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595874 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:32.366Z,1749674672.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001198
2025-06-11T20:44:32.501Z,1749674672.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:32.504Z,1749674672.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 493.784424 m,
bearing: 330.329032 deg,
approach rate: -0.489624 m/s,
LOS rate: 0.005785 deg/s,
cmd heading: 320.619953 deg,
new cmd heading: 320.626587 deg.
2025-06-11T20:44:32.505Z,1749674672.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595990 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:32.617Z,1749674672.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252601
2025-06-11T20:44:32.871Z,1749674672.871 [DAT](INFO): DAT read: Rx Time:20:44:34.1798
2025-06-11T20:44:32.873Z,1749674672.873 [DAT](INFO): Rx dataTimestamp_ set to:1749674672.872184
2025-06-11T20:44:32.875Z,1749674672.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510202
2025-06-11T20:44:32.977Z,1749674672.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:32.981Z,1749674672.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 493.566528 m,
bearing: 330.331375 deg,
approach rate: -0.461390 m/s,
LOS rate: 0.004964 deg/s,
cmd heading: 320.626592 deg,
new cmd heading: 320.633625 deg.
2025-06-11T20:44:32.982Z,1749674672.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596112 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:33.121Z,1749674673.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756752
2025-06-11T20:44:33.307Z,1749674673.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.64 m.
2025-06-11T20:44:33.338Z,1749674673.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 503.643707 m,
nav range: 493.419891 m,
bearing: 330.332934 deg,
approach rate: -0.439076 m/s,
LOS rate: 0.004669 deg/s,
cmd heading: 320.633614 deg,
new cmd heading: 320.638291 deg.
2025-06-11T20:44:33.346Z,1749674673.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596194 target range: 503.643707 and range: 508.10 m.
2025-06-11T20:44:33.383Z,1749674673.383 [DAT](INFO): DAT read: 20:44:34.1798 LVL= 28544, 25233, 26466, 32755, AGC= 69, IDX= 410,-0.39, 2.706, 0.791, 2.325, 1.811, PHS= 0.983,-0.973, 0.511, RAW= 136.6, -5.9, CAL= 142.4, -16.2, ROT= 7.6, 16.2
2025-06-11T20:44:33.385Z,1749674673.385 [DAT](INFO): got valid direction response:
20:44:34.1798 LVL= 28544, 25233, 26466, 32755, AGC= 69, IDX= 410,-0.39, 2.706, 0.791, 2.325, 1.811, PHS= 0.983,-0.973, 0.511, RAW= 136.6, -5.9, CAL= 142.4, -16.2, ROT= 7.6, 16.2
2025-06-11T20:44:33.386Z,1749674673.386 [DAT](INFO): DAT read: Bearing 7.6, 16.2 (Local)
2025-06-11T20:44:33.386Z,1749674673.386 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.6, 16.2 (Local)
2025-06-11T20:44:33.388Z,1749674673.388 [DAT](INFO): DAT read: Range 10 to 50 : 506.1 m (Round-trip 674.8 ms) speed 0.1 m/s
2025-06-11T20:44:33.389Z,1749674673.389 [DAT](INFO): DAT read: user:432>
2025-06-11T20:44:33.390Z,1749674673.390 [DAT](INFO): DAT read: Tx time:20:44:35.3009
2025-06-11T20:44:33.390Z,1749674673.390 [DAT](INFO): Ping request sent.
2025-06-11T20:44:33.390Z,1749674673.390 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:33.390Z,1749674673.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:44:33.391Z,1749674673.391 [DAT](INFO): direction in FSK: [0.951858,0.127005,-0.278991]
2025-06-11T20:44:33.391Z,1749674673.391 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:33.425Z,1749674673.425 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:33.442Z,1749674673.442 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:33.443Z,1749674673.443 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:33.625Z,1749674673.625 [DAT](INFO): DAT read: TxSync time:20:44:35.3001
2025-06-11T20:44:33.722Z,1749674673.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 506.100006 m,
deltaT: 4.033621 s,
deltaX: -2.000000 m,
approachRate: -0.495832 m/s,
rangeRepo size: 4
2025-06-11T20:44:33.724Z,1749674673.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 501.660583 m,
bearing: 329.595177 deg,
lat: 36.906424 deg,
lon: -122.115417 deg,
deltaT: 4.033621 s,
deltaX: -1.983124 m,
approachRate: -0.491649 m/s,
posRepo size: 4
2025-06-11T20:44:33.725Z,1749674673.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:33.727Z,1749674673.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 497.006287 m,
bearing: 329.722926 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004669 deg/s,
cmd heading: 320.638286 deg,
new cmd heading: 320.644081 deg.
2025-06-11T20:44:33.728Z,1749674673.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596295 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:34.121Z,1749674674.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:34.123Z,1749674674.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:34.126Z,1749674674.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 496.817780 m,
bearing: 329.723890 deg,
approach rate: -0.468654 m/s,
LOS rate: 0.002398 deg/s,
cmd heading: 320.644078 deg,
new cmd heading: 320.646971 deg.
2025-06-11T20:44:34.127Z,1749674674.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596345 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:34.129Z,1749674674.129 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:34.129Z,1749674674.129 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:34.129Z,1749674674.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:34.381Z,1749674674.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990832
2025-06-11T20:44:34.524Z,1749674674.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:34.527Z,1749674674.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 496.631348 m,
bearing: 329.724849 deg,
approach rate: -0.465383 m/s,
LOS rate: 0.002394 deg/s,
cmd heading: 320.646974 deg,
new cmd heading: 320.649850 deg.
2025-06-11T20:44:34.528Z,1749674674.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596395 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:34.633Z,1749674674.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243078
2025-06-11T20:44:34.887Z,1749674674.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496864
2025-06-11T20:44:34.999Z,1749674674.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:35.006Z,1749674675.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 496.410950 m,
bearing: 329.725176 deg,
approach rate: -0.464116 m/s,
LOS rate: 0.000688 deg/s,
cmd heading: 320.649842 deg,
new cmd heading: 320.650823 deg.
2025-06-11T20:44:35.007Z,1749674675.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596413 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:35.137Z,1749674675.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746751
2025-06-11T20:44:35.313Z,1749674675.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:35.315Z,1749674675.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 496.259308 m,
bearing: 329.725383 deg,
approach rate: -0.484640 m/s,
LOS rate: 0.000662 deg/s,
cmd heading: 320.650826 deg,
new cmd heading: 320.651447 deg.
2025-06-11T20:44:35.317Z,1749674675.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596424 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:35.389Z,1749674675.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998969
2025-06-11T20:44:35.641Z,1749674675.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250844
2025-06-11T20:44:35.730Z,1749674675.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:35.742Z,1749674675.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 496.062225 m,
bearing: 329.725639 deg,
approach rate: -0.471580 m/s,
LOS rate: 0.000612 deg/s,
cmd heading: 320.651454 deg,
new cmd heading: 320.652222 deg.
2025-06-11T20:44:35.743Z,1749674675.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596437 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:35.895Z,1749674675.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504540
2025-06-11T20:44:36.145Z,1749674676.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755178
2025-06-11T20:44:36.149Z,1749674676.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:36.151Z,1749674676.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:36.154Z,1749674676.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 495.859375 m,
bearing: 329.725264 deg,
approach rate: -0.481109 m/s,
LOS rate: -0.000888 deg/s,
cmd heading: 320.652219 deg,
new cmd heading: 320.651096 deg.
2025-06-11T20:44:36.155Z,1749674676.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596417 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:36.397Z,1749674676.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006862
2025-06-11T20:44:36.542Z,1749674676.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:36.553Z,1749674676.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 495.668823 m,
bearing: 329.724935 deg,
approach rate: -0.487628 m/s,
LOS rate: -0.000843 deg/s,
cmd heading: 320.651099 deg,
new cmd heading: 320.650111 deg.
2025-06-11T20:44:36.554Z,1749674676.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596400 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:36.650Z,1749674676.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259209
2025-06-11T20:44:36.903Z,1749674676.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512922
2025-06-11T20:44:37.078Z,1749674677.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:37.085Z,1749674677.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 495.411316 m,
bearing: 329.724014 deg,
approach rate: -0.480280 m/s,
LOS rate: -0.001720 deg/s,
cmd heading: 320.650115 deg,
new cmd heading: 320.647349 deg.
2025-06-11T20:44:37.086Z,1749674677.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596352 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:37.164Z,1749674677.164 [DAT](INFO): DAT read: 20:44:38.3772 LVL= 30928, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.22, 1.703,-0.175, 1.330, 0.844, PHS= 0.947,-0.972, 0.483, RAW= 136.6, -5.3, CAL= 142.3, -15.5, ROT= 7.7, 15.5
2025-06-11T20:44:37.166Z,1749674677.166 [DAT](INFO): got valid direction response:
20:44:38.3772 LVL= 30928, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.22, 1.703,-0.175, 1.330, 0.844, PHS= 0.947,-0.972, 0.483, RAW= 136.6, -5.3, CAL= 142.3, -15.5, ROT= 7.7, 15.5
2025-06-11T20:44:37.167Z,1749674677.167 [DAT](INFO): DAT read: Rx Time:20:44:38.3772
2025-06-11T20:44:37.167Z,1749674677.167 [DAT](INFO): Rx dataTimestamp_ set to:1749674677.166849
2025-06-11T20:44:37.169Z,1749674677.169 [DAT](INFO): DAT read: $Low SNR acquisition
2025-06-11T20:44:37.169Z,1749674677.169 [DAT](INFO): Received low SNR in chirp
2025-06-11T20:44:37.180Z,1749674677.180 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:44:37.182Z,1749674677.182 [DAT](INFO): direction in FSK: [0.954942,0.129113,-0.267238]
2025-06-11T20:44:37.191Z,1749674677.191 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:37.192Z,1749674677.192 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:37.192Z,1749674677.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:37.389Z,1749674677.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:37.393Z,1749674677.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 495.241333 m,
bearing: 329.723528 deg,
approach rate: -0.546439 m/s,
LOS rate: -0.001560 deg/s,
cmd heading: 320.647356 deg,
new cmd heading: 320.645900 deg.
2025-06-11T20:44:37.394Z,1749674677.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596327 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:37.404Z,1749674677.404 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:37.405Z,1749674677.405 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:37.405Z,1749674677.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:37.657Z,1749674677.657 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:37.657Z,1749674677.657 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:37.657Z,1749674677.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:37.804Z,1749674677.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:37.806Z,1749674677.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 495.032288 m,
bearing: 329.722972 deg,
approach rate: -0.504386 m/s,
LOS rate: -0.001342 deg/s,
cmd heading: 320.645908 deg,
new cmd heading: 320.644240 deg.
2025-06-11T20:44:37.807Z,1749674677.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596298 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:37.912Z,1749674677.912 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:37.913Z,1749674677.913 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:37.913Z,1749674677.913 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:38.161Z,1749674678.161 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:38.161Z,1749674678.161 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:38.161Z,1749674678.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:38.247Z,1749674678.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:38.249Z,1749674678.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:38.252Z,1749674678.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 494.803680 m,
bearing: 329.721780 deg,
approach rate: -0.513436 m/s,
LOS rate: -0.002680 deg/s,
cmd heading: 320.644241 deg,
new cmd heading: 320.640662 deg.
2025-06-11T20:44:38.253Z,1749674678.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596235 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:38.413Z,1749674678.413 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:38.413Z,1749674678.413 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:38.413Z,1749674678.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:38.600Z,1749674678.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:38.603Z,1749674678.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 494.622681 m,
bearing: 329.720861 deg,
approach rate: -0.515626 m/s,
LOS rate: -0.002618 deg/s,
cmd heading: 320.640662 deg,
new cmd heading: 320.637905 deg.
2025-06-11T20:44:38.604Z,1749674678.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596187 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:38.666Z,1749674678.666 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:38.666Z,1749674678.666 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:38.666Z,1749674678.666 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:38.919Z,1749674678.919 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:38.919Z,1749674678.919 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:38.920Z,1749674678.920 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:39.046Z,1749674679.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:39.048Z,1749674679.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 494.384521 m,
bearing: 329.719327 deg,
approach rate: -0.534493 m/s,
LOS rate: -0.003445 deg/s,
cmd heading: 320.637903 deg,
new cmd heading: 320.633298 deg.
2025-06-11T20:44:39.049Z,1749674679.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596107 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:39.169Z,1749674679.169 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:39.169Z,1749674679.169 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:39.169Z,1749674679.169 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:39.407Z,1749674679.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:39.421Z,1749674679.421 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:39.421Z,1749674679.421 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:39.421Z,1749674679.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:39.430Z,1749674679.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 494.191223 m,
bearing: 329.718092 deg,
approach rate: -0.534099 m/s,
LOS rate: -0.003414 deg/s,
cmd heading: 320.633286 deg,
new cmd heading: 320.629579 deg.
2025-06-11T20:44:39.431Z,1749674679.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596042 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:39.673Z,1749674679.673 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:39.673Z,1749674679.673 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:39.673Z,1749674679.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:39.819Z,1749674679.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:39.822Z,1749674679.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 493.971252 m,
bearing: 329.716686 deg,
approach rate: -0.533938 m/s,
LOS rate: -0.003414 deg/s,
cmd heading: 320.629570 deg,
new cmd heading: 320.625351 deg.
2025-06-11T20:44:39.823Z,1749674679.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595968 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:39.928Z,1749674679.928 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:39.929Z,1749674679.929 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:39.929Z,1749674679.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:40.177Z,1749674680.177 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:40.177Z,1749674680.177 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:40.177Z,1749674680.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:40.278Z,1749674680.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:40.284Z,1749674680.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:40.287Z,1749674680.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 493.741577 m,
bearing: 329.714821 deg,
approach rate: -0.499136 m/s,
LOS rate: -0.004054 deg/s,
cmd heading: 320.625363 deg,
new cmd heading: 320.619767 deg.
2025-06-11T20:44:40.292Z,1749674680.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595870 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:40.429Z,1749674680.429 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:40.429Z,1749674680.429 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:40.429Z,1749674680.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:40.640Z,1749674680.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:40.642Z,1749674680.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 493.552734 m,
bearing: 329.713270 deg,
approach rate: -0.529741 m/s,
LOS rate: -0.004353 deg/s,
cmd heading: 320.619762 deg,
new cmd heading: 320.615107 deg.
2025-06-11T20:44:40.643Z,1749674680.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595789 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:40.681Z,1749674680.681 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:40.681Z,1749674680.681 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:40.682Z,1749674680.682 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:40.933Z,1749674680.933 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:40.933Z,1749674680.933 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:40.933Z,1749674680.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:41.064Z,1749674681.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:41.067Z,1749674681.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 493.321198 m,
bearing: 329.711279 deg,
approach rate: -0.540995 m/s,
LOS rate: -0.004655 deg/s,
cmd heading: 320.615118 deg,
new cmd heading: 320.609141 deg.
2025-06-11T20:44:41.068Z,1749674681.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595685 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:41.185Z,1749674681.185 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:41.185Z,1749674681.185 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:41.185Z,1749674681.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:41.427Z,1749674681.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:41.436Z,1749674681.436 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:41.437Z,1749674681.437 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:41.437Z,1749674681.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:41.442Z,1749674681.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 493.131500 m,
bearing: 329.709613 deg,
approach rate: -0.522008 m/s,
LOS rate: -0.004587 deg/s,
cmd heading: 320.609134 deg,
new cmd heading: 320.604134 deg.
2025-06-11T20:44:41.443Z,1749674681.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595598 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:41.689Z,1749674681.689 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:41.689Z,1749674681.689 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:41.689Z,1749674681.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:41.835Z,1749674681.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:41.838Z,1749674681.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 492.918549 m,
bearing: 329.707689 deg,
approach rate: -0.521887 m/s,
LOS rate: -0.004718 deg/s,
cmd heading: 320.604135 deg,
new cmd heading: 320.598359 deg.
2025-06-11T20:44:41.839Z,1749674681.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595497 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:41.941Z,1749674681.941 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:41.941Z,1749674681.941 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:41.942Z,1749674681.942 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:42.193Z,1749674682.193 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:42.193Z,1749674682.193 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:42.193Z,1749674682.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:42.272Z,1749674682.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:42.275Z,1749674682.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 492.697113 m,
bearing: 329.705004 deg,
approach rate: -0.507636 m/s,
LOS rate: -0.006158 deg/s,
cmd heading: 320.598370 deg,
new cmd heading: 320.590312 deg.
2025-06-11T20:44:42.275Z,1749674682.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595356 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:42.444Z,1749674682.444 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:42.445Z,1749674682.445 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:42.445Z,1749674682.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:42.647Z,1749674682.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:42.649Z,1749674682.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:42.651Z,1749674682.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 492.505890 m,
bearing: 329.702644 deg,
approach rate: -0.507058 m/s,
LOS rate: -0.006261 deg/s,
cmd heading: 320.590310 deg,
new cmd heading: 320.583227 deg.
2025-06-11T20:44:42.653Z,1749674682.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595233 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:42.697Z,1749674682.697 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:42.697Z,1749674682.697 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:42.697Z,1749674682.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:42.949Z,1749674682.949 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:42.949Z,1749674682.949 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:42.949Z,1749674682.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:43.092Z,1749674683.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:43.095Z,1749674683.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 492.282959 m,
bearing: 329.700445 deg,
approach rate: -0.503468 m/s,
LOS rate: -0.004968 deg/s,
cmd heading: 320.583234 deg,
new cmd heading: 320.576635 deg.
2025-06-11T20:44:43.095Z,1749674683.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595118 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:43.201Z,1749674683.201 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:43.201Z,1749674683.201 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:43.201Z,1749674683.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:44:43.448Z,1749674683.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:43.451Z,1749674683.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 492.104065 m,
bearing: 329.698670 deg,
approach rate: -0.502163 m/s,
LOS rate: -0.004984 deg/s,
cmd heading: 320.576623 deg,
new cmd heading: 320.571296 deg.
2025-06-11T20:44:43.453Z,1749674683.453 [DAT](INFO): Reached modem response timeout
2025-06-11T20:44:43.453Z,1749674683.453 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:44:43.453Z,1749674683.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:43.454Z,1749674683.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595025 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:43.705Z,1749674683.705 [DAT](INFO): Reached modem response timeout
2025-06-11T20:44:43.705Z,1749674683.705 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:44:43.705Z,1749674683.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:43.851Z,1749674683.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:43.854Z,1749674683.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 491.900909 m,
bearing: 329.696656 deg,
approach rate: -0.503426 m/s,
LOS rate: -0.004994 deg/s,
cmd heading: 320.571295 deg,
new cmd heading: 320.565249 deg.
2025-06-11T20:44:43.855Z,1749674683.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594919 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:43.958Z,1749674683.958 [DAT](INFO): Reached modem response timeout
2025-06-11T20:44:43.959Z,1749674683.959 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:44:43.961Z,1749674683.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:44.209Z,1749674684.209 [DAT](INFO): Reached modem response timeout
2025-06-11T20:44:44.209Z,1749674684.209 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:44:44.209Z,1749674684.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:44.302Z,1749674684.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:44.305Z,1749674684.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 491.676727 m,
bearing: 329.695250 deg,
approach rate: -0.497089 m/s,
LOS rate: -0.003117 deg/s,
cmd heading: 320.565257 deg,
new cmd heading: 320.561040 deg.
2025-06-11T20:44:44.306Z,1749674684.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594846 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:44.461Z,1749674684.461 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:44:44.461Z,1749674684.461 [DAT](INFO): response not received
2025-06-11T20:44:44.462Z,1749674684.462 [DAT](INFO): DAT read: user:434>
2025-06-11T20:44:44.463Z,1749674684.463 [DAT](INFO): DAT read: Tx time:20:44:46.2510
2025-06-11T20:44:44.463Z,1749674684.463 [DAT](INFO): Ping request sent.
2025-06-11T20:44:44.463Z,1749674684.463 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:44.463Z,1749674684.463 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:44.464Z,1749674684.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-06-11T20:44:44.671Z,1749674684.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:44.673Z,1749674684.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:44.676Z,1749674684.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 491.492645 m,
bearing: 329.694132 deg,
approach rate: -0.496616 m/s,
LOS rate: -0.003019 deg/s,
cmd heading: 320.561050 deg,
new cmd heading: 320.557693 deg.
2025-06-11T20:44:44.677Z,1749674684.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594787 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:44.713Z,1749674684.713 [DAT](INFO): DAT read: TxSync time:20:44:46.2502
2025-06-11T20:44:44.715Z,1749674684.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251460
2025-06-11T20:44:44.965Z,1749674684.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501812
2025-06-11T20:44:45.119Z,1749674685.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:45.122Z,1749674685.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 491.272705 m,
bearing: 329.693720 deg,
approach rate: -0.493486 m/s,
LOS rate: -0.000924 deg/s,
cmd heading: 320.557689 deg,
new cmd heading: 320.556454 deg.
2025-06-11T20:44:45.123Z,1749674685.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594766 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:45.219Z,1749674685.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755648
2025-06-11T20:44:45.467Z,1749674685.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:45.469Z,1749674685.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006012
2025-06-11T20:44:45.472Z,1749674685.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 491.100433 m,
bearing: 329.693468 deg,
approach rate: -0.494183 m/s,
LOS rate: -0.000725 deg/s,
cmd heading: 320.556460 deg,
new cmd heading: 320.555701 deg.
2025-06-11T20:44:45.473Z,1749674685.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594752 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:45.721Z,1749674685.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258011
2025-06-11T20:44:45.871Z,1749674685.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:45.874Z,1749674685.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 490.901093 m,
bearing: 329.693187 deg,
approach rate: -0.493324 m/s,
LOS rate: -0.000694 deg/s,
cmd heading: 320.555695 deg,
new cmd heading: 320.554853 deg.
2025-06-11T20:44:45.875Z,1749674685.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594738 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:45.973Z,1749674685.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509961
2025-06-11T20:44:46.225Z,1749674686.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762041
2025-06-11T20:44:46.306Z,1749674686.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:46.308Z,1749674686.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 490.681641 m,
bearing: 329.694117 deg,
approach rate: -0.505460 m/s,
LOS rate: 0.002142 deg/s,
cmd heading: 320.554848 deg,
new cmd heading: 320.557638 deg.
2025-06-11T20:44:46.309Z,1749674686.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594786 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:46.477Z,1749674686.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013832
2025-06-11T20:44:46.683Z,1749674686.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:46.686Z,1749674686.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:46.688Z,1749674686.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 490.489655 m,
bearing: 329.694892 deg,
approach rate: -0.505132 m/s,
LOS rate: 0.002041 deg/s,
cmd heading: 320.557635 deg,
new cmd heading: 320.559961 deg.
2025-06-11T20:44:46.689Z,1749674686.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594827 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:46.729Z,1749674686.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265763
2025-06-11T20:44:46.981Z,1749674686.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517856
2025-06-11T20:44:47.155Z,1749674687.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:47.158Z,1749674687.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 490.253601 m,
bearing: 329.697953 deg,
approach rate: -0.502866 m/s,
LOS rate: 0.006523 deg/s,
cmd heading: 320.559957 deg,
new cmd heading: 320.569143 deg.
2025-06-11T20:44:47.159Z,1749674687.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594987 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:47.233Z,1749674687.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769753
2025-06-11T20:44:47.486Z,1749674687.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022599
2025-06-11T20:44:47.597Z,1749674687.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:47.600Z,1749674687.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 490.031250 m,
bearing: 329.700839 deg,
approach rate: -0.502700 m/s,
LOS rate: 0.006528 deg/s,
cmd heading: 320.569137 deg,
new cmd heading: 320.577798 deg.
2025-06-11T20:44:47.601Z,1749674687.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595138 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:47.737Z,1749674687.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273928
2025-06-11T20:44:47.992Z,1749674687.992 [DAT](INFO): DAT read: Rx Time:20:44:49.3198
2025-06-11T20:44:47.993Z,1749674687.993 [DAT](INFO): Rx dataTimestamp_ set to:1749674687.992833
2025-06-11T20:44:47.995Z,1749674687.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531759
2025-06-11T20:44:48.123Z,1749674688.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.66 m.
2025-06-11T20:44:48.129Z,1749674688.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 501.660583 m,
nav range: 489.771545 m,
bearing: 329.704276 deg,
approach rate: -0.494445 m/s,
LOS rate: 0.006548 deg/s,
cmd heading: 320.577797 deg,
new cmd heading: 320.588116 deg.
2025-06-11T20:44:48.130Z,1749674688.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595318 target range: 501.660583 and range: 506.10 m.
2025-06-11T20:44:48.241Z,1749674688.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777882
2025-06-11T20:44:48.518Z,1749674688.518 [DAT](INFO): DAT read: 20:44:49.3198 LVL= 27376, 25633, 24818, 30547, AGC= 74, IDX= 370, 0.10,-0.993,-2.672,-1.267,-1.730, PHS= 0.825,-0.894, 0.460, RAW= 138.4, -5.0, CAL= 144.0, -14.8, ROT= 6.0, 14.8
2025-06-11T20:44:48.520Z,1749674688.520 [DAT](INFO): got valid direction response:
20:44:49.3198 LVL= 27376, 25633, 24818, 30547, AGC= 74, IDX= 370, 0.10,-0.993,-2.672,-1.267,-1.730, PHS= 0.825,-0.894, 0.460, RAW= 138.4, -5.0, CAL= 144.0, -14.8, ROT= 6.0, 14.8
2025-06-11T20:44:48.521Z,1749674688.521 [DAT](INFO): DAT read: Bearing 6.0, 14.8 (Local)
2025-06-11T20:44:48.521Z,1749674688.521 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.0, 14.8 (Local)
2025-06-11T20:44:48.523Z,1749674688.523 [DAT](INFO): DAT read: Range 10 to 50 : 498.4 m (Round-trip 664.6 ms) speed 0.3 m/s
2025-06-11T20:44:48.523Z,1749674688.523 [DAT](INFO): DAT read: user:435>
2025-06-11T20:44:48.531Z,1749674688.531 [DAT](INFO): DAT read: Tx time:20:44:50.4010
2025-06-11T20:44:48.531Z,1749674688.531 [DAT](INFO): Ping request sent.
2025-06-11T20:44:48.531Z,1749674688.531 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:48.532Z,1749674688.532 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:44:48.534Z,1749674688.534 [DAT](INFO): direction in FSK: [0.961527,0.101061,-0.255446]
2025-06-11T20:44:48.534Z,1749674688.534 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:48.534Z,1749674688.534 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:48.538Z,1749674688.538 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:48.538Z,1749674688.538 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:48.698Z,1749674688.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 498.399994 m,
deltaT: 15.122135 s,
deltaX: -7.700012 m,
approachRate: -0.509188 m/s,
rangeRepo size: 4
2025-06-11T20:44:48.705Z,1749674688.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 494.035583 m,
bearing: 327.378355 deg,
lat: 36.906424 deg,
lon: -122.115417 deg,
deltaT: 15.122135 s,
deltaX: -7.625000 m,
approachRate: -0.504228 m/s,
posRepo size: 4
2025-06-11T20:44:48.706Z,1749674688.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:48.713Z,1749674688.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 489.490601 m,
bearing: 329.708953 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006548 deg/s,
cmd heading: 320.588125 deg,
new cmd heading: 320.599419 deg.
2025-06-11T20:44:48.714Z,1749674688.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595515 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:48.745Z,1749674688.745 [DAT](INFO): DAT read: TxSync time:20:44:50.4002
2025-06-11T20:44:48.985Z,1749674688.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:48.987Z,1749674688.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:48.996Z,1749674688.996 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:48.997Z,1749674688.997 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:48.997Z,1749674688.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:49.006Z,1749674689.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 489.333527 m,
bearing: 329.711571 deg,
approach rate: -0.541819 m/s,
LOS rate: 0.009034 deg/s,
cmd heading: 320.599408 deg,
new cmd heading: 320.607265 deg.
2025-06-11T20:44:49.007Z,1749674689.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595653 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:49.249Z,1749674689.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.717422
2025-06-11T20:44:49.407Z,1749674689.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:49.410Z,1749674689.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 489.122070 m,
bearing: 329.715686 deg,
approach rate: -0.503556 m/s,
LOS rate: 0.009803 deg/s,
cmd heading: 320.607276 deg,
new cmd heading: 320.619626 deg.
2025-06-11T20:44:49.411Z,1749674689.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595868 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:49.502Z,1749674689.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.970046
2025-06-11T20:44:49.753Z,1749674689.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221336
2025-06-11T20:44:49.832Z,1749674689.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:49.835Z,1749674689.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 488.909729 m,
bearing: 329.719821 deg,
approach rate: -0.500116 m/s,
LOS rate: 0.009745 deg/s,
cmd heading: 320.619625 deg,
new cmd heading: 320.632038 deg.
2025-06-11T20:44:49.836Z,1749674689.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596085 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:50.005Z,1749674690.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473684
2025-06-11T20:44:50.227Z,1749674690.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:50.230Z,1749674690.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 488.713409 m,
bearing: 329.723427 deg,
approach rate: -0.497311 m/s,
LOS rate: 0.009138 deg/s,
cmd heading: 320.632029 deg,
new cmd heading: 320.642851 deg.
2025-06-11T20:44:50.231Z,1749674690.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596273 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:50.258Z,1749674690.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726823
2025-06-11T20:44:50.509Z,1749674690.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977381
2025-06-11T20:44:50.623Z,1749674690.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:50.627Z,1749674690.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 488.526001 m,
bearing: 329.726614 deg,
approach rate: -0.472514 m/s,
LOS rate: 0.008038 deg/s,
cmd heading: 320.642848 deg,
new cmd heading: 320.652412 deg.
2025-06-11T20:44:50.628Z,1749674690.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596440 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:50.761Z,1749674690.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229443
2025-06-11T20:44:51.013Z,1749674691.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481613
2025-06-11T20:44:51.039Z,1749674691.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:51.042Z,1749674691.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:51.044Z,1749674691.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 488.320557 m,
bearing: 329.730110 deg,
approach rate: -0.491243 m/s,
LOS rate: 0.008363 deg/s,
cmd heading: 320.652410 deg,
new cmd heading: 320.662903 deg.
2025-06-11T20:44:51.045Z,1749674691.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596623 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:51.265Z,1749674691.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733503
2025-06-11T20:44:51.450Z,1749674691.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:51.453Z,1749674691.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 488.108429 m,
bearing: 329.732698 deg,
approach rate: -0.519099 m/s,
LOS rate: 0.006335 deg/s,
cmd heading: 320.662902 deg,
new cmd heading: 320.670668 deg.
2025-06-11T20:44:51.454Z,1749674691.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596759 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:51.519Z,1749674691.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987853
2025-06-11T20:44:51.773Z,1749674691.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241490
2025-06-11T20:44:51.832Z,1749674691.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:51.835Z,1749674691.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 487.930115 m,
bearing: 329.734857 deg,
approach rate: -0.472240 m/s,
LOS rate: 0.005721 deg/s,
cmd heading: 320.670661 deg,
new cmd heading: 320.677141 deg.
2025-06-11T20:44:51.840Z,1749674691.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596872 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:52.025Z,1749674692.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493385
2025-06-11T20:44:52.243Z,1749674692.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:52.246Z,1749674692.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 487.716858 m,
bearing: 329.735989 deg,
approach rate: -0.513346 m/s,
LOS rate: 0.002727 deg/s,
cmd heading: 320.677136 deg,
new cmd heading: 320.680534 deg.
2025-06-11T20:44:52.247Z,1749674692.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596931 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:52.278Z,1749674692.278 [DAT](INFO): DAT read: Rx Time:20:44:53.4672
2025-06-11T20:44:52.279Z,1749674692.279 [DAT](INFO): Rx dataTimestamp_ set to:1749674692.278105
2025-06-11T20:44:52.280Z,1749674692.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747931
2025-06-11T20:44:52.530Z,1749674692.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998635
2025-06-11T20:44:52.649Z,1749674692.649 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:44:52.685Z,1749674692.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.04 m.
2025-06-11T20:44:52.688Z,1749674692.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 494.035583 m,
nav range: 487.498230 m,
bearing: 329.737151 deg,
approach rate: -0.494552 m/s,
LOS rate: 0.002628 deg/s,
cmd heading: 320.680523 deg,
new cmd heading: 320.684008 deg.
2025-06-11T20:44:52.689Z,1749674692.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596992 target range: 494.035583 and range: 498.40 m.
2025-06-11T20:44:52.787Z,1749674692.787 [DAT](INFO): DAT read: 20:44:53.4672 LVL= 16736, 19377, 15410, 22643, AGC= 72, IDX= 408,-0.25, 3.010, 1.242, 2.619, 2.136, PHS= 0.963,-0.847, 0.481, RAW= 135.1, -7.4, CAL= 140.8, -18.5, ROT= 9.2, 18.5
2025-06-11T20:44:52.788Z,1749674692.788 [DAT](INFO): got valid direction response:
20:44:53.4672 LVL= 16736, 19377, 15410, 22643, AGC= 72, IDX= 408,-0.25, 3.010, 1.242, 2.619, 2.136, PHS= 0.963,-0.847, 0.481, RAW= 135.1, -7.4, CAL= 140.8, -18.5, ROT= 9.2, 18.5
2025-06-11T20:44:52.789Z,1749674692.789 [DAT](INFO): DAT read: Bearing 9.2, 18.5 (Local)
2025-06-11T20:44:52.790Z,1749674692.790 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.2, 18.5 (Local)
2025-06-11T20:44:52.791Z,1749674692.791 [DAT](INFO): DAT read: Range 10 to 50 : 496.5 m (Round-trip 662.1 ms) speed 0.4 m/s
2025-06-11T20:44:52.792Z,1749674692.792 [DAT](INFO): DAT read: user:436>
2025-06-11T20:44:52.793Z,1749674692.793 [DAT](INFO): DAT read: Tx time:20:44:54.5510
2025-06-11T20:44:52.793Z,1749674692.793 [DAT](INFO): Ping request sent.
2025-06-11T20:44:52.794Z,1749674692.794 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:52.794Z,1749674692.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:44:52.795Z,1749674692.795 [DAT](INFO): direction in FSK: [0.936125,0.151619,-0.317305]
2025-06-11T20:44:52.795Z,1749674692.795 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:52.795Z,1749674692.795 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:52.799Z,1749674692.799 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:52.799Z,1749674692.799 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:53.033Z,1749674693.033 [DAT](INFO): DAT read: TxSync time:20:44:54.5502
2025-06-11T20:44:53.053Z,1749674693.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 496.500000 m,
deltaT: 4.284581 s,
deltaX: -1.899994 m,
approachRate: -0.443449 m/s,
rangeRepo size: 4
2025-06-11T20:44:53.055Z,1749674693.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 492.154724 m,
bearing: 331.840585 deg,
lat: 36.906460 deg,
lon: -122.115344 deg,
deltaT: 4.284581 s,
deltaX: -1.880859 m,
approachRate: -0.438983 m/s,
posRepo size: 4
2025-06-11T20:44:53.060Z,1749674693.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:53.063Z,1749674693.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 487.565155 m,
bearing: 330.631099 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002628 deg/s,
cmd heading: 320.684020 deg,
new cmd heading: 320.686916 deg.
2025-06-11T20:44:53.072Z,1749674693.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597043 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:53.446Z,1749674693.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:53.448Z,1749674693.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:53.451Z,1749674693.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 487.358307 m,
bearing: 330.630351 deg,
approach rate: -0.523334 m/s,
LOS rate: -0.001893 deg/s,
cmd heading: 320.686916 deg,
new cmd heading: 320.684672 deg.
2025-06-11T20:44:53.452Z,1749674693.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597003 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:53.537Z,1749674693.537 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:53.537Z,1749674693.537 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:53.537Z,1749674693.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:53.655Z,1749674693.655 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:44:53.789Z,1749674693.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995188
2025-06-11T20:44:53.849Z,1749674693.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:53.851Z,1749674693.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 487.164642 m,
bearing: 330.629693 deg,
approach rate: -0.489193 m/s,
LOS rate: -0.001662 deg/s,
cmd heading: 320.684676 deg,
new cmd heading: 320.682702 deg.
2025-06-11T20:44:53.856Z,1749674693.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596969 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:54.041Z,1749674694.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247230
2025-06-11T20:44:54.255Z,1749674694.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:54.274Z,1749674694.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 486.949738 m,
bearing: 330.627799 deg,
approach rate: -0.522609 m/s,
LOS rate: -0.004610 deg/s,
cmd heading: 320.682709 deg,
new cmd heading: 320.677022 deg.
2025-06-11T20:44:54.275Z,1749674694.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596870 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:54.294Z,1749674694.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500384
2025-06-11T20:44:54.545Z,1749674694.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751230
2025-06-11T20:44:54.653Z,1749674694.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:54.656Z,1749674694.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 486.747589 m,
bearing: 330.626058 deg,
approach rate: -0.507963 m/s,
LOS rate: -0.004376 deg/s,
cmd heading: 320.677026 deg,
new cmd heading: 320.671801 deg.
2025-06-11T20:44:54.657Z,1749674694.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596779 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:54.797Z,1749674694.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003312
2025-06-11T20:44:55.045Z,1749674695.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:55.049Z,1749674695.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255297
2025-06-11T20:44:55.050Z,1749674695.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 486.548218 m,
bearing: 330.624397 deg,
approach rate: -0.508245 m/s,
LOS rate: -0.004236 deg/s,
cmd heading: 320.671808 deg,
new cmd heading: 320.666822 deg.
2025-06-11T20:44:55.050Z,1749674695.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596692 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:55.301Z,1749674695.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507179
2025-06-11T20:44:55.482Z,1749674695.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:55.485Z,1749674695.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:55.487Z,1749674695.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 486.321808 m,
bearing: 330.621683 deg,
approach rate: -0.515242 m/s,
LOS rate: -0.006177 deg/s,
cmd heading: 320.666836 deg,
new cmd heading: 320.658692 deg.
2025-06-11T20:44:55.488Z,1749674695.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596550 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:55.554Z,1749674695.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760031
2025-06-11T20:44:55.805Z,1749674695.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011142
2025-06-11T20:44:55.861Z,1749674695.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:55.864Z,1749674695.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 486.121948 m,
bearing: 330.619427 deg,
approach rate: -0.530989 m/s,
LOS rate: -0.005997 deg/s,
cmd heading: 320.658694 deg,
new cmd heading: 320.651922 deg.
2025-06-11T20:44:55.865Z,1749674695.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596432 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:56.057Z,1749674696.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263874
2025-06-11T20:44:56.301Z,1749674696.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:56.303Z,1749674696.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 485.887207 m,
bearing: 330.616698 deg,
approach rate: -0.533879 m/s,
LOS rate: -0.006210 deg/s,
cmd heading: 320.651919 deg,
new cmd heading: 320.643727 deg.
2025-06-11T20:44:56.305Z,1749674696.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596289 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:56.309Z,1749674696.309 [DAT](INFO): DAT read: Rx Time:20:44:57.6145
2025-06-11T20:44:56.309Z,1749674696.309 [DAT](INFO): Rx dataTimestamp_ set to:1749674696.309201
2025-06-11T20:44:56.310Z,1749674696.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516469
2025-06-11T20:44:56.561Z,1749674696.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767162
2025-06-11T20:44:56.685Z,1749674696.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.15 m.
2025-06-11T20:44:56.687Z,1749674696.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 492.154724 m,
nav range: 485.681793 m,
bearing: 330.614480 deg,
approach rate: -0.534744 m/s,
LOS rate: -0.005776 deg/s,
cmd heading: 320.643722 deg,
new cmd heading: 320.637067 deg.
2025-06-11T20:44:56.689Z,1749674696.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596172 target range: 492.154724 and range: 496.50 m.
2025-06-11T20:44:56.820Z,1749674696.820 [DAT](INFO): DAT read: 20:44:57.6145 LVL= 25120, 22593, 25554, 32755, AGC= 73, IDX= 411, 0.22, 0.725,-0.915, 0.282,-0.045, PHS= 0.858,-0.823, 0.324, RAW= 131.9, -4.9, CAL= 137.3, -15.6, ROT= 12.7, 15.6
2025-06-11T20:44:56.821Z,1749674696.821 [DAT](INFO): got valid direction response:
20:44:57.6145 LVL= 25120, 22593, 25554, 32755, AGC= 73, IDX= 411, 0.22, 0.725,-0.915, 0.282,-0.045, PHS= 0.858,-0.823, 0.324, RAW= 131.9, -4.9, CAL= 137.3, -15.6, ROT= 12.7, 15.6
2025-06-11T20:44:56.822Z,1749674696.822 [DAT](INFO): DAT read: Bearing 12.7, 15.6 (Local)
2025-06-11T20:44:56.822Z,1749674696.822 [DAT](INFO): Local bearing/azimuth received:
Bearing 12.7, 15.6 (Local)
2025-06-11T20:44:56.824Z,1749674696.824 [DAT](INFO): DAT read: Range 10 to 50 : 494.4 m (Round-trip 659.2 ms) speed 0.4 m/s
2025-06-11T20:44:56.825Z,1749674696.825 [DAT](INFO): DAT read: user:437>
2025-06-11T20:44:56.826Z,1749674696.826 [DAT](INFO): DAT read: Tx time:20:44:58.7011
2025-06-11T20:44:56.826Z,1749674696.826 [DAT](INFO): Ping request sent.
2025-06-11T20:44:56.826Z,1749674696.826 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:44:56.826Z,1749674696.826 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:44:56.827Z,1749674696.827 [DAT](INFO): direction in FSK: [0.939598,0.211748,-0.268920]
2025-06-11T20:44:56.827Z,1749674696.827 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:56.828Z,1749674696.828 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:56.831Z,1749674696.831 [DAT](INFO): publishing transmit ping time
2025-06-11T20:44:56.831Z,1749674696.831 [DAT](INFO): publishing direction and range info
2025-06-11T20:44:57.065Z,1749674697.065 [DAT](INFO): DAT read: TxSync time:20:44:58.7003
2025-06-11T20:44:57.121Z,1749674697.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 494.399994 m,
deltaT: 4.032367 s,
deltaX: -2.100006 m,
approachRate: -0.520787 m/s,
rangeRepo size: 4
2025-06-11T20:44:57.123Z,1749674697.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 490.076813 m,
bearing: 331.867947 deg,
lat: 36.906466 deg,
lon: -122.115344 deg,
deltaT: 4.032367 s,
deltaX: -2.077911 m,
approachRate: -0.515308 m/s,
posRepo size: 4
2025-06-11T20:44:57.123Z,1749674697.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:44:57.130Z,1749674697.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 486.060852 m,
bearing: 330.652208 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005776 deg/s,
cmd heading: 320.637056 deg,
new cmd heading: 320.629587 deg.
2025-06-11T20:44:57.131Z,1749674697.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596042 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:44:57.516Z,1749674697.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:57.518Z,1749674697.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:44:57.525Z,1749674697.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 485.835480 m,
bearing: 330.650472 deg,
approach rate: -0.560361 m/s,
LOS rate: -0.004317 deg/s,
cmd heading: 320.629598 deg,
new cmd heading: 320.624389 deg.
2025-06-11T20:44:57.526Z,1749674697.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595951 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:44:57.569Z,1749674697.569 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:44:57.569Z,1749674697.569 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:44:57.570Z,1749674697.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:44:57.823Z,1749674697.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997034
2025-06-11T20:44:57.896Z,1749674697.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:44:57.899Z,1749674697.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 485.624817 m,
bearing: 330.648924 deg,
approach rate: -0.557483 m/s,
LOS rate: -0.004098 deg/s,
cmd heading: 320.624379 deg,
new cmd heading: 320.619733 deg.
2025-06-11T20:44:57.900Z,1749674697.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595870 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:44:58.077Z,1749674698.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250763
2025-06-11T20:44:58.327Z,1749674698.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:44:58.329Z,1749674698.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503173
2025-06-11T20:44:58.331Z,1749674698.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 485.385376 m,
bearing: 330.647765 deg,
approach rate: -0.555782 m/s,
LOS rate: -0.002692 deg/s,
cmd heading: 320.619735 deg,
new cmd heading: 320.616256 deg.
2025-06-11T20:44:58.333Z,1749674698.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595809 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:44:58.581Z,1749674698.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754905
2025-06-11T20:44:58.704Z,1749674698.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:44:58.707Z,1749674698.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 485.175812 m,
bearing: 330.646641 deg,
approach rate: -0.555917 m/s,
LOS rate: -0.002983 deg/s,
cmd heading: 320.616265 deg,
new cmd heading: 320.612892 deg.
2025-06-11T20:44:58.707Z,1749674698.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595751 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:44:58.833Z,1749674698.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006710
2025-06-11T20:44:59.085Z,1749674699.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258786
2025-06-11T20:44:59.098Z,1749674699.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:44:59.117Z,1749674699.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 484.956787 m,
bearing: 330.645328 deg,
approach rate: -0.555395 m/s,
LOS rate: -0.003331 deg/s,
cmd heading: 320.612905 deg,
new cmd heading: 320.608963 deg.
2025-06-11T20:44:59.118Z,1749674699.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595682 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:44:59.337Z,1749674699.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510851
2025-06-11T20:44:59.524Z,1749674699.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:44:59.526Z,1749674699.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:44:59.529Z,1749674699.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 484.717743 m,
bearing: 330.645159 deg,
approach rate: -0.558449 m/s,
LOS rate: -0.000396 deg/s,
cmd heading: 320.608970 deg,
new cmd heading: 320.608462 deg.
2025-06-11T20:44:59.530Z,1749674699.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595673 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:44:59.589Z,1749674699.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763194
2025-06-11T20:44:59.841Z,1749674699.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014792
2025-06-11T20:44:59.918Z,1749674699.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:44:59.922Z,1749674699.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 484.499115 m,
bearing: 330.645004 deg,
approach rate: -0.558815 m/s,
LOS rate: -0.000396 deg/s,
cmd heading: 320.608451 deg,
new cmd heading: 320.607986 deg.
2025-06-11T20:44:59.923Z,1749674699.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595665 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:45:00.093Z,1749674700.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266829
2025-06-11T20:45:00.345Z,1749674700.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518870
2025-06-11T20:45:00.348Z,1749674700.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:45:00.351Z,1749674700.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 484.262817 m,
bearing: 330.645235 deg,
approach rate: -0.548393 m/s,
LOS rate: 0.000536 deg/s,
cmd heading: 320.607987 deg,
new cmd heading: 320.608679 deg.
2025-06-11T20:45:00.352Z,1749674700.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595677 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:45:00.597Z,1749674700.597 [DAT](INFO): DAT read: Rx Time:20:45:01.7614
2025-06-11T20:45:00.597Z,1749674700.597 [DAT](INFO): Rx dataTimestamp_ set to:1749674700.597120
2025-06-11T20:45:00.598Z,1749674700.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771989
2025-06-11T20:45:00.734Z,1749674700.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.08 m.
2025-06-11T20:45:00.736Z,1749674700.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 490.076813 m,
nav range: 484.057465 m,
bearing: 330.645323 deg,
approach rate: -0.533007 m/s,
LOS rate: 0.000229 deg/s,
cmd heading: 320.608670 deg,
new cmd heading: 320.608934 deg.
2025-06-11T20:45:00.737Z,1749674700.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595682 target range: 490.076813 and range: 494.40 m.
2025-06-11T20:45:00.849Z,1749674700.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023353
2025-06-11T20:45:01.106Z,1749674701.106 [DAT](INFO): DAT read: 20:45:01.7614 LVL= 19728, 22257, 22322, 29539, AGC= 71, IDX= 410, 0.41, 1.033,-0.844, 0.489, 0.145, PHS= 0.976,-0.942, 0.341, RAW= 131.0, -4.5, CAL= 136.4, -15.2, ROT= 13.6, 15.2
2025-06-11T20:45:01.108Z,1749674701.108 [DAT](INFO): got valid direction response:
20:45:01.7614 LVL= 19728, 22257, 22322, 29539, AGC= 71, IDX= 410, 0.41, 1.033,-0.844, 0.489, 0.145, PHS= 0.976,-0.942, 0.341, RAW= 131.0, -4.5, CAL= 136.4, -15.2, ROT= 13.6, 15.2
2025-06-11T20:45:01.109Z,1749674701.109 [DAT](INFO): DAT read: Bearing 13.6, 15.2 (Local)
2025-06-11T20:45:01.109Z,1749674701.109 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.6, 15.2 (Local)
2025-06-11T20:45:01.111Z,1749674701.111 [DAT](INFO): DAT read: Range 10 to 50 : 492.0 m (Round-trip 656.1 ms) speed 0.6 m/s
2025-06-11T20:45:01.111Z,1749674701.111 [DAT](INFO): DAT read: user:438>
2025-06-11T20:45:01.112Z,1749674701.112 [DAT](INFO): DAT read: Tx time:20:45:02.8511
2025-06-11T20:45:01.112Z,1749674701.112 [DAT](INFO): Ping request sent.
2025-06-11T20:45:01.112Z,1749674701.112 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:01.113Z,1749674701.113 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:45:01.114Z,1749674701.114 [DAT](INFO): direction in FSK: [0.937958,0.226916,-0.262189]
2025-06-11T20:45:01.114Z,1749674701.114 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:01.114Z,1749674701.114 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:01.117Z,1749674701.117 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:01.118Z,1749674701.118 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:01.223Z,1749674701.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 492.000000 m,
deltaT: 4.287002 s,
deltaX: -2.399994 m,
approachRate: -0.559830 m/s,
rangeRepo size: 4
2025-06-11T20:45:01.236Z,1749674701.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 487.697754 m,
bearing: 335.093163 deg,
lat: 36.906478 deg,
lon: -122.115227 deg,
deltaT: 4.287002 s,
deltaX: -2.379059 m,
approachRate: -0.554947 m/s,
posRepo size: 4
2025-06-11T20:45:01.237Z,1749674701.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:01.239Z,1749674701.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 479.956543 m,
bearing: 331.805178 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000229 deg/s,
cmd heading: 320.608943 deg,
new cmd heading: 320.609278 deg.
2025-06-11T20:45:01.246Z,1749674701.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595687 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:01.354Z,1749674701.354 [DAT](INFO): DAT read: TxSync time:20:45:02.8503
2025-06-11T20:45:01.622Z,1749674701.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:01.637Z,1749674701.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:01.639Z,1749674701.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 479.716858 m,
bearing: 331.807768 deg,
approach rate: -0.578025 m/s,
LOS rate: 0.006251 deg/s,
cmd heading: 320.609271 deg,
new cmd heading: 320.617047 deg.
2025-06-11T20:45:01.645Z,1749674701.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595823 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:01.856Z,1749674701.856 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:01.857Z,1749674701.857 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:01.857Z,1749674701.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:02.017Z,1749674702.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:02.019Z,1749674702.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 479.510925 m,
bearing: 331.809950 deg,
approach rate: -0.541777 m/s,
LOS rate: 0.005741 deg/s,
cmd heading: 320.617057 deg,
new cmd heading: 320.623604 deg.
2025-06-11T20:45:02.021Z,1749674702.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595938 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:02.110Z,1749674702.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997039
2025-06-11T20:45:02.361Z,1749674702.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248308
2025-06-11T20:45:02.439Z,1749674702.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:02.446Z,1749674702.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 479.291046 m,
bearing: 331.813747 deg,
approach rate: -0.520884 m/s,
LOS rate: 0.009000 deg/s,
cmd heading: 320.623614 deg,
new cmd heading: 320.635012 deg.
2025-06-11T20:45:02.447Z,1749674702.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596137 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:02.613Z,1749674702.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500183
2025-06-11T20:45:02.801Z,1749674702.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:02.803Z,1749674702.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 479.087830 m,
bearing: 331.817189 deg,
approach rate: -0.561696 m/s,
LOS rate: 0.009517 deg/s,
cmd heading: 320.635007 deg,
new cmd heading: 320.645337 deg.
2025-06-11T20:45:02.805Z,1749674702.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596317 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:02.865Z,1749674702.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752437
2025-06-11T20:45:03.117Z,1749674703.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004290
2025-06-11T20:45:03.204Z,1749674703.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:03.207Z,1749674703.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 478.875122 m,
bearing: 331.820722 deg,
approach rate: -0.527093 m/s,
LOS rate: 0.008759 deg/s,
cmd heading: 320.645334 deg,
new cmd heading: 320.655939 deg.
2025-06-11T20:45:03.220Z,1749674703.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596502 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:03.372Z,1749674703.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259528
2025-06-11T20:45:03.621Z,1749674703.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508233
2025-06-11T20:45:03.645Z,1749674703.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:03.647Z,1749674703.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:03.650Z,1749674703.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 478.652313 m,
bearing: 331.826188 deg,
approach rate: -0.503567 m/s,
LOS rate: 0.012358 deg/s,
cmd heading: 320.655935 deg,
new cmd heading: 320.672339 deg.
2025-06-11T20:45:03.651Z,1749674703.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596788 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:03.873Z,1749674703.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760347
2025-06-11T20:45:04.022Z,1749674704.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:04.025Z,1749674704.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 478.462036 m,
bearing: 331.830847 deg,
approach rate: -0.506595 m/s,
LOS rate: 0.012410 deg/s,
cmd heading: 320.672327 deg,
new cmd heading: 320.686311 deg.
2025-06-11T20:45:04.026Z,1749674704.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597032 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:04.125Z,1749674704.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012301
2025-06-11T20:45:04.378Z,1749674704.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265383
2025-06-11T20:45:04.459Z,1749674704.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:04.470Z,1749674704.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 478.260284 m,
bearing: 331.837169 deg,
approach rate: -0.462406 m/s,
LOS rate: 0.014496 deg/s,
cmd heading: 320.686315 deg,
new cmd heading: 320.705290 deg.
2025-06-11T20:45:04.471Z,1749674704.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597363 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:04.629Z,1749674704.629 [DAT](INFO): DAT read: Rx Time:20:45:05.9084
2025-06-11T20:45:04.629Z,1749674704.629 [DAT](INFO): Rx dataTimestamp_ set to:1749674704.629120
2025-06-11T20:45:04.630Z,1749674704.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517461
2025-06-11T20:45:04.822Z,1749674704.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m.
2025-06-11T20:45:04.824Z,1749674704.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 487.697754 m,
nav range: 478.070892 m,
bearing: 331.843079 deg,
approach rate: -0.521904 m/s,
LOS rate: 0.016293 deg/s,
cmd heading: 320.705276 deg,
new cmd heading: 320.723014 deg.
2025-06-11T20:45:04.825Z,1749674704.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597672 target range: 487.697754 and range: 492.00 m.
2025-06-11T20:45:04.882Z,1749674704.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769097
2025-06-11T20:45:05.139Z,1749674705.139 [DAT](INFO): DAT read: 20:45:05.9084 LVL= 23136, 22001, 19954, 28947, AGC= 72, IDX= 412, 0.42, 1.016,-0.887, 0.580, 0.162, PHS= 0.942,-1.002, 0.415, RAW= 134.8, -4.1, CAL= 140.3, -14.3, ROT= 9.7, 14.3
2025-06-11T20:45:05.140Z,1749674705.140 [DAT](INFO): got valid direction response:
20:45:05.9084 LVL= 23136, 22001, 19954, 28947, AGC= 72, IDX= 412, 0.42, 1.016,-0.887, 0.580, 0.162, PHS= 0.942,-1.002, 0.415, RAW= 134.8, -4.1, CAL= 140.3, -14.3, ROT= 9.7, 14.3
2025-06-11T20:45:05.141Z,1749674705.141 [DAT](INFO): DAT read: Bearing 9.7, 14.3 (Local)
2025-06-11T20:45:05.141Z,1749674705.141 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.7, 14.3 (Local)
2025-06-11T20:45:05.143Z,1749674705.143 [DAT](INFO): DAT read: Range 10 to 50 : 489.9 m (Round-trip 653.2 ms) speed 0.2 m/s
2025-06-11T20:45:05.144Z,1749674705.144 [DAT](INFO): DAT read: user:439>
2025-06-11T20:45:05.145Z,1749674705.145 [DAT](INFO): DAT read: Tx time:20:45:07.0011
2025-06-11T20:45:05.145Z,1749674705.145 [DAT](INFO): Ping request sent.
2025-06-11T20:45:05.145Z,1749674705.145 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:05.145Z,1749674705.145 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:45:05.146Z,1749674705.146 [DAT](INFO): direction in FSK: [0.955162,0.163269,-0.246999]
2025-06-11T20:45:05.147Z,1749674705.147 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:05.147Z,1749674705.147 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:05.150Z,1749674705.150 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:05.150Z,1749674705.150 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:05.297Z,1749674705.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 489.899994 m,
deltaT: 4.032156 s,
deltaX: -2.100006 m,
approachRate: -0.520815 m/s,
rangeRepo size: 4
2025-06-11T20:45:05.299Z,1749674705.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 485.614136 m,
bearing: 332.113079 deg,
lat: 36.906484 deg,
lon: -122.115224 deg,
deltaT: 4.032156 s,
deltaX: -2.083618 m,
approachRate: -0.516750 m/s,
posRepo size: 4
2025-06-11T20:45:05.299Z,1749674705.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:05.321Z,1749674705.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 478.348022 m,
bearing: 331.909775 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016293 deg/s,
cmd heading: 320.723007 deg,
new cmd heading: 320.745920 deg.
2025-06-11T20:45:05.329Z,1749674705.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598073 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:05.385Z,1749674705.385 [DAT](INFO): DAT read: TxSync time:20:45:07.0003
2025-06-11T20:45:05.686Z,1749674705.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:05.692Z,1749674705.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:05.694Z,1749674705.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 478.156952 m,
bearing: 331.916419 deg,
approach rate: -0.481072 m/s,
LOS rate: 0.016736 deg/s,
cmd heading: 320.745929 deg,
new cmd heading: 320.765870 deg.
2025-06-11T20:45:05.695Z,1749674705.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598421 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:05.888Z,1749674705.888 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:05.889Z,1749674705.889 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:05.889Z,1749674705.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:06.059Z,1749674706.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:06.072Z,1749674706.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 477.981598 m,
bearing: 331.922572 deg,
approach rate: -0.471505 m/s,
LOS rate: 0.016551 deg/s,
cmd heading: 320.765873 deg,
new cmd heading: 320.784339 deg.
2025-06-11T20:45:06.073Z,1749674706.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598743 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:06.142Z,1749674706.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996537
2025-06-11T20:45:06.393Z,1749674706.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247564
2025-06-11T20:45:06.489Z,1749674706.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:06.496Z,1749674706.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 477.771515 m,
bearing: 331.929406 deg,
approach rate: -0.489047 m/s,
LOS rate: 0.015916 deg/s,
cmd heading: 320.784342 deg,
new cmd heading: 320.804854 deg.
2025-06-11T20:45:06.497Z,1749674706.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599101 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:06.645Z,1749674706.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499973
2025-06-11T20:45:06.897Z,1749674706.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751659
2025-06-11T20:45:06.978Z,1749674706.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:07.002Z,1749674707.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 477.537598 m,
bearing: 331.937023 deg,
approach rate: -0.478695 m/s,
LOS rate: 0.015594 deg/s,
cmd heading: 320.804860 deg,
new cmd heading: 320.827721 deg.
2025-06-11T20:45:07.003Z,1749674707.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599500 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:07.149Z,1749674707.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003584
2025-06-11T20:45:07.312Z,1749674707.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:07.322Z,1749674707.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 477.379639 m,
bearing: 331.942171 deg,
approach rate: -0.472553 m/s,
LOS rate: 0.015406 deg/s,
cmd heading: 320.827728 deg,
new cmd heading: 320.843177 deg.
2025-06-11T20:45:07.323Z,1749674707.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599770 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:07.404Z,1749674707.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258328
2025-06-11T20:45:07.654Z,1749674707.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508808
2025-06-11T20:45:07.744Z,1749674707.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:07.746Z,1749674707.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:07.749Z,1749674707.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 477.170013 m,
bearing: 331.947827 deg,
approach rate: -0.482806 m/s,
LOS rate: 0.013032 deg/s,
cmd heading: 320.843164 deg,
new cmd heading: 320.860139 deg.
2025-06-11T20:45:07.750Z,1749674707.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600066 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:07.905Z,1749674707.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759561
2025-06-11T20:45:08.133Z,1749674708.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:08.135Z,1749674708.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 476.982941 m,
bearing: 331.952878 deg,
approach rate: -0.484172 m/s,
LOS rate: 0.013080 deg/s,
cmd heading: 320.860130 deg,
new cmd heading: 320.875291 deg.
2025-06-11T20:45:08.136Z,1749674708.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600330 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:08.174Z,1749674708.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028742
2025-06-11T20:45:08.425Z,1749674708.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279645
2025-06-11T20:45:08.565Z,1749674708.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:08.572Z,1749674708.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 476.764618 m,
bearing: 331.956697 deg,
approach rate: -0.504443 m/s,
LOS rate: 0.008828 deg/s,
cmd heading: 320.875293 deg,
new cmd heading: 320.886755 deg.
2025-06-11T20:45:08.573Z,1749674708.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600531 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:08.677Z,1749674708.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532158
2025-06-11T20:45:08.930Z,1749674708.930 [DAT](INFO): DAT read: Rx Time:20:45:10.0558
2025-06-11T20:45:08.930Z,1749674708.930 [DAT](INFO): Rx dataTimestamp_ set to:1749674708.929850
2025-06-11T20:45:08.931Z,1749674708.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785876
2025-06-11T20:45:08.943Z,1749674708.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:08.947Z,1749674708.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 476.574585 m,
bearing: 331.960046 deg,
approach rate: -0.503232 m/s,
LOS rate: 0.008870 deg/s,
cmd heading: 320.886768 deg,
new cmd heading: 320.896817 deg.
2025-06-11T20:45:08.949Z,1749674708.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600706 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:09.181Z,1749674709.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035653
2025-06-11T20:45:09.328Z,1749674709.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.61 m.
2025-06-11T20:45:09.330Z,1749674709.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 485.614136 m,
nav range: 476.374298 m,
bearing: 331.963629 deg,
approach rate: -0.520689 m/s,
LOS rate: 0.009319 deg/s,
cmd heading: 320.896822 deg,
new cmd heading: 320.907576 deg.
2025-06-11T20:45:09.331Z,1749674709.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600894 target range: 485.614136 and range: 489.90 m.
2025-06-11T20:45:09.449Z,1749674709.449 [DAT](INFO): DAT read: 20:45:10.0559 LVL= 24608, 24225, 23986, 29011, AGC= 73, IDX= 418,-0.10,-2.144, 2.432,-2.553,-2.926, PHS= 0.870,-0.878, 0.370, RAW= 133.9, -4.7, CAL= 139.4, -15.2, ROT= 10.6, 15.2
2025-06-11T20:45:09.450Z,1749674709.450 [DAT](INFO): got valid direction response:
20:45:10.0559 LVL= 24608, 24225, 23986, 29011, AGC= 73, IDX= 418,-0.10,-2.144, 2.432,-2.553,-2.926, PHS= 0.870,-0.878, 0.370, RAW= 133.9, -4.7, CAL= 139.4, -15.2, ROT= 10.6, 15.2
2025-06-11T20:45:09.451Z,1749674709.451 [DAT](INFO): DAT read: Bearing 10.6, 15.2 (Local)
2025-06-11T20:45:09.451Z,1749674709.451 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.6, 15.2 (Local)
2025-06-11T20:45:09.455Z,1749674709.455 [DAT](INFO): DAT read: Range 10 to 50 : 487.8 m (Round-trip 650.5 ms) speed 0.7 m/s
2025-06-11T20:45:09.456Z,1749674709.456 [DAT](INFO): DAT read: user:440>
2025-06-11T20:45:09.457Z,1749674709.457 [DAT](INFO): DAT read: Tx time:20:45:11.1512
2025-06-11T20:45:09.457Z,1749674709.457 [DAT](INFO): Ping request sent.
2025-06-11T20:45:09.457Z,1749674709.457 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:09.458Z,1749674709.458 [DAT](INFO): DAT read: TxSync time:20:45:11.1504
2025-06-11T20:45:09.458Z,1749674709.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:45:09.459Z,1749674709.459 [DAT](INFO): direction in FSK: [0.948549,0.177516,-0.262189]
2025-06-11T20:45:09.459Z,1749674709.459 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:09.464Z,1749674709.464 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:09.492Z,1749674709.492 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:09.492Z,1749674709.492 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:09.791Z,1749674709.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 487.799988 m,
deltaT: 4.304776 s,
deltaX: -2.100006 m,
approachRate: -0.487832 m/s,
rangeRepo size: 4
2025-06-11T20:45:09.799Z,1749674709.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 483.533600 m,
bearing: 332.993093 deg,
lat: 36.906488 deg,
lon: -122.115203 deg,
deltaT: 4.304776 s,
deltaX: -2.080536 m,
approachRate: -0.483309 m/s,
posRepo size: 4
2025-06-11T20:45:09.799Z,1749674709.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.53 m.
2025-06-11T20:45:09.806Z,1749674709.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 483.533600 m,
nav range: 475.626251 m,
bearing: 332.196563 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009319 deg/s,
cmd heading: 320.907586 deg,
new cmd heading: 320.920533 deg.
2025-06-11T20:45:09.807Z,1749674709.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601120 target range: 483.533600 and range: 487.80 m.
2025-06-11T20:45:10.134Z,1749674710.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:10.137Z,1749674710.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.53 m.
2025-06-11T20:45:10.139Z,1749674710.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 483.533600 m,
nav range: 475.434601 m,
bearing: 332.198498 deg,
approach rate: -0.554057 m/s,
LOS rate: 0.005597 deg/s,
cmd heading: 320.920536 deg,
new cmd heading: 320.926344 deg.
2025-06-11T20:45:10.140Z,1749674710.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601222 target range: 483.533600 and range: 487.80 m.
2025-06-11T20:45:10.193Z,1749674710.193 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:10.194Z,1749674710.194 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:10.194Z,1749674710.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:10.445Z,1749674710.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987770
2025-06-11T20:45:10.589Z,1749674710.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.53 m.
2025-06-11T20:45:10.592Z,1749674710.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 483.533600 m,
nav range: 475.186157 m,
bearing: 332.199276 deg,
approach rate: -0.548802 m/s,
LOS rate: 0.001720 deg/s,
cmd heading: 320.926356 deg,
new cmd heading: 320.928691 deg.
2025-06-11T20:45:10.593Z,1749674710.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601262 target range: 483.533600 and range: 487.80 m.
2025-06-11T20:45:10.697Z,1749674710.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240017
2025-06-11T20:45:10.950Z,1749674710.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493285
2025-06-11T20:45:11.046Z,1749674711.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.53 m.
2025-06-11T20:45:11.053Z,1749674711.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 483.533600 m,
nav range: 474.942871 m,
bearing: 332.200067 deg,
approach rate: -0.532962 m/s,
LOS rate: 0.001734 deg/s,
cmd heading: 320.928678 deg,
new cmd heading: 320.931053 deg.
2025-06-11T20:45:11.054Z,1749674711.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601304 target range: 483.533600 and range: 487.80 m.
2025-06-11T20:45:11.201Z,1749674711.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744114
2025-06-11T20:45:11.456Z,1749674711.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998283
2025-06-11T20:45:11.516Z,1749674711.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.53 m.
2025-06-11T20:45:11.519Z,1749674711.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 483.533600 m,
nav range: 474.671783 m,
bearing: 332.199070 deg,
approach rate: -0.576471 m/s,
LOS rate: -0.002121 deg/s,
cmd heading: 320.931055 deg,
new cmd heading: 320.928062 deg.
2025-06-11T20:45:11.520Z,1749674711.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601251 target range: 483.533600 and range: 487.80 m.
2025-06-11T20:45:11.706Z,1749674711.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249237
2025-06-11T20:45:11.957Z,1749674711.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499969
2025-06-11T20:45:11.976Z,1749674711.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.53 m.
2025-06-11T20:45:11.979Z,1749674711.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 483.533600 m,
nav range: 474.413544 m,
bearing: 332.198120 deg,
approach rate: -0.561504 m/s,
LOS rate: -0.002069 deg/s,
cmd heading: 320.928049 deg,
new cmd heading: 320.925195 deg.
2025-06-11T20:45:11.981Z,1749674711.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601202 target range: 483.533600 and range: 487.80 m.
2025-06-11T20:45:12.209Z,1749674712.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752048
2025-06-11T20:45:12.367Z,1749674712.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:12.386Z,1749674712.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.53 m.
2025-06-11T20:45:12.389Z,1749674712.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 483.533600 m,
nav range: 474.192596 m,
bearing: 332.197257 deg,
approach rate: -0.539188 m/s,
LOS rate: -0.002107 deg/s,
cmd heading: 320.925208 deg,
new cmd heading: 320.922618 deg.
2025-06-11T20:45:12.390Z,1749674712.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601156 target range: 483.533600 and range: 487.80 m.
2025-06-11T20:45:12.464Z,1749674712.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006447
2025-06-11T20:45:12.713Z,1749674712.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255793
2025-06-11T20:45:12.826Z,1749674712.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.53 m.
2025-06-11T20:45:12.848Z,1749674712.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 483.533600 m,
nav range: 473.945496 m,
bearing: 332.193992 deg,
approach rate: -0.562661 m/s,
LOS rate: -0.007437 deg/s,
cmd heading: 320.922613 deg,
new cmd heading: 320.912814 deg.
2025-06-11T20:45:12.849Z,1749674712.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600985 target range: 483.533600 and range: 487.80 m.
2025-06-11T20:45:12.965Z,1749674712.965 [DAT](INFO): DAT read: Rx Time:20:45:14.2029
2025-06-11T20:45:12.966Z,1749674712.966 [DAT](INFO): Rx dataTimestamp_ set to:1749674712.965898
2025-06-11T20:45:12.967Z,1749674712.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509849
2025-06-11T20:45:13.180Z,1749674713.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.53 m.
2025-06-11T20:45:13.183Z,1749674713.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 483.533600 m,
nav range: 473.721558 m,
bearing: 332.190984 deg,
approach rate: -0.631128 m/s,
LOS rate: -0.008482 deg/s,
cmd heading: 320.912804 deg,
new cmd heading: 320.903776 deg.
2025-06-11T20:45:13.183Z,1749674713.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600828 target range: 483.533600 and range: 487.80 m.
2025-06-11T20:45:13.217Z,1749674713.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760070
2025-06-11T20:45:13.489Z,1749674713.489 [DAT](INFO): DAT read: 20:45:14.2029 LVL= 25776, 28385, 24674, 32755, AGC= 72, IDX= 403,-0.12, 0.177,-1.603,-0.346,-0.656, PHS= 0.921,-0.900, 0.307, RAW= 130.7, -4.1, CAL= 136.0, -14.7, ROT= 14.0, 14.7
2025-06-11T20:45:13.493Z,1749674713.493 [DAT](INFO): got valid direction response:
20:45:14.2029 LVL= 25776, 28385, 24674, 32755, AGC= 72, IDX= 403,-0.12, 0.177,-1.603,-0.346,-0.656, PHS= 0.921,-0.900, 0.307, RAW= 130.7, -4.1, CAL= 136.0, -14.7, ROT= 14.0, 14.7
2025-06-11T20:45:13.495Z,1749674713.495 [DAT](INFO): DAT read: Bearing 14.0, 14.7 (Local)
2025-06-11T20:45:13.495Z,1749674713.495 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.0, 14.7 (Local)
2025-06-11T20:45:13.497Z,1749674713.497 [DAT](INFO): DAT read: Range 10 to 50 : 485.6 m (Round-trip 647.5 ms) speed 0.4 m/s
2025-06-11T20:45:13.498Z,1749674713.498 [DAT](INFO): DAT read: user:441>
2025-06-11T20:45:13.499Z,1749674713.499 [DAT](INFO): DAT read: Tx time:20:45:15.3012
2025-06-11T20:45:13.499Z,1749674713.499 [DAT](INFO): Ping request sent.
2025-06-11T20:45:13.499Z,1749674713.499 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:13.499Z,1749674713.499 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:45:13.501Z,1749674713.501 [DAT](INFO): direction in FSK: [0.938536,0.234003,-0.253758]
2025-06-11T20:45:13.501Z,1749674713.501 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:13.501Z,1749674713.501 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:13.505Z,1749674713.505 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:13.505Z,1749674713.505 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:13.685Z,1749674713.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 485.600006 m,
deltaT: 4.032673 s,
deltaX: -2.199982 m,
approachRate: -0.545539 m/s,
rangeRepo size: 4
2025-06-11T20:45:13.687Z,1749674713.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 481.356354 m,
bearing: 336.101933 deg,
lat: 36.906506 deg,
lon: -122.115130 deg,
deltaT: 4.032673 s,
deltaX: -2.177246 m,
approachRate: -0.539901 m/s,
posRepo size: 4
2025-06-11T20:45:13.687Z,1749674713.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:13.694Z,1749674713.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 472.231628 m,
bearing: 332.987992 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008482 deg/s,
cmd heading: 320.903789 deg,
new cmd heading: 320.890965 deg.
2025-06-11T20:45:13.695Z,1749674713.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600604 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:13.721Z,1749674713.721 [DAT](INFO): DAT read: TxSync time:20:45:15.3004
2025-06-11T20:45:14.014Z,1749674714.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:14.017Z,1749674714.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 472.032715 m,
bearing: 332.985177 deg,
approach rate: -0.602670 m/s,
LOS rate: -0.008530 deg/s,
cmd heading: 320.890975 deg,
new cmd heading: 320.882529 deg.
2025-06-11T20:45:14.018Z,1749674714.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600457 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:14.399Z,1749674714.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:14.401Z,1749674714.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:14.403Z,1749674714.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 471.804962 m,
bearing: 332.982023 deg,
approach rate: -0.588490 m/s,
LOS rate: -0.008156 deg/s,
cmd heading: 320.882533 deg,
new cmd heading: 320.873064 deg.
2025-06-11T20:45:14.405Z,1749674714.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600291 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:14.479Z,1749674714.479 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:14.479Z,1749674714.479 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:14.480Z,1749674714.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:14.729Z,1749674714.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229745
2025-06-11T20:45:14.883Z,1749674714.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:14.885Z,1749674714.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 471.528107 m,
bearing: 332.978689 deg,
approach rate: -0.574626 m/s,
LOS rate: -0.006923 deg/s,
cmd heading: 320.873053 deg,
new cmd heading: 320.863046 deg.
2025-06-11T20:45:14.886Z,1749674714.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600117 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:14.982Z,1749674714.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482786
2025-06-11T20:45:15.233Z,1749674715.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733934
2025-06-11T20:45:15.267Z,1749674715.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:15.270Z,1749674715.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 471.307678 m,
bearing: 332.975938 deg,
approach rate: -0.573587 m/s,
LOS rate: -0.007162 deg/s,
cmd heading: 320.863053 deg,
new cmd heading: 320.854797 deg.
2025-06-11T20:45:15.271Z,1749674715.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599973 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:15.488Z,1749674715.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988148
2025-06-11T20:45:15.704Z,1749674715.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:15.707Z,1749674715.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 471.058289 m,
bearing: 332.973232 deg,
approach rate: -0.570841 m/s,
LOS rate: -0.006196 deg/s,
cmd heading: 320.854803 deg,
new cmd heading: 320.846681 deg.
2025-06-11T20:45:15.708Z,1749674715.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599831 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:15.737Z,1749674715.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237904
2025-06-11T20:45:15.989Z,1749674715.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489867
2025-06-11T20:45:16.165Z,1749674716.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:16.168Z,1749674716.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 470.794769 m,
bearing: 332.970370 deg,
approach rate: -0.571183 m/s,
LOS rate: -0.006207 deg/s,
cmd heading: 320.846688 deg,
new cmd heading: 320.838097 deg.
2025-06-11T20:45:16.169Z,1749674716.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599681 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:16.241Z,1749674716.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741953
2025-06-11T20:45:16.496Z,1749674716.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996594
2025-06-11T20:45:16.634Z,1749674716.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:16.640Z,1749674716.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:16.643Z,1749674716.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 470.530762 m,
bearing: 332.969753 deg,
approach rate: -0.560711 m/s,
LOS rate: -0.001312 deg/s,
cmd heading: 320.838110 deg,
new cmd heading: 320.836256 deg.
2025-06-11T20:45:16.644Z,1749674716.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599649 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:16.745Z,1749674716.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245948
2025-06-11T20:45:16.997Z,1749674716.997 [DAT](INFO): DAT read: Rx Time:20:45:18.3496
2025-06-11T20:45:16.997Z,1749674716.997 [DAT](INFO): Rx dataTimestamp_ set to:1749674716.997020
2025-06-11T20:45:16.998Z,1749674716.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498919
2025-06-11T20:45:17.031Z,1749674717.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:17.035Z,1749674717.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 470.308594 m,
bearing: 332.969153 deg,
approach rate: -0.562337 m/s,
LOS rate: -0.001518 deg/s,
cmd heading: 320.836252 deg,
new cmd heading: 320.834453 deg.
2025-06-11T20:45:17.036Z,1749674717.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599617 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:17.249Z,1749674717.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749823
2025-06-11T20:45:17.409Z,1749674717.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.36 m.
2025-06-11T20:45:17.412Z,1749674717.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 481.356354 m,
nav range: 470.096527 m,
bearing: 332.968496 deg,
approach rate: -0.561146 m/s,
LOS rate: -0.001739 deg/s,
cmd heading: 320.834449 deg,
new cmd heading: 320.832477 deg.
2025-06-11T20:45:17.413Z,1749674717.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599583 target range: 481.356354 and range: 485.60 m.
2025-06-11T20:45:17.506Z,1749674717.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.005932
2025-06-11T20:45:17.759Z,1749674717.759 [DAT](INFO): DAT read: 20:45:18.3496 LVL= 21360, 20881, 18210, 27315, AGC= 72, IDX= 400, 0.16, 0.536,-1.102, 0.150,-0.223, PHS= 0.846,-0.833, 0.370, RAW= 134.0, -5.2, CAL= 139.6, -15.8, ROT= 10.4, 15.8
2025-06-11T20:45:17.760Z,1749674717.760 [DAT](INFO): got valid direction response:
20:45:18.3496 LVL= 21360, 20881, 18210, 27315, AGC= 72, IDX= 400, 0.16, 0.536,-1.102, 0.150,-0.223, PHS= 0.846,-0.833, 0.370, RAW= 134.0, -5.2, CAL= 139.6, -15.8, ROT= 10.4, 15.8
2025-06-11T20:45:17.761Z,1749674717.761 [DAT](INFO): DAT read: Bearing 10.4, 15.8 (Local)
2025-06-11T20:45:17.762Z,1749674717.762 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.4, 15.8 (Local)
2025-06-11T20:45:17.763Z,1749674717.763 [DAT](INFO): DAT read: Range 10 to 50 : 483.1 m (Round-trip 644.2 ms) speed 0.4 m/s
2025-06-11T20:45:17.765Z,1749674717.765 [DAT](INFO): DAT read: user:442>
2025-06-11T20:45:17.766Z,1749674717.766 [DAT](INFO): DAT read: Tx time:20:45:19.4512
2025-06-11T20:45:17.766Z,1749674717.766 [DAT](INFO): Ping request sent.
2025-06-11T20:45:17.766Z,1749674717.766 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:17.767Z,1749674717.767 [DAT](INFO): DAT read: TxSync time:20:45:19.4504
2025-06-11T20:45:17.767Z,1749674717.767 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:45:17.768Z,1749674717.768 [DAT](INFO): direction in FSK: [0.946410,0.173699,-0.272280]
2025-06-11T20:45:17.769Z,1749674717.769 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:17.769Z,1749674717.769 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:17.788Z,1749674717.788 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:17.789Z,1749674717.789 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:17.943Z,1749674717.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 483.100006 m,
deltaT: 4.282511 s,
deltaX: -2.500000 m,
approachRate: -0.583770 m/s,
rangeRepo size: 4
2025-06-11T20:45:17.951Z,1749674717.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 478.878906 m,
bearing: 334.608297 deg,
lat: 36.906549 deg,
lon: -122.114988 deg,
deltaT: 4.282511 s,
deltaX: -2.477448 m,
approachRate: -0.578503 m/s,
posRepo size: 4
2025-06-11T20:45:17.960Z,1749674717.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:17.963Z,1749674717.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 468.528442 m,
bearing: 334.609529 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001739 deg/s,
cmd heading: 320.832481 deg,
new cmd heading: 320.829698 deg.
2025-06-11T20:45:17.968Z,1749674717.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599535 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:18.250Z,1749674718.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:18.253Z,1749674718.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 468.346191 m,
bearing: 334.610932 deg,
approach rate: -0.592141 m/s,
LOS rate: 0.004560 deg/s,
cmd heading: 320.829695 deg,
new cmd heading: 320.833905 deg.
2025-06-11T20:45:18.254Z,1749674718.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599608 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:18.684Z,1749674718.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:18.686Z,1749674718.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:18.689Z,1749674718.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 468.116974 m,
bearing: 334.614767 deg,
approach rate: -0.525783 m/s,
LOS rate: 0.008801 deg/s,
cmd heading: 320.833902 deg,
new cmd heading: 320.845413 deg.
2025-06-11T20:45:18.690Z,1749674718.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599809 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:18.765Z,1749674718.765 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:18.765Z,1749674718.765 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:18.766Z,1749674718.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:19.013Z,1749674719.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246529
2025-06-11T20:45:19.072Z,1749674719.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:19.075Z,1749674719.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 467.922119 m,
bearing: 334.618047 deg,
approach rate: -0.504636 m/s,
LOS rate: 0.008498 deg/s,
cmd heading: 320.845404 deg,
new cmd heading: 320.855249 deg.
2025-06-11T20:45:19.080Z,1749674719.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599980 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:19.266Z,1749674719.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500080
2025-06-11T20:45:19.460Z,1749674719.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:19.463Z,1749674719.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 467.709412 m,
bearing: 334.621659 deg,
approach rate: -0.548863 m/s,
LOS rate: 0.009325 deg/s,
cmd heading: 320.855240 deg,
new cmd heading: 320.866081 deg.
2025-06-11T20:45:19.463Z,1749674719.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600170 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:19.521Z,1749674719.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754669
2025-06-11T20:45:19.773Z,1749674719.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007170
2025-06-11T20:45:19.905Z,1749674719.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:19.907Z,1749674719.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 467.485260 m,
bearing: 334.627970 deg,
approach rate: -0.504674 m/s,
LOS rate: 0.014216 deg/s,
cmd heading: 320.866086 deg,
new cmd heading: 320.885028 deg.
2025-06-11T20:45:19.909Z,1749674719.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600500 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:20.025Z,1749674720.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258550
2025-06-11T20:45:20.271Z,1749674720.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:20.277Z,1749674720.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510567
2025-06-11T20:45:20.290Z,1749674720.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 467.300140 m,
bearing: 334.633379 deg,
approach rate: -0.504026 m/s,
LOS rate: 0.014732 deg/s,
cmd heading: 320.885019 deg,
new cmd heading: 320.901252 deg.
2025-06-11T20:45:20.291Z,1749674720.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600783 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:20.532Z,1749674720.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765021
2025-06-11T20:45:20.706Z,1749674720.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:20.732Z,1749674720.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:20.744Z,1749674720.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 467.087555 m,
bearing: 334.640475 deg,
approach rate: -0.463895 m/s,
LOS rate: 0.015493 deg/s,
cmd heading: 320.901248 deg,
new cmd heading: 320.922547 deg.
2025-06-11T20:45:20.745Z,1749674720.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601155 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:20.781Z,1749674720.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014591
2025-06-11T20:45:21.033Z,1749674721.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266734
2025-06-11T20:45:21.082Z,1749674721.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:21.085Z,1749674721.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 466.899689 m,
bearing: 334.646935 deg,
approach rate: -0.532795 m/s,
LOS rate: 0.018327 deg/s,
cmd heading: 320.922558 deg,
new cmd heading: 320.941944 deg.
2025-06-11T20:45:21.086Z,1749674721.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601494 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:21.287Z,1749674721.287 [DAT](INFO): DAT read: Rx Time:20:45:22.4968
2025-06-11T20:45:21.287Z,1749674721.287 [DAT](INFO): Rx dataTimestamp_ set to:1749674721.287156
2025-06-11T20:45:21.288Z,1749674721.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521846
2025-06-11T20:45:21.481Z,1749674721.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.88 m.
2025-06-11T20:45:21.483Z,1749674721.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 478.878906 m,
nav range: 466.703461 m,
bearing: 334.653870 deg,
approach rate: -0.492347 m/s,
LOS rate: 0.017410 deg/s,
cmd heading: 320.941956 deg,
new cmd heading: 320.962772 deg.
2025-06-11T20:45:21.484Z,1749674721.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601857 target range: 478.878906 and range: 483.10 m.
2025-06-11T20:45:21.538Z,1749674721.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771277
2025-06-11T20:45:21.795Z,1749674721.795 [DAT](INFO): DAT read: 20:45:22.4968 LVL= 24304, 25521, 23346, 32755, AGC= 69, IDX= 420, 0.22, 0.887,-0.909, 0.464, 0.101, PHS= 0.874,-0.963, 0.361, RAW= 134.3, -3.3, CAL= 139.8, -13.3, ROT= 10.2, 13.3
2025-06-11T20:45:21.797Z,1749674721.797 [DAT](INFO): got valid direction response:
20:45:22.4968 LVL= 24304, 25521, 23346, 32755, AGC= 69, IDX= 420, 0.22, 0.887,-0.909, 0.464, 0.101, PHS= 0.874,-0.963, 0.361, RAW= 134.3, -3.3, CAL= 139.8, -13.3, ROT= 10.2, 13.3
2025-06-11T20:45:21.798Z,1749674721.798 [DAT](INFO): DAT read: Bearing 10.2, 13.3 (Local)
2025-06-11T20:45:21.798Z,1749674721.798 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.2, 13.3 (Local)
2025-06-11T20:45:21.799Z,1749674721.799 [DAT](INFO): DAT read: Range 10 to 50 : 481.1 m (Round-trip 641.5 ms) speed 0.5 m/s
2025-06-11T20:45:21.800Z,1749674721.800 [DAT](INFO): DAT read: user:443>
2025-06-11T20:45:21.801Z,1749674721.801 [DAT](INFO): DAT read: Tx time:20:45:23.6012
2025-06-11T20:45:21.801Z,1749674721.801 [DAT](INFO): Ping request sent.
2025-06-11T20:45:21.801Z,1749674721.801 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:21.802Z,1749674721.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:45:21.803Z,1749674721.803 [DAT](INFO): direction in FSK: [0.957798,0.172335,-0.230050]
2025-06-11T20:45:21.803Z,1749674721.803 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:21.803Z,1749674721.803 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:21.807Z,1749674721.807 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:21.807Z,1749674721.807 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:22.016Z,1749674722.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 481.100006 m,
deltaT: 4.036282 s,
deltaX: -2.000000 m,
approachRate: -0.495506 m/s,
rangeRepo size: 4
2025-06-11T20:45:22.018Z,1749674722.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 476.893951 m,
bearing: 331.272806 deg,
lat: 36.906506 deg,
lon: -122.115130 deg,
deltaT: 4.036282 s,
deltaX: -1.984955 m,
approachRate: -0.491778 m/s,
posRepo size: 4
2025-06-11T20:45:22.018Z,1749674722.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:22.025Z,1749674722.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 467.747955 m,
bearing: 333.016379 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017410 deg/s,
cmd heading: 320.962774 deg,
new cmd heading: 320.990471 deg.
2025-06-11T20:45:22.026Z,1749674722.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602341 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:22.041Z,1749674722.041 [DAT](INFO): DAT read: TxSync time:20:45:23.6004
2025-06-11T20:45:22.324Z,1749674722.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:22.327Z,1749674722.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 467.587799 m,
bearing: 333.022306 deg,
approach rate: -0.511750 m/s,
LOS rate: 0.018945 deg/s,
cmd heading: 320.990477 deg,
new cmd heading: 321.008264 deg.
2025-06-11T20:45:22.344Z,1749674722.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602651 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:22.750Z,1749674722.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:22.753Z,1749674722.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:22.755Z,1749674722.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 467.379883 m,
bearing: 333.030497 deg,
approach rate: -0.484957 m/s,
LOS rate: 0.019114 deg/s,
cmd heading: 321.008263 deg,
new cmd heading: 321.032847 deg.
2025-06-11T20:45:22.756Z,1749674722.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603080 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:22.798Z,1749674722.798 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:22.798Z,1749674722.798 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:22.798Z,1749674722.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:23.049Z,1749674723.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247248
2025-06-11T20:45:23.255Z,1749674723.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:23.301Z,1749674723.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499714
2025-06-11T20:45:23.303Z,1749674723.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 467.161926 m,
bearing: 333.039290 deg,
approach rate: -0.433854 m/s,
LOS rate: 0.017512 deg/s,
cmd heading: 321.032852 deg,
new cmd heading: 321.059244 deg.
2025-06-11T20:45:23.303Z,1749674723.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603541 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:23.548Z,1749674723.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:23.551Z,1749674723.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 467.006012 m,
bearing: 333.045569 deg,
approach rate: -0.539384 m/s,
LOS rate: 0.021727 deg/s,
cmd heading: 321.059244 deg,
new cmd heading: 321.078085 deg.
2025-06-11T20:45:23.553Z,1749674723.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751431
2025-06-11T20:45:23.557Z,1749674723.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603870 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:23.788Z,1749674723.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:45:23.805Z,1749674723.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003261
2025-06-11T20:45:23.990Z,1749674723.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:23.997Z,1749674723.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 466.799011 m,
bearing: 333.053007 deg,
approach rate: -0.464550 m/s,
LOS rate: 0.016701 deg/s,
cmd heading: 321.078095 deg,
new cmd heading: 321.100420 deg.
2025-06-11T20:45:23.998Z,1749674723.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604259 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:24.057Z,1749674724.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255368
2025-06-11T20:45:24.309Z,1749674724.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507430
2025-06-11T20:45:24.338Z,1749674724.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:24.340Z,1749674724.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 466.620880 m,
bearing: 333.059354 deg,
approach rate: -0.511959 m/s,
LOS rate: 0.018248 deg/s,
cmd heading: 321.100416 deg,
new cmd heading: 321.119464 deg.
2025-06-11T20:45:24.341Z,1749674724.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604592 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:24.562Z,1749674724.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760923
2025-06-11T20:45:24.775Z,1749674724.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:24.782Z,1749674724.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:24.786Z,1749674724.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 466.419769 m,
bearing: 333.066420 deg,
approach rate: -0.452775 m/s,
LOS rate: 0.015915 deg/s,
cmd heading: 321.119459 deg,
new cmd heading: 321.140666 deg.
2025-06-11T20:45:24.787Z,1749674724.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604962 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:24.792Z,1749674724.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:45:24.813Z,1749674724.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011470
2025-06-11T20:45:25.065Z,1749674725.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263315
2025-06-11T20:45:25.164Z,1749674725.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:25.166Z,1749674725.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 466.225220 m,
bearing: 333.073261 deg,
approach rate: -0.509575 m/s,
LOS rate: 0.017927 deg/s,
cmd heading: 321.140660 deg,
new cmd heading: 321.161192 deg.
2025-06-11T20:45:25.167Z,1749674725.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605320 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:25.317Z,1749674725.317 [DAT](INFO): DAT read: Rx Time:20:45:26.6440
2025-06-11T20:45:25.318Z,1749674725.318 [DAT](INFO): Rx dataTimestamp_ set to:1749674725.317698
2025-06-11T20:45:25.319Z,1749674725.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517288
2025-06-11T20:45:25.551Z,1749674725.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.89 m.
2025-06-11T20:45:25.554Z,1749674725.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 476.893951 m,
nav range: 466.039246 m,
bearing: 333.079592 deg,
approach rate: -0.480125 m/s,
LOS rate: 0.016349 deg/s,
cmd heading: 321.161205 deg,
new cmd heading: 321.180203 deg.
2025-06-11T20:45:25.555Z,1749674725.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605652 target range: 476.893951 and range: 481.10 m.
2025-06-11T20:45:25.569Z,1749674725.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767412
2025-06-11T20:45:25.839Z,1749674725.839 [DAT](INFO): DAT read: 20:45:26.6440 LVL= 23168, 26161, 25570, 31507, AGC= 72, IDX= 408, 0.00,-2.166, 2.481,-2.620,-2.892, PHS= 0.813,-0.863, 0.269, RAW= 131.4, -3.0, CAL= 137.0, -13.0, ROT= 13.0, 13.0
2025-06-11T20:45:25.840Z,1749674725.840 [DAT](INFO): got valid direction response:
20:45:26.6440 LVL= 23168, 26161, 25570, 31507, AGC= 72, IDX= 408, 0.00,-2.166, 2.481,-2.620,-2.892, PHS= 0.813,-0.863, 0.269, RAW= 131.4, -3.0, CAL= 137.0, -13.0, ROT= 13.0, 13.0
2025-06-11T20:45:25.841Z,1749674725.841 [DAT](INFO): DAT read: Bearing 13.0, 13.0 (Local)
2025-06-11T20:45:25.842Z,1749674725.842 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.0, 13.0 (Local)
2025-06-11T20:45:25.843Z,1749674725.843 [DAT](INFO): DAT read: Range 10 to 50 : 478.9 m (Round-trip 638.6 ms) speed 0.4 m/s
2025-06-11T20:45:25.849Z,1749674725.849 [DAT](INFO): DAT read: user:444>
2025-06-11T20:45:25.850Z,1749674725.850 [DAT](INFO): DAT read: Tx time:20:45:27.7512
2025-06-11T20:45:25.850Z,1749674725.850 [DAT](INFO): Ping request sent.
2025-06-11T20:45:25.850Z,1749674725.850 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:25.850Z,1749674725.850 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:45:25.851Z,1749674725.851 [DAT](INFO): direction in FSK: [0.949397,0.219186,-0.224951]
2025-06-11T20:45:25.852Z,1749674725.852 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:25.852Z,1749674725.852 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:25.855Z,1749674725.855 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:25.855Z,1749674725.855 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:26.054Z,1749674726.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 478.899994 m,
deltaT: 4.033151 s,
deltaX: -2.200012 m,
approachRate: -0.545482 m/s,
rangeRepo size: 4
2025-06-11T20:45:26.065Z,1749674726.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 474.713867 m,
bearing: 334.532960 deg,
lat: 36.906549 deg,
lon: -122.115013 deg,
deltaT: 4.033151 s,
deltaX: -2.180084 m,
approachRate: -0.540541 m/s,
posRepo size: 4
2025-06-11T20:45:26.065Z,1749674726.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:26.073Z,1749674726.073 [DAT](INFO): DAT read: TxSync time:20:45:27.7504
2025-06-11T20:45:26.074Z,1749674726.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 465.454468 m,
bearing: 334.492151 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016349 deg/s,
cmd heading: 321.180193 deg,
new cmd heading: 321.204854 deg.
2025-06-11T20:45:26.075Z,1749674726.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606082 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:26.383Z,1749674726.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:26.385Z,1749674726.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 465.275604 m,
bearing: 334.494199 deg,
approach rate: -0.543870 m/s,
LOS rate: 0.006231 deg/s,
cmd heading: 321.204863 deg,
new cmd heading: 321.211011 deg.
2025-06-11T20:45:26.386Z,1749674726.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606190 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:26.783Z,1749674726.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:26.785Z,1749674726.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:26.787Z,1749674726.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 465.058258 m,
bearing: 334.494944 deg,
approach rate: -0.540342 m/s,
LOS rate: 0.001852 deg/s,
cmd heading: 321.211011 deg,
new cmd heading: 321.213245 deg.
2025-06-11T20:45:26.789Z,1749674726.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606229 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:26.829Z,1749674726.829 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:26.829Z,1749674726.829 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:26.829Z,1749674726.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:27.081Z,1749674727.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230776
2025-06-11T20:45:27.169Z,1749674727.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:27.171Z,1749674727.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 464.850067 m,
bearing: 334.495593 deg,
approach rate: -0.542123 m/s,
LOS rate: 0.001691 deg/s,
cmd heading: 321.213251 deg,
new cmd heading: 321.215200 deg.
2025-06-11T20:45:27.173Z,1749674727.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606263 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:27.333Z,1749674727.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482821
2025-06-11T20:45:27.571Z,1749674727.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:27.574Z,1749674727.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 464.632324 m,
bearing: 334.496176 deg,
approach rate: -0.541078 m/s,
LOS rate: 0.001448 deg/s,
cmd heading: 321.215191 deg,
new cmd heading: 321.216939 deg.
2025-06-11T20:45:27.575Z,1749674727.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606293 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:27.585Z,1749674727.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734922
2025-06-11T20:45:27.837Z,1749674727.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986793
2025-06-11T20:45:28.017Z,1749674728.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:28.037Z,1749674728.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 464.386230 m,
bearing: 334.495495 deg,
approach rate: -0.552042 m/s,
LOS rate: -0.001526 deg/s,
cmd heading: 321.216939 deg,
new cmd heading: 321.214898 deg.
2025-06-11T20:45:28.038Z,1749674728.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606257 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:28.092Z,1749674728.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242476
2025-06-11T20:45:28.345Z,1749674728.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494759
2025-06-11T20:45:28.403Z,1749674728.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:28.410Z,1749674728.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 464.176483 m,
bearing: 334.494846 deg,
approach rate: -0.542918 m/s,
LOS rate: -0.001682 deg/s,
cmd heading: 321.214890 deg,
new cmd heading: 321.212940 deg.
2025-06-11T20:45:28.411Z,1749674728.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606224 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:28.599Z,1749674728.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748449
2025-06-11T20:45:28.834Z,1749674728.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:28.837Z,1749674728.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:28.839Z,1749674728.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 463.923004 m,
bearing: 334.492037 deg,
approach rate: -0.585013 m/s,
LOS rate: -0.006487 deg/s,
cmd heading: 321.212950 deg,
new cmd heading: 321.204518 deg.
2025-06-11T20:45:28.840Z,1749674728.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606076 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:28.849Z,1749674728.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998932
2025-06-11T20:45:29.101Z,1749674729.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250746
2025-06-11T20:45:29.213Z,1749674729.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:29.216Z,1749674729.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 463.706268 m,
bearing: 334.489547 deg,
approach rate: -0.576048 m/s,
LOS rate: -0.006619 deg/s,
cmd heading: 321.204508 deg,
new cmd heading: 321.197037 deg.
2025-06-11T20:45:29.217Z,1749674729.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605946 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:29.353Z,1749674729.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502790
2025-06-11T20:45:29.605Z,1749674729.605 [DAT](INFO): DAT read: Rx Time:20:45:30.7909
2025-06-11T20:45:29.605Z,1749674729.605 [DAT](INFO): Rx dataTimestamp_ set to:1749674729.605176
2025-06-11T20:45:29.606Z,1749674729.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756046
2025-06-11T20:45:29.655Z,1749674729.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:29.662Z,1749674729.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 463.472992 m,
bearing: 334.486770 deg,
approach rate: -0.527814 m/s,
LOS rate: -0.006288 deg/s,
cmd heading: 321.197050 deg,
new cmd heading: 321.188712 deg.
2025-06-11T20:45:29.663Z,1749674729.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605801 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:29.857Z,1749674729.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006830
2025-06-11T20:45:30.066Z,1749674730.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:30.073Z,1749674730.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 463.222717 m,
bearing: 334.483530 deg,
approach rate: -0.609185 m/s,
LOS rate: -0.007889 deg/s,
cmd heading: 321.188717 deg,
new cmd heading: 321.178994 deg.
2025-06-11T20:45:30.074Z,1749674730.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605631 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:30.115Z,1749674730.115 [DAT](INFO): DAT read: 20:45:30.7909 LVL= 18176, 16305, 16418, 25187, AGC= 72, IDX= 407, 0.01,-2.035, 2.630,-2.403,-2.772, PHS= 0.825,-0.835, 0.366, RAW= 134.5, -4.8, CAL= 140.0, -15.3, ROT= 10.0, 15.3
2025-06-11T20:45:30.116Z,1749674730.116 [DAT](INFO): got valid direction response:
20:45:30.7909 LVL= 18176, 16305, 16418, 25187, AGC= 72, IDX= 407, 0.01,-2.035, 2.630,-2.403,-2.772, PHS= 0.825,-0.835, 0.366, RAW= 134.5, -4.8, CAL= 140.0, -15.3, ROT= 10.0, 15.3
2025-06-11T20:45:30.117Z,1749674730.117 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:45:30.117Z,1749674730.117 [DAT](INFO): Received a bad header
2025-06-11T20:45:30.128Z,1749674730.128 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:45:30.129Z,1749674730.129 [DAT](INFO): direction in FSK: [0.949904,0.167494,-0.263873]
2025-06-11T20:45:30.133Z,1749674730.133 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:30.133Z,1749674730.133 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:30.133Z,1749674730.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:30.361Z,1749674730.361 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:30.361Z,1749674730.361 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:30.361Z,1749674730.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:30.454Z,1749674730.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:30.456Z,1749674730.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 462.996490 m,
bearing: 334.480511 deg,
approach rate: -0.585902 m/s,
LOS rate: -0.007822 deg/s,
cmd heading: 321.178991 deg,
new cmd heading: 321.169930 deg.
2025-06-11T20:45:30.457Z,1749674730.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605473 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:30.612Z,1749674730.612 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:30.613Z,1749674730.613 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:30.613Z,1749674730.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:30.866Z,1749674730.866 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:30.866Z,1749674730.866 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:30.866Z,1749674730.866 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:30.892Z,1749674730.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:30.894Z,1749674730.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:30.916Z,1749674730.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 462.732513 m,
bearing: 334.477224 deg,
approach rate: -0.596912 m/s,
LOS rate: -0.007438 deg/s,
cmd heading: 321.169920 deg,
new cmd heading: 321.160053 deg.
2025-06-11T20:45:30.917Z,1749674730.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605300 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:31.117Z,1749674731.117 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:31.117Z,1749674731.117 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:31.117Z,1749674731.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:31.237Z,1749674731.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:31.240Z,1749674731.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 462.521362 m,
bearing: 334.474552 deg,
approach rate: -0.615797 m/s,
LOS rate: -0.007796 deg/s,
cmd heading: 321.160057 deg,
new cmd heading: 321.152038 deg.
2025-06-11T20:45:31.241Z,1749674731.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605160 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:31.369Z,1749674731.369 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:31.369Z,1749674731.369 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:31.369Z,1749674731.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:31.620Z,1749674731.620 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:31.621Z,1749674731.621 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:31.621Z,1749674731.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:31.649Z,1749674731.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:31.668Z,1749674731.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 462.279022 m,
bearing: 334.471447 deg,
approach rate: -0.590046 m/s,
LOS rate: -0.007565 deg/s,
cmd heading: 321.152025 deg,
new cmd heading: 321.142704 deg.
2025-06-11T20:45:31.669Z,1749674731.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604998 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:31.873Z,1749674731.873 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:31.873Z,1749674731.873 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:31.873Z,1749674731.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:32.070Z,1749674732.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:32.093Z,1749674732.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 462.031982 m,
bearing: 334.469816 deg,
approach rate: -0.584582 m/s,
LOS rate: -0.003860 deg/s,
cmd heading: 321.142709 deg,
new cmd heading: 321.137815 deg.
2025-06-11T20:45:32.094Z,1749674732.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604912 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:32.125Z,1749674732.125 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:32.125Z,1749674732.125 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:32.125Z,1749674732.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:32.377Z,1749674732.377 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:32.377Z,1749674732.377 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:32.377Z,1749674732.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:32.463Z,1749674732.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:32.466Z,1749674732.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 461.802338 m,
bearing: 334.468295 deg,
approach rate: -0.584262 m/s,
LOS rate: -0.003873 deg/s,
cmd heading: 321.137818 deg,
new cmd heading: 321.133251 deg.
2025-06-11T20:45:32.467Z,1749674732.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604833 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:32.629Z,1749674732.629 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:32.629Z,1749674732.629 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:32.629Z,1749674732.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:32.881Z,1749674732.881 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:32.881Z,1749674732.881 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:32.881Z,1749674732.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:32.886Z,1749674732.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:32.888Z,1749674732.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 461.570190 m,
bearing: 334.468123 deg,
approach rate: -0.549877 m/s,
LOS rate: -0.000408 deg/s,
cmd heading: 321.133256 deg,
new cmd heading: 321.132738 deg.
2025-06-11T20:45:32.889Z,1749674732.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604824 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:33.133Z,1749674733.133 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:33.134Z,1749674733.134 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:33.134Z,1749674733.134 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:33.262Z,1749674733.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:33.281Z,1749674733.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:33.283Z,1749674733.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 461.360474 m,
bearing: 334.467990 deg,
approach rate: -0.530687 m/s,
LOS rate: -0.000335 deg/s,
cmd heading: 321.132737 deg,
new cmd heading: 321.132339 deg.
2025-06-11T20:45:33.289Z,1749674733.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604816 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:33.385Z,1749674733.385 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:33.385Z,1749674733.385 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:33.385Z,1749674733.385 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:33.637Z,1749674733.637 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:33.637Z,1749674733.637 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:33.637Z,1749674733.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:33.681Z,1749674733.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:33.688Z,1749674733.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 461.139404 m,
bearing: 334.467892 deg,
approach rate: -0.552189 m/s,
LOS rate: -0.000245 deg/s,
cmd heading: 321.132327 deg,
new cmd heading: 321.132032 deg.
2025-06-11T20:45:33.689Z,1749674733.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604811 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:33.890Z,1749674733.890 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:33.890Z,1749674733.890 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:33.890Z,1749674733.890 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:34.106Z,1749674734.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:34.109Z,1749674734.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 460.905182 m,
bearing: 334.469897 deg,
approach rate: -0.551289 m/s,
LOS rate: 0.004721 deg/s,
cmd heading: 321.132026 deg,
new cmd heading: 321.138043 deg.
2025-06-11T20:45:34.110Z,1749674734.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604916 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:34.141Z,1749674734.141 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:34.142Z,1749674734.142 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:34.142Z,1749674734.142 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:34.392Z,1749674734.392 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:34.393Z,1749674734.393 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:34.393Z,1749674734.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:34.483Z,1749674734.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:34.487Z,1749674734.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 460.704987 m,
bearing: 334.471711 deg,
approach rate: -0.530814 m/s,
LOS rate: 0.004813 deg/s,
cmd heading: 321.138037 deg,
new cmd heading: 321.143483 deg.
2025-06-11T20:45:34.488Z,1749674734.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605011 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:34.645Z,1749674734.645 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:34.645Z,1749674734.645 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:34.645Z,1749674734.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:34.897Z,1749674734.897 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:34.897Z,1749674734.897 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:34.897Z,1749674734.897 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:34.914Z,1749674734.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:34.919Z,1749674734.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 460.495575 m,
bearing: 334.475645 deg,
approach rate: -0.485713 m/s,
LOS rate: 0.009129 deg/s,
cmd heading: 321.143474 deg,
new cmd heading: 321.155281 deg.
2025-06-11T20:45:34.930Z,1749674734.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605217 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:35.149Z,1749674735.149 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:35.149Z,1749674735.149 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:35.149Z,1749674735.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:35.296Z,1749674735.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:35.298Z,1749674735.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:35.301Z,1749674735.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 460.296692 m,
bearing: 334.479497 deg,
approach rate: -0.518477 m/s,
LOS rate: 0.010047 deg/s,
cmd heading: 321.155276 deg,
new cmd heading: 321.166838 deg.
2025-06-11T20:45:35.302Z,1749674735.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605419 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:35.401Z,1749674735.401 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:35.401Z,1749674735.401 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:35.401Z,1749674735.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:35.653Z,1749674735.653 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:35.653Z,1749674735.653 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:35.653Z,1749674735.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:35.686Z,1749674735.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:35.689Z,1749674735.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 460.092072 m,
bearing: 334.483588 deg,
approach rate: -0.527479 m/s,
LOS rate: 0.010549 deg/s,
cmd heading: 321.166833 deg,
new cmd heading: 321.179109 deg.
2025-06-11T20:45:35.690Z,1749674735.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605633 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:35.904Z,1749674735.904 [DAT](INFO): Reached modem response timeout
2025-06-11T20:45:35.905Z,1749674735.905 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:45:35.905Z,1749674735.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:36.114Z,1749674736.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:36.117Z,1749674736.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 459.878174 m,
bearing: 334.490277 deg,
approach rate: -0.499896 m/s,
LOS rate: 0.015642 deg/s,
cmd heading: 321.179100 deg,
new cmd heading: 321.199178 deg.
2025-06-11T20:45:36.118Z,1749674736.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605983 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:36.157Z,1749674736.157 [DAT](INFO): Reached modem response timeout
2025-06-11T20:45:36.157Z,1749674736.157 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:45:36.157Z,1749674736.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:36.408Z,1749674736.408 [DAT](INFO): Reached modem response timeout
2025-06-11T20:45:36.409Z,1749674736.409 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:45:36.409Z,1749674736.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:36.566Z,1749674736.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:36.569Z,1749674736.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 459.653656 m,
bearing: 334.497522 deg,
approach rate: -0.496141 m/s,
LOS rate: 0.016017 deg/s,
cmd heading: 321.199181 deg,
new cmd heading: 321.220925 deg.
2025-06-11T20:45:36.570Z,1749674736.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606363 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:36.662Z,1749674736.662 [DAT](INFO): Reached modem response timeout
2025-06-11T20:45:36.662Z,1749674736.662 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:45:36.662Z,1749674736.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:36.913Z,1749674736.913 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:45:36.913Z,1749674736.913 [DAT](INFO): response not received
2025-06-11T20:45:36.914Z,1749674736.914 [DAT](INFO): DAT read: user:446>
2025-06-11T20:45:36.915Z,1749674736.915 [DAT](INFO): DAT read: Tx time:20:45:38.7029
2025-06-11T20:45:36.915Z,1749674736.915 [DAT](INFO): Ping request sent.
2025-06-11T20:45:36.915Z,1749674736.915 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:36.915Z,1749674736.915 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:36.925Z,1749674736.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.009611
2025-06-11T20:45:37.045Z,1749674737.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:37.052Z,1749674737.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 459.428497 m,
bearing: 334.506257 deg,
approach rate: -0.469929 m/s,
LOS rate: 0.018240 deg/s,
cmd heading: 321.220928 deg,
new cmd heading: 321.247146 deg.
2025-06-11T20:45:37.053Z,1749674737.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606821 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:37.165Z,1749674737.165 [DAT](INFO): DAT read: TxSync time:20:45:38.7021
2025-06-11T20:45:37.166Z,1749674737.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250743
2025-06-11T20:45:37.417Z,1749674737.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501822
2025-06-11T20:45:37.461Z,1749674737.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:37.463Z,1749674737.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:37.470Z,1749674737.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 459.231781 m,
bearing: 334.513995 deg,
approach rate: -0.470388 m/s,
LOS rate: 0.018511 deg/s,
cmd heading: 321.247156 deg,
new cmd heading: 321.270379 deg.
2025-06-11T20:45:37.471Z,1749674737.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607226 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:37.669Z,1749674737.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753995
2025-06-11T20:45:37.902Z,1749674737.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:37.905Z,1749674737.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 459.017395 m,
bearing: 334.522905 deg,
approach rate: -0.488948 m/s,
LOS rate: 0.020331 deg/s,
cmd heading: 321.270379 deg,
new cmd heading: 321.297122 deg.
2025-06-11T20:45:37.906Z,1749674737.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607693 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:37.921Z,1749674737.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006298
2025-06-11T20:45:38.173Z,1749674738.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257732
2025-06-11T20:45:38.258Z,1749674738.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:38.261Z,1749674738.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 458.847748 m,
bearing: 334.529987 deg,
approach rate: -0.477036 m/s,
LOS rate: 0.019921 deg/s,
cmd heading: 321.297126 deg,
new cmd heading: 321.318379 deg.
2025-06-11T20:45:38.262Z,1749674738.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608064 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:38.425Z,1749674738.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509726
2025-06-11T20:45:38.663Z,1749674738.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:38.677Z,1749674738.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762385
2025-06-11T20:45:38.685Z,1749674738.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 458.654419 m,
bearing: 334.538016 deg,
approach rate: -0.476332 m/s,
LOS rate: 0.019792 deg/s,
cmd heading: 321.318381 deg,
new cmd heading: 321.342481 deg.
2025-06-11T20:45:38.686Z,1749674738.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608484 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:38.929Z,1749674738.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014377
2025-06-11T20:45:39.095Z,1749674739.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:39.098Z,1749674739.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 458.456177 m,
bearing: 334.545601 deg,
approach rate: -0.458884 m/s,
LOS rate: 0.017564 deg/s,
cmd heading: 321.342478 deg,
new cmd heading: 321.365242 deg.
2025-06-11T20:45:39.099Z,1749674739.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608881 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:39.182Z,1749674739.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266435
2025-06-11T20:45:39.433Z,1749674739.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517797
2025-06-11T20:45:39.505Z,1749674739.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:39.507Z,1749674739.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:39.511Z,1749674739.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 458.273071 m,
bearing: 334.552613 deg,
approach rate: -0.445091 m/s,
LOS rate: 0.017050 deg/s,
cmd heading: 321.365236 deg,
new cmd heading: 321.386279 deg.
2025-06-11T20:45:39.512Z,1749674739.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609249 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:39.686Z,1749674739.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770902
2025-06-11T20:45:39.938Z,1749674739.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022800
2025-06-11T20:45:39.954Z,1749674739.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:39.957Z,1749674739.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 458.049713 m,
bearing: 334.559581 deg,
approach rate: -0.499630 m/s,
LOS rate: 0.015594 deg/s,
cmd heading: 321.386273 deg,
new cmd heading: 321.407187 deg.
2025-06-11T20:45:39.958Z,1749674739.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609613 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:40.189Z,1749674740.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273855
2025-06-11T20:45:40.285Z,1749674740.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:40.288Z,1749674740.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 457.885651 m,
bearing: 334.564676 deg,
approach rate: -0.495430 m/s,
LOS rate: 0.015392 deg/s,
cmd heading: 321.407174 deg,
new cmd heading: 321.422465 deg.
2025-06-11T20:45:40.289Z,1749674740.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609880 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:40.441Z,1749674740.441 [DAT](INFO): DAT read: Rx Time:20:45:41.7349
2025-06-11T20:45:40.441Z,1749674740.441 [DAT](INFO): Rx dataTimestamp_ set to:1749674740.441077
2025-06-11T20:45:40.442Z,1749674740.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526910
2025-06-11T20:45:40.681Z,1749674740.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.71 m.
2025-06-11T20:45:40.683Z,1749674740.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 474.713867 m,
nav range: 457.692322 m,
bearing: 334.570631 deg,
approach rate: -0.488831 m/s,
LOS rate: 0.015065 deg/s,
cmd heading: 321.422473 deg,
new cmd heading: 321.440347 deg.
2025-06-11T20:45:40.693Z,1749674740.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777739
2025-06-11T20:45:40.704Z,1749674740.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610192 target range: 474.713867 and range: 478.90 m.
2025-06-11T20:45:40.955Z,1749674740.955 [DAT](INFO): DAT read: 20:45:41.7349 LVL= 16752, 21521, 16034, 32755, AGC= 75, IDX= 377, 0.24,-1.498,-2.911,-1.899,-2.048, PHS= 0.638,-0.815, 0.146, RAW= 130.6, 0.5, CAL= 136.6, -7.9, ROT= 13.4, 7.9
2025-06-11T20:45:40.959Z,1749674740.959 [DAT](INFO): got valid direction response:
20:45:41.7349 LVL= 16752, 21521, 16034, 32755, AGC= 75, IDX= 377, 0.24,-1.498,-2.911,-1.899,-2.048, PHS= 0.638,-0.815, 0.146, RAW= 130.6, 0.5, CAL= 136.6, -7.9, ROT= 13.4, 7.9
2025-06-11T20:45:40.962Z,1749674740.962 [DAT](INFO): DAT read: Bearing 13.4, 7.9 (Local)
2025-06-11T20:45:40.962Z,1749674740.962 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.4, 7.9 (Local)
2025-06-11T20:45:40.965Z,1749674740.965 [DAT](INFO): DAT read: Range 10 to 50 : 470.8 m (Round-trip 627.8 ms) speed 0.4 m/s
2025-06-11T20:45:40.965Z,1749674740.965 [DAT](INFO): DAT read: user:447>
2025-06-11T20:45:40.966Z,1749674740.966 [DAT](INFO): DAT read: Tx time:20:45:42.8514
2025-06-11T20:45:40.966Z,1749674740.966 [DAT](INFO): Ping request sent.
2025-06-11T20:45:40.967Z,1749674740.967 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:40.967Z,1749674740.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:45:40.968Z,1749674740.968 [DAT](INFO): direction in FSK: [0.963544,0.229548,-0.137445]
2025-06-11T20:45:40.968Z,1749674740.968 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:40.969Z,1749674740.969 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:40.974Z,1749674740.974 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:40.975Z,1749674740.975 [DAT](INFO): publishing direction and range info
2025-06-11T20:45:41.180Z,1749674741.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 470.799988 m,
deltaT: 15.123496 s,
deltaX: -8.100006 m,
approachRate: -0.535591 m/s,
rangeRepo size: 4
2025-06-11T20:45:41.182Z,1749674741.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 466.682068 m,
bearing: 335.019866 deg,
lat: 36.906556 deg,
lon: -122.114997 deg,
deltaT: 15.123496 s,
deltaX: -8.031799 m,
approachRate: -0.531081 m/s,
posRepo size: 4
2025-06-11T20:45:41.183Z,1749674741.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:41.190Z,1749674741.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 457.558411 m,
bearing: 334.781717 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015065 deg/s,
cmd heading: 321.440341 deg,
new cmd heading: 321.462507 deg.
2025-06-11T20:45:41.191Z,1749674741.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610579 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:41.197Z,1749674741.197 [DAT](INFO): DAT read: TxSync time:20:45:42.8506
2025-06-11T20:45:41.492Z,1749674741.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:41.495Z,1749674741.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 457.392303 m,
bearing: 334.785322 deg,
approach rate: -0.517853 m/s,
LOS rate: 0.011242 deg/s,
cmd heading: 321.462498 deg,
new cmd heading: 321.473316 deg.
2025-06-11T20:45:41.496Z,1749674741.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610768 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:41.973Z,1749674741.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:41.975Z,1749674741.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:41.978Z,1749674741.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 457.146393 m,
bearing: 334.787983 deg,
approach rate: -0.508405 m/s,
LOS rate: 0.005504 deg/s,
cmd heading: 321.473317 deg,
new cmd heading: 321.481304 deg.
2025-06-11T20:45:41.979Z,1749674741.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610907 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:42.205Z,1749674742.205 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:42.205Z,1749674742.205 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:42.205Z,1749674742.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:42.303Z,1749674742.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:42.306Z,1749674742.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 456.979309 m,
bearing: 334.789697 deg,
approach rate: -0.509417 m/s,
LOS rate: 0.005230 deg/s,
cmd heading: 321.481295 deg,
new cmd heading: 321.486441 deg.
2025-06-11T20:45:42.307Z,1749674742.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610997 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:42.460Z,1749674742.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492904
2025-06-11T20:45:42.709Z,1749674742.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742181
2025-06-11T20:45:42.724Z,1749674742.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:42.727Z,1749674742.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 456.765533 m,
bearing: 334.791800 deg,
approach rate: -0.508562 m/s,
LOS rate: 0.005004 deg/s,
cmd heading: 321.486431 deg,
new cmd heading: 321.492742 deg.
2025-06-11T20:45:42.728Z,1749674742.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611107 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:42.961Z,1749674742.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994580
2025-06-11T20:45:43.196Z,1749674743.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:43.199Z,1749674743.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 456.528839 m,
bearing: 334.791618 deg,
approach rate: -0.505795 m/s,
LOS rate: -0.000389 deg/s,
cmd heading: 321.492742 deg,
new cmd heading: 321.492196 deg.
2025-06-11T20:45:43.204Z,1749674743.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611097 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:43.213Z,1749674743.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246452
2025-06-11T20:45:43.465Z,1749674743.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498215
2025-06-11T20:45:43.557Z,1749674743.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:43.560Z,1749674743.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 456.325134 m,
bearing: 334.791368 deg,
approach rate: -0.557556 m/s,
LOS rate: -0.000684 deg/s,
cmd heading: 321.492196 deg,
new cmd heading: 321.491446 deg.
2025-06-11T20:45:43.561Z,1749674743.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611084 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:43.717Z,1749674743.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750364
2025-06-11T20:45:43.969Z,1749674743.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002289
2025-06-11T20:45:44.005Z,1749674744.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:44.007Z,1749674744.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:44.010Z,1749674744.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 456.079041 m,
bearing: 334.789478 deg,
approach rate: -0.547410 m/s,
LOS rate: -0.004207 deg/s,
cmd heading: 321.491458 deg,
new cmd heading: 321.485784 deg.
2025-06-11T20:45:44.010Z,1749674744.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610985 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:44.221Z,1749674744.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254075
2025-06-11T20:45:44.363Z,1749674744.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:44.382Z,1749674744.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 455.883362 m,
bearing: 334.787944 deg,
approach rate: -0.548585 m/s,
LOS rate: -0.004303 deg/s,
cmd heading: 321.485775 deg,
new cmd heading: 321.481171 deg.
2025-06-11T20:45:44.384Z,1749674744.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610905 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:44.474Z,1749674744.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506655
2025-06-11T20:45:44.725Z,1749674744.725 [DAT](INFO): DAT read: Rx Time:20:45:45.8805
2025-06-11T20:45:44.725Z,1749674744.725 [DAT](INFO): Rx dataTimestamp_ set to:1749674744.725067
2025-06-11T20:45:44.726Z,1749674744.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759308
2025-06-11T20:45:44.799Z,1749674744.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:44.806Z,1749674744.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 455.648773 m,
bearing: 334.786066 deg,
approach rate: -0.538170 m/s,
LOS rate: -0.004310 deg/s,
cmd heading: 321.481158 deg,
new cmd heading: 321.475522 deg.
2025-06-11T20:45:44.807Z,1749674744.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610806 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:44.977Z,1749674744.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010145
2025-06-11T20:45:45.203Z,1749674745.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:45.207Z,1749674745.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 455.421844 m,
bearing: 334.783299 deg,
approach rate: -0.562701 m/s,
LOS rate: -0.006865 deg/s,
cmd heading: 321.475530 deg,
new cmd heading: 321.467224 deg.
2025-06-11T20:45:45.212Z,1749674745.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610662 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:45.235Z,1749674745.235 [DAT](INFO): DAT read: 20:45:45.8805 LVL= 25392, 18065, 21698, 29683, AGC= 73, IDX= 411, 0.41, 0.477,-0.875, 0.145,-0.081, PHS= 0.647,-0.747, 0.223, RAW= 132.8, -2.0, CAL= 138.3, -11.6, ROT= 11.7, 11.6
2025-06-11T20:45:45.237Z,1749674745.237 [DAT](INFO): got valid direction response:
20:45:45.8805 LVL= 25392, 18065, 21698, 29683, AGC= 73, IDX= 411, 0.41, 0.477,-0.875, 0.145,-0.081, PHS= 0.647,-0.747, 0.223, RAW= 132.8, -2.0, CAL= 138.3, -11.6, ROT= 11.7, 11.6
2025-06-11T20:45:45.237Z,1749674745.237 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:45:45.238Z,1749674745.238 [DAT](INFO): Received a bad header
2025-06-11T20:45:45.252Z,1749674745.252 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:45:45.253Z,1749674745.253 [DAT](INFO): direction in FSK: [0.959222,0.198645,-0.201078]
2025-06-11T20:45:45.256Z,1749674745.256 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:45.256Z,1749674745.256 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:45.256Z,1749674745.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:45.481Z,1749674745.481 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:45.481Z,1749674745.481 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:45.482Z,1749674745.482 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:45.591Z,1749674745.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:45.598Z,1749674745.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 455.211914 m,
bearing: 334.780666 deg,
approach rate: -0.540449 m/s,
LOS rate: -0.006782 deg/s,
cmd heading: 321.467225 deg,
new cmd heading: 321.459321 deg.
2025-06-11T20:45:45.599Z,1749674745.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610524 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:45.732Z,1749674745.732 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:45.733Z,1749674745.733 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:45.733Z,1749674745.733 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:45.985Z,1749674745.985 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:45.985Z,1749674745.985 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:45.985Z,1749674745.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:46.042Z,1749674746.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:46.044Z,1749674746.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:46.047Z,1749674746.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 454.947510 m,
bearing: 334.777376 deg,
approach rate: -0.583586 m/s,
LOS rate: -0.007265 deg/s,
cmd heading: 321.459329 deg,
new cmd heading: 321.449454 deg.
2025-06-11T20:45:46.056Z,1749674746.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610352 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:46.237Z,1749674746.237 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:46.237Z,1749674746.237 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:46.237Z,1749674746.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:46.386Z,1749674746.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:46.389Z,1749674746.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 454.751129 m,
bearing: 334.774906 deg,
approach rate: -0.573905 m/s,
LOS rate: -0.007223 deg/s,
cmd heading: 321.449466 deg,
new cmd heading: 321.442051 deg.
2025-06-11T20:45:46.394Z,1749674746.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610222 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:46.489Z,1749674746.489 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:46.489Z,1749674746.489 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:46.489Z,1749674746.489 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:46.740Z,1749674746.740 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:46.741Z,1749674746.741 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:46.741Z,1749674746.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:46.828Z,1749674746.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:46.830Z,1749674746.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 454.504425 m,
bearing: 334.771767 deg,
approach rate: -0.564104 m/s,
LOS rate: -0.007180 deg/s,
cmd heading: 321.442062 deg,
new cmd heading: 321.432642 deg.
2025-06-11T20:45:46.831Z,1749674746.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610058 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:46.993Z,1749674746.993 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:46.993Z,1749674746.993 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:46.993Z,1749674746.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:47.217Z,1749674747.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:47.219Z,1749674747.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 454.273224 m,
bearing: 334.769874 deg,
approach rate: -0.587941 m/s,
LOS rate: -0.004818 deg/s,
cmd heading: 321.432637 deg,
new cmd heading: 321.426953 deg.
2025-06-11T20:45:47.221Z,1749674747.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609959 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:47.245Z,1749674747.245 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:47.245Z,1749674747.245 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:47.245Z,1749674747.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:47.497Z,1749674747.497 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:47.497Z,1749674747.497 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:47.497Z,1749674747.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:47.603Z,1749674747.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:47.605Z,1749674747.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 454.049896 m,
bearing: 334.768075 deg,
approach rate: -0.578833 m/s,
LOS rate: -0.004664 deg/s,
cmd heading: 321.426954 deg,
new cmd heading: 321.421555 deg.
2025-06-11T20:45:47.606Z,1749674747.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609864 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:47.749Z,1749674747.749 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:47.749Z,1749674747.749 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:47.749Z,1749674747.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:48.003Z,1749674748.003 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:48.003Z,1749674748.003 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:48.004Z,1749674748.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:48.231Z,1749674748.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:48.253Z,1749674748.253 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:48.253Z,1749674748.253 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:48.253Z,1749674748.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:48.271Z,1749674748.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:48.274Z,1749674748.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 453.711945 m,
bearing: 334.767020 deg,
approach rate: -0.505823 m/s,
LOS rate: -0.001580 deg/s,
cmd heading: 321.421544 deg,
new cmd heading: 321.418378 deg.
2025-06-11T20:45:48.275Z,1749674748.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609809 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:48.505Z,1749674748.505 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:48.505Z,1749674748.505 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:48.506Z,1749674748.506 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:48.690Z,1749674748.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:48.693Z,1749674748.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 453.423889 m,
bearing: 334.766195 deg,
approach rate: -0.687247 m/s,
LOS rate: -0.001970 deg/s,
cmd heading: 321.418375 deg,
new cmd heading: 321.415898 deg.
2025-06-11T20:45:48.694Z,1749674748.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609766 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:48.757Z,1749674748.757 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:48.757Z,1749674748.757 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:48.757Z,1749674748.757 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:49.008Z,1749674749.008 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:49.009Z,1749674749.009 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:49.009Z,1749674749.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:49.114Z,1749674749.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:49.117Z,1749674749.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 453.183807 m,
bearing: 334.767185 deg,
approach rate: -0.566156 m/s,
LOS rate: 0.002335 deg/s,
cmd heading: 321.415889 deg,
new cmd heading: 321.418860 deg.
2025-06-11T20:45:49.118Z,1749674749.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609818 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:49.261Z,1749674749.261 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:49.261Z,1749674749.261 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:49.261Z,1749674749.261 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:49.491Z,1749674749.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:49.498Z,1749674749.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 452.977966 m,
bearing: 334.768069 deg,
approach rate: -0.545640 m/s,
LOS rate: 0.002346 deg/s,
cmd heading: 321.418867 deg,
new cmd heading: 321.421522 deg.
2025-06-11T20:45:49.499Z,1749674749.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609864 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:49.513Z,1749674749.513 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:49.513Z,1749674749.513 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:49.513Z,1749674749.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:49.764Z,1749674749.764 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:49.765Z,1749674749.765 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:49.765Z,1749674749.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:49.890Z,1749674749.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:49.892Z,1749674749.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 452.746704 m,
bearing: 334.769087 deg,
approach rate: -0.580458 m/s,
LOS rate: 0.002556 deg/s,
cmd heading: 321.421517 deg,
new cmd heading: 321.424572 deg.
2025-06-11T20:45:49.893Z,1749674749.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609917 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:50.021Z,1749674750.021 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:50.021Z,1749674750.021 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:50.022Z,1749674750.022 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:50.269Z,1749674750.269 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:50.269Z,1749674750.269 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:50.269Z,1749674750.269 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:50.314Z,1749674750.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:50.335Z,1749674750.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:50.348Z,1749674750.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 452.510315 m,
bearing: 334.772639 deg,
approach rate: -0.530411 m/s,
LOS rate: 0.007974 deg/s,
cmd heading: 321.424577 deg,
new cmd heading: 321.435239 deg.
2025-06-11T20:45:50.349Z,1749674750.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610103 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:50.521Z,1749674750.521 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:50.521Z,1749674750.521 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:50.521Z,1749674750.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:50.693Z,1749674750.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:50.695Z,1749674750.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 452.301697 m,
bearing: 334.775774 deg,
approach rate: -0.583885 m/s,
LOS rate: 0.008778 deg/s,
cmd heading: 321.435232 deg,
new cmd heading: 321.444641 deg.
2025-06-11T20:45:50.696Z,1749674750.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610267 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:50.773Z,1749674750.773 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:45:50.773Z,1749674750.773 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:45:50.773Z,1749674750.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:45:51.026Z,1749674751.026 [DAT](INFO): Reached modem response timeout
2025-06-11T20:45:51.027Z,1749674751.027 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:45:51.028Z,1749674751.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:51.167Z,1749674751.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:51.172Z,1749674751.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 452.048950 m,
bearing: 334.781044 deg,
approach rate: -0.533750 m/s,
LOS rate: 0.011135 deg/s,
cmd heading: 321.444630 deg,
new cmd heading: 321.460448 deg.
2025-06-11T20:45:51.174Z,1749674751.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610543 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:51.276Z,1749674751.276 [DAT](INFO): Reached modem response timeout
2025-06-11T20:45:51.277Z,1749674751.277 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:45:51.277Z,1749674751.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:51.529Z,1749674751.529 [DAT](INFO): Reached modem response timeout
2025-06-11T20:45:51.529Z,1749674751.529 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:45:51.529Z,1749674751.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:51.541Z,1749674751.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:51.544Z,1749674751.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 451.841156 m,
bearing: 334.785345 deg,
approach rate: -0.553945 m/s,
LOS rate: 0.011469 deg/s,
cmd heading: 321.460449 deg,
new cmd heading: 321.473356 deg.
2025-06-11T20:45:51.545Z,1749674751.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610768 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:51.780Z,1749674751.780 [DAT](INFO): Reached modem response timeout
2025-06-11T20:45:51.781Z,1749674751.781 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:45:51.781Z,1749674751.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:45:51.969Z,1749674751.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:51.971Z,1749674751.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 451.609131 m,
bearing: 334.790024 deg,
approach rate: -0.542558 m/s,
LOS rate: 0.010947 deg/s,
cmd heading: 321.473344 deg,
new cmd heading: 321.487389 deg.
2025-06-11T20:45:51.973Z,1749674751.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611013 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:52.036Z,1749674752.036 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:45:52.037Z,1749674752.037 [DAT](INFO): response not received
2025-06-11T20:45:52.038Z,1749674752.038 [DAT](INFO): DAT read: user:449>
2025-06-11T20:45:52.041Z,1749674752.041 [DAT](INFO): DAT read: Tx time:20:45:53.8015
2025-06-11T20:45:52.042Z,1749674752.042 [DAT](INFO): Ping request sent.
2025-06-11T20:45:52.043Z,1749674752.043 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:45:52.043Z,1749674752.043 [DAT](INFO): publishing transmit ping time
2025-06-11T20:45:52.045Z,1749674752.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002838
2025-06-11T20:45:52.286Z,1749674752.286 [DAT](INFO): DAT read: TxSync time:20:45:53.8007
2025-06-11T20:45:52.288Z,1749674752.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245563
2025-06-11T20:45:52.399Z,1749674752.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:52.401Z,1749674752.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:52.404Z,1749674752.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 451.386261 m,
bearing: 334.795369 deg,
approach rate: -0.515665 m/s,
LOS rate: 0.012372 deg/s,
cmd heading: 321.487387 deg,
new cmd heading: 321.503429 deg.
2025-06-11T20:45:52.405Z,1749674752.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611293 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:52.537Z,1749674752.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494670
2025-06-11T20:45:52.780Z,1749674752.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:52.783Z,1749674752.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 451.199860 m,
bearing: 334.799775 deg,
approach rate: -0.491553 m/s,
LOS rate: 0.011626 deg/s,
cmd heading: 321.503425 deg,
new cmd heading: 321.516650 deg.
2025-06-11T20:45:52.790Z,1749674752.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747702
2025-06-11T20:45:52.791Z,1749674752.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611524 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:53.043Z,1749674753.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000897
2025-06-11T20:45:53.196Z,1749674753.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:53.199Z,1749674753.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 450.991638 m,
bearing: 334.804709 deg,
approach rate: -0.505956 m/s,
LOS rate: 0.011993 deg/s,
cmd heading: 321.516648 deg,
new cmd heading: 321.531455 deg.
2025-06-11T20:45:53.204Z,1749674753.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611783 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:53.293Z,1749674753.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250658
2025-06-11T20:45:53.545Z,1749674753.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503026
2025-06-11T20:45:53.565Z,1749674753.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:53.568Z,1749674753.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 450.796417 m,
bearing: 334.809282 deg,
approach rate: -0.523184 m/s,
LOS rate: 0.012262 deg/s,
cmd heading: 321.531456 deg,
new cmd heading: 321.545182 deg.
2025-06-11T20:45:53.569Z,1749674753.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612022 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:53.797Z,1749674753.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754707
2025-06-11T20:45:53.989Z,1749674753.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:53.996Z,1749674753.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 450.591736 m,
bearing: 334.814037 deg,
approach rate: -0.482752 m/s,
LOS rate: 0.011221 deg/s,
cmd heading: 321.545171 deg,
new cmd heading: 321.559443 deg.
2025-06-11T20:45:53.997Z,1749674753.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612271 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:54.053Z,1749674754.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009969
2025-06-11T20:45:54.301Z,1749674754.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258912
2025-06-11T20:45:54.404Z,1749674754.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:54.406Z,1749674754.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:54.425Z,1749674754.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 450.379150 m,
bearing: 334.818442 deg,
approach rate: -0.509610 m/s,
LOS rate: 0.010564 deg/s,
cmd heading: 321.559432 deg,
new cmd heading: 321.572652 deg.
2025-06-11T20:45:54.426Z,1749674754.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612502 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:54.554Z,1749674754.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511824
2025-06-11T20:45:54.789Z,1749674754.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:54.796Z,1749674754.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 450.198456 m,
bearing: 334.822239 deg,
approach rate: -0.471512 m/s,
LOS rate: 0.009913 deg/s,
cmd heading: 321.572655 deg,
new cmd heading: 321.584052 deg.
2025-06-11T20:45:54.797Z,1749674754.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612700 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:54.805Z,1749674754.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762793
2025-06-11T20:45:54.921Z,1749674754.921 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:45:55.059Z,1749674755.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016963
2025-06-11T20:45:55.218Z,1749674755.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:55.221Z,1749674755.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 449.987610 m,
bearing: 334.825993 deg,
approach rate: -0.492265 m/s,
LOS rate: 0.008766 deg/s,
cmd heading: 321.584048 deg,
new cmd heading: 321.595313 deg.
2025-06-11T20:45:55.221Z,1749674755.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612897 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:55.309Z,1749674755.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266803
2025-06-11T20:45:55.561Z,1749674755.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519307
2025-06-11T20:45:55.637Z,1749674755.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:55.640Z,1749674755.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 449.788635 m,
bearing: 334.829729 deg,
approach rate: -0.474313 m/s,
LOS rate: 0.008910 deg/s,
cmd heading: 321.595304 deg,
new cmd heading: 321.606518 deg.
2025-06-11T20:45:55.641Z,1749674755.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613092 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:55.813Z,1749674755.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770905
2025-06-11T20:45:55.924Z,1749674755.924 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:45:56.048Z,1749674756.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:56.051Z,1749674756.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 449.596252 m,
bearing: 334.833484 deg,
approach rate: -0.468470 m/s,
LOS rate: 0.009148 deg/s,
cmd heading: 321.606506 deg,
new cmd heading: 321.617775 deg.
2025-06-11T20:45:56.052Z,1749674756.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613289 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:56.076Z,1749674756.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025258
2025-06-11T20:45:56.317Z,1749674756.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274659
2025-06-11T20:45:56.531Z,1749674756.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:56.533Z,1749674756.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:56.535Z,1749674756.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 449.358856 m,
bearing: 334.836670 deg,
approach rate: -0.489416 m/s,
LOS rate: 0.006573 deg/s,
cmd heading: 321.617762 deg,
new cmd heading: 321.627327 deg.
2025-06-11T20:45:56.537Z,1749674756.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613456 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:56.569Z,1749674756.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526756
2025-06-11T20:45:56.822Z,1749674756.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779164
2025-06-11T20:45:56.954Z,1749674756.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:56.961Z,1749674756.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 449.170868 m,
bearing: 334.839337 deg,
approach rate: -0.446108 m/s,
LOS rate: 0.006330 deg/s,
cmd heading: 321.627324 deg,
new cmd heading: 321.635327 deg.
2025-06-11T20:45:56.962Z,1749674756.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613595 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:57.075Z,1749674757.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032741
2025-06-11T20:45:57.325Z,1749674757.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283017
2025-06-11T20:45:57.361Z,1749674757.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:57.363Z,1749674757.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 448.965302 m,
bearing: 334.841601 deg,
approach rate: -0.505712 m/s,
LOS rate: 0.005573 deg/s,
cmd heading: 321.635329 deg,
new cmd heading: 321.642125 deg.
2025-06-11T20:45:57.369Z,1749674757.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613714 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:57.577Z,1749674757.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534710
2025-06-11T20:45:57.722Z,1749674757.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:57.725Z,1749674757.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 448.774445 m,
bearing: 334.843826 deg,
approach rate: -0.528444 m/s,
LOS rate: 0.006162 deg/s,
cmd heading: 321.642132 deg,
new cmd heading: 321.648809 deg.
2025-06-11T20:45:57.726Z,1749674757.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613831 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:57.829Z,1749674757.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786834
2025-06-11T20:45:58.081Z,1749674758.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038916
2025-06-11T20:45:58.208Z,1749674758.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:58.211Z,1749674758.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 448.539001 m,
bearing: 334.845570 deg,
approach rate: -0.500761 m/s,
LOS rate: 0.003713 deg/s,
cmd heading: 321.648798 deg,
new cmd heading: 321.654035 deg.
2025-06-11T20:45:58.216Z,1749674758.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613922 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:58.333Z,1749674758.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291133
2025-06-11T20:45:58.531Z,1749674758.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:58.533Z,1749674758.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 448.369537 m,
bearing: 334.846894 deg,
approach rate: -0.500723 m/s,
LOS rate: 0.003913 deg/s,
cmd heading: 321.654044 deg,
new cmd heading: 321.658016 deg.
2025-06-11T20:45:58.534Z,1749674758.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613991 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:58.586Z,1749674758.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543108
2025-06-11T20:45:58.837Z,1749674758.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794550
2025-06-11T20:45:58.960Z,1749674758.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:45:58.962Z,1749674758.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:58.969Z,1749674758.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 448.164673 m,
bearing: 334.848547 deg,
approach rate: -0.474967 m/s,
LOS rate: 0.003835 deg/s,
cmd heading: 321.658005 deg,
new cmd heading: 321.662968 deg.
2025-06-11T20:45:58.970Z,1749674758.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614078 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:59.091Z,1749674759.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048823
2025-06-11T20:45:59.341Z,1749674759.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298672
2025-06-11T20:45:59.363Z,1749674759.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:59.366Z,1749674759.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 447.945404 m,
bearing: 334.849013 deg,
approach rate: -0.546958 m/s,
LOS rate: 0.001161 deg/s,
cmd heading: 321.662978 deg,
new cmd heading: 321.664375 deg.
2025-06-11T20:45:59.367Z,1749674759.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614102 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:59.593Z,1749674759.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550841
2025-06-11T20:45:59.741Z,1749674759.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:45:59.743Z,1749674759.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 447.749512 m,
bearing: 334.849397 deg,
approach rate: -0.519730 m/s,
LOS rate: 0.001021 deg/s,
cmd heading: 321.664371 deg,
new cmd heading: 321.665526 deg.
2025-06-11T20:45:59.744Z,1749674759.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614122 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:45:59.845Z,1749674759.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802831
2025-06-11T20:46:00.099Z,1749674760.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056372
2025-06-11T20:46:00.238Z,1749674760.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:00.240Z,1749674760.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 447.482910 m,
bearing: 334.849634 deg,
approach rate: -0.535395 m/s,
LOS rate: 0.000475 deg/s,
cmd heading: 321.665519 deg,
new cmd heading: 321.666228 deg.
2025-06-11T20:46:00.241Z,1749674760.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614135 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:00.350Z,1749674760.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307130
2025-06-11T20:46:00.551Z,1749674760.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:00.553Z,1749674760.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 447.315308 m,
bearing: 334.849701 deg,
approach rate: -0.535538 m/s,
LOS rate: 0.000216 deg/s,
cmd heading: 321.666229 deg,
new cmd heading: 321.666432 deg.
2025-06-11T20:46:00.554Z,1749674760.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614138 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:00.605Z,1749674760.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562238
2025-06-11T20:46:00.853Z,1749674760.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810647
2025-06-11T20:46:00.961Z,1749674760.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:00.963Z,1749674760.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:00.966Z,1749674760.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 447.094696 m,
bearing: 334.849681 deg,
approach rate: -0.535048 m/s,
LOS rate: -0.000050 deg/s,
cmd heading: 321.666420 deg,
new cmd heading: 321.666359 deg.
2025-06-11T20:46:00.967Z,1749674760.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614137 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:01.105Z,1749674761.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.062757
2025-06-11T20:46:01.357Z,1749674761.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314781
2025-06-11T20:46:01.383Z,1749674761.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:01.406Z,1749674761.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 446.865814 m,
bearing: 334.848583 deg,
approach rate: -0.544821 m/s,
LOS rate: -0.002614 deg/s,
cmd heading: 321.666366 deg,
new cmd heading: 321.663071 deg.
2025-06-11T20:46:01.407Z,1749674761.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614079 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:01.609Z,1749674761.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566628
2025-06-11T20:46:01.769Z,1749674761.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:01.772Z,1749674761.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 446.655548 m,
bearing: 334.847458 deg,
approach rate: -0.544789 m/s,
LOS rate: -0.002918 deg/s,
cmd heading: 321.663060 deg,
new cmd heading: 321.659682 deg.
2025-06-11T20:46:01.773Z,1749674761.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614020 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:01.862Z,1749674761.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819628
2025-06-11T20:46:02.112Z,1749674762.112 [DAT](INFO): Reached modem response timeout
2025-06-11T20:46:02.113Z,1749674762.113 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:46:02.113Z,1749674762.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:02.233Z,1749674762.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:02.241Z,1749674762.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 446.407318 m,
bearing: 334.845991 deg,
approach rate: -0.534347 m/s,
LOS rate: -0.003159 deg/s,
cmd heading: 321.659672 deg,
new cmd heading: 321.655269 deg.
2025-06-11T20:46:02.242Z,1749674762.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613944 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:02.365Z,1749674762.365 [DAT](INFO): Reached modem response timeout
2025-06-11T20:46:02.365Z,1749674762.365 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:46:02.365Z,1749674762.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:02.600Z,1749674762.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:02.603Z,1749674762.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 446.196747 m,
bearing: 334.844471 deg,
approach rate: -0.574496 m/s,
LOS rate: -0.004149 deg/s,
cmd heading: 321.655273 deg,
new cmd heading: 321.650711 deg.
2025-06-11T20:46:02.604Z,1749674762.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613864 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:02.617Z,1749674762.617 [DAT](INFO): Reached modem response timeout
2025-06-11T20:46:02.617Z,1749674762.617 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:46:02.617Z,1749674762.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:02.869Z,1749674762.869 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:46:02.869Z,1749674762.869 [DAT](INFO): response not received
2025-06-11T20:46:02.870Z,1749674762.870 [DAT](INFO): DAT read: user:450>
2025-06-11T20:46:02.870Z,1749674762.870 [DAT](INFO): DAT read: Tx time:20:46:04.7516
2025-06-11T20:46:02.871Z,1749674762.871 [DAT](INFO): Ping request sent.
2025-06-11T20:46:02.871Z,1749674762.871 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:02.871Z,1749674762.871 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:02.872Z,1749674762.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-06-11T20:46:02.998Z,1749674762.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:03.005Z,1749674763.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:03.007Z,1749674763.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 445.976379 m,
bearing: 334.842778 deg,
approach rate: -0.544539 m/s,
LOS rate: -0.004186 deg/s,
cmd heading: 321.650711 deg,
new cmd heading: 321.645629 deg.
2025-06-11T20:46:03.013Z,1749674763.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613775 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:03.121Z,1749674763.121 [DAT](INFO): DAT read: TxSync time:20:46:04.7508
2025-06-11T20:46:03.122Z,1749674763.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250720
2025-06-11T20:46:03.373Z,1749674763.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501931
2025-06-11T20:46:03.413Z,1749674763.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:03.416Z,1749674763.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 445.738434 m,
bearing: 334.841934 deg,
approach rate: -0.582759 m/s,
LOS rate: -0.002067 deg/s,
cmd heading: 321.645629 deg,
new cmd heading: 321.643098 deg.
2025-06-11T20:46:03.417Z,1749674763.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613731 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:03.625Z,1749674763.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753933
2025-06-11T20:46:03.792Z,1749674763.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:03.795Z,1749674763.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 445.524017 m,
bearing: 334.841160 deg,
approach rate: -0.565976 m/s,
LOS rate: -0.002045 deg/s,
cmd heading: 321.643088 deg,
new cmd heading: 321.640764 deg.
2025-06-11T20:46:03.796Z,1749674763.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613690 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:03.877Z,1749674763.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006010
2025-06-11T20:46:04.129Z,1749674764.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257863
2025-06-11T20:46:04.256Z,1749674764.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:04.259Z,1749674764.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 445.261658 m,
bearing: 334.840216 deg,
approach rate: -0.565627 m/s,
LOS rate: -0.002037 deg/s,
cmd heading: 321.640766 deg,
new cmd heading: 321.637932 deg.
2025-06-11T20:46:04.259Z,1749674764.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613641 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:04.381Z,1749674764.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510019
2025-06-11T20:46:04.618Z,1749674764.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:04.621Z,1749674764.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 445.061615 m,
bearing: 334.840365 deg,
approach rate: -0.551710 m/s,
LOS rate: 0.000411 deg/s,
cmd heading: 321.637925 deg,
new cmd heading: 321.638371 deg.
2025-06-11T20:46:04.622Z,1749674764.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613648 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:04.633Z,1749674764.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761960
2025-06-11T20:46:04.885Z,1749674764.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014070
2025-06-11T20:46:05.022Z,1749674765.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:05.024Z,1749674765.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:05.027Z,1749674765.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 444.837982 m,
bearing: 334.840531 deg,
approach rate: -0.551581 m/s,
LOS rate: 0.000411 deg/s,
cmd heading: 321.638362 deg,
new cmd heading: 321.638862 deg.
2025-06-11T20:46:05.027Z,1749674765.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613657 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:05.137Z,1749674765.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266108
2025-06-11T20:46:05.389Z,1749674765.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517928
2025-06-11T20:46:05.426Z,1749674765.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:05.429Z,1749674765.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 444.614563 m,
bearing: 334.842084 deg,
approach rate: -0.555135 m/s,
LOS rate: 0.003859 deg/s,
cmd heading: 321.638854 deg,
new cmd heading: 321.643513 deg.
2025-06-11T20:46:05.430Z,1749674765.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613739 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:05.641Z,1749674765.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770465
2025-06-11T20:46:05.812Z,1749674765.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:05.817Z,1749674765.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 444.400574 m,
bearing: 334.843618 deg,
approach rate: -0.555064 m/s,
LOS rate: 0.003981 deg/s,
cmd heading: 321.643525 deg,
new cmd heading: 321.648130 deg.
2025-06-11T20:46:05.819Z,1749674765.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613819 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:05.893Z,1749674765.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022541
2025-06-11T20:46:06.145Z,1749674766.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273842
2025-06-11T20:46:06.263Z,1749674766.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:06.277Z,1749674766.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 444.179993 m,
bearing: 334.845279 deg,
approach rate: -0.490382 m/s,
LOS rate: 0.003695 deg/s,
cmd heading: 321.648143 deg,
new cmd heading: 321.653129 deg.
2025-06-11T20:46:06.278Z,1749674766.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613906 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:06.397Z,1749674766.397 [DAT](INFO): DAT read: Rx Time:20:46:07.7648
2025-06-11T20:46:06.397Z,1749674766.397 [DAT](INFO): Rx dataTimestamp_ set to:1749674766.397136
2025-06-11T20:46:06.398Z,1749674766.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527090
2025-06-11T20:46:06.632Z,1749674766.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:06.635Z,1749674766.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 443.951660 m,
bearing: 334.848839 deg,
approach rate: -0.615886 m/s,
LOS rate: 0.009609 deg/s,
cmd heading: 321.653142 deg,
new cmd heading: 321.663830 deg.
2025-06-11T20:46:06.636Z,1749674766.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614093 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:06.649Z,1749674766.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778023
2025-06-11T20:46:06.904Z,1749674766.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033049
2025-06-11T20:46:07.038Z,1749674767.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:07.044Z,1749674767.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.68 m.
2025-06-11T20:46:07.047Z,1749674767.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 466.682068 m,
nav range: 443.742279 m,
bearing: 334.852209 deg,
approach rate: -0.513747 m/s,
LOS rate: 0.008271 deg/s,
cmd heading: 321.663825 deg,
new cmd heading: 321.673937 deg.
2025-06-11T20:46:07.047Z,1749674767.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614269 target range: 466.682068 and range: 470.80 m.
2025-06-11T20:46:07.162Z,1749674767.162 [DAT](INFO): DAT read: 20:46:07.7648 LVL= 22336, 19377, 23090, 24691, AGC= 72, IDX= 265,-0.11, 2.546, 1.198, 2.337, 2.084, PHS= 0.550,-0.839, 0.249, RAW= 138.2, 0.6, CAL= 142.9, -8.1, ROT= 7.1, 8.1
2025-06-11T20:46:07.163Z,1749674767.163 [DAT](INFO): got valid direction response:
20:46:07.7648 LVL= 22336, 19377, 23090, 24691, AGC= 72, IDX= 265,-0.11, 2.546, 1.198, 2.337, 2.084, PHS= 0.550,-0.839, 0.249, RAW= 138.2, 0.6, CAL= 142.9, -8.1, ROT= 7.1, 8.1
2025-06-11T20:46:07.164Z,1749674767.164 [DAT](INFO): DAT read: Bearing 7.1, 8.1 (Local)
2025-06-11T20:46:07.164Z,1749674767.164 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.1, 8.1 (Local)
2025-06-11T20:46:07.166Z,1749674767.166 [DAT](INFO): DAT read: Range 10 to 50 : 456.7 m (Round-trip 609.0 ms) speed 0.4 m/s
2025-06-11T20:46:07.167Z,1749674767.167 [DAT](INFO): DAT read: user:451>
2025-06-11T20:46:07.167Z,1749674767.167 [DAT](INFO): DAT read: Tx time:20:46:08.8516
2025-06-11T20:46:07.172Z,1749674767.172 [DAT](INFO): Ping request sent.
2025-06-11T20:46:07.172Z,1749674767.172 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:07.173Z,1749674767.173 [DAT](INFO): DAT read: TxSync time:20:46:08.8508
2025-06-11T20:46:07.173Z,1749674767.173 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:07.174Z,1749674767.174 [DAT](INFO): direction in FSK: [0.982432,0.122368,-0.140901]
2025-06-11T20:46:07.174Z,1749674767.174 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:07.175Z,1749674767.175 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:07.179Z,1749674767.179 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:07.179Z,1749674767.179 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:07.459Z,1749674767.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 456.700012 m,
deltaT: 26.207392 s,
deltaX: -14.099976 m,
approachRate: -0.538015 m/s,
rangeRepo size: 4
2025-06-11T20:46:07.461Z,1749674767.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 452.701843 m,
bearing: 329.560163 deg,
lat: 36.906549 deg,
lon: -122.115013 deg,
deltaT: 26.207392 s,
deltaX: -13.980225 m,
approachRate: -0.533446 m/s,
posRepo size: 4
2025-06-11T20:46:07.462Z,1749674767.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:07.465Z,1749674767.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 443.412567 m,
bearing: 334.644750 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008271 deg/s,
cmd heading: 321.673933 deg,
new cmd heading: 321.684322 deg.
2025-06-11T20:46:07.466Z,1749674767.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614450 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:07.831Z,1749674767.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:07.834Z,1749674767.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 443.215240 m,
bearing: 334.649124 deg,
approach rate: -0.529277 m/s,
LOS rate: 0.011735 deg/s,
cmd heading: 321.684315 deg,
new cmd heading: 321.697441 deg.
2025-06-11T20:46:07.835Z,1749674767.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614679 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:08.232Z,1749674768.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:08.237Z,1749674768.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 443.006195 m,
bearing: 334.653850 deg,
approach rate: -0.522264 m/s,
LOS rate: 0.011815 deg/s,
cmd heading: 321.697429 deg,
new cmd heading: 321.711616 deg.
2025-06-11T20:46:08.240Z,1749674768.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614927 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:08.743Z,1749674768.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:08.750Z,1749674768.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 442.747833 m,
bearing: 334.660823 deg,
approach rate: -0.505011 m/s,
LOS rate: 0.013636 deg/s,
cmd heading: 321.711609 deg,
new cmd heading: 321.732538 deg.
2025-06-11T20:46:08.751Z,1749674768.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615292 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:09.111Z,1749674769.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:09.113Z,1749674769.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:09.116Z,1749674769.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 442.546722 m,
bearing: 334.666250 deg,
approach rate: -0.543578 m/s,
LOS rate: 0.014676 deg/s,
cmd heading: 321.732536 deg,
new cmd heading: 321.748826 deg.
2025-06-11T20:46:09.117Z,1749674769.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615576 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:09.169Z,1749674769.169 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:09.169Z,1749674769.169 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:09.169Z,1749674769.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:09.424Z,1749674769.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251628
2025-06-11T20:46:09.561Z,1749674769.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:09.563Z,1749674769.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 442.322784 m,
bearing: 334.673071 deg,
approach rate: -0.500571 m/s,
LOS rate: 0.015255 deg/s,
cmd heading: 321.748820 deg,
new cmd heading: 321.769294 deg.
2025-06-11T20:46:09.565Z,1749674769.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615933 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:09.673Z,1749674769.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500998
2025-06-11T20:46:09.925Z,1749674769.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753172
2025-06-11T20:46:09.950Z,1749674769.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:09.953Z,1749674769.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 442.130341 m,
bearing: 334.678939 deg,
approach rate: -0.494934 m/s,
LOS rate: 0.015096 deg/s,
cmd heading: 321.769283 deg,
new cmd heading: 321.786892 deg.
2025-06-11T20:46:09.954Z,1749674769.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616241 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:10.177Z,1749674770.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005178
2025-06-11T20:46:10.395Z,1749674770.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:10.398Z,1749674770.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 441.906250 m,
bearing: 334.685509 deg,
approach rate: -0.502527 m/s,
LOS rate: 0.014741 deg/s,
cmd heading: 321.786905 deg,
new cmd heading: 321.806625 deg.
2025-06-11T20:46:10.399Z,1749674770.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616585 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:10.429Z,1749674770.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256711
2025-06-11T20:46:10.681Z,1749674770.681 [DAT](INFO): DAT read: Rx Time:20:46:11.8622
2025-06-11T20:46:10.681Z,1749674770.681 [DAT](INFO): Rx dataTimestamp_ set to:1749674770.681213
2025-06-11T20:46:10.682Z,1749674770.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510045
2025-06-11T20:46:10.757Z,1749674770.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:10.764Z,1749674770.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 441.729462 m,
bearing: 334.690463 deg,
approach rate: -0.488830 m/s,
LOS rate: 0.013705 deg/s,
cmd heading: 321.806630 deg,
new cmd heading: 321.821500 deg.
2025-06-11T20:46:10.769Z,1749674770.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616845 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:10.933Z,1749674770.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761350
2025-06-11T20:46:11.131Z,1749674771.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:11.133Z,1749674771.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-06-11T20:46:11.152Z,1749674771.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 452.701843 m,
nav range: 441.537750 m,
bearing: 334.695739 deg,
approach rate: -0.509653 m/s,
LOS rate: 0.014032 deg/s,
cmd heading: 321.821493 deg,
new cmd heading: 321.837327 deg.
2025-06-11T20:46:11.153Z,1749674771.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617121 target range: 452.701843 and range: 456.70 m.
2025-06-11T20:46:11.191Z,1749674771.191 [DAT](INFO): DAT read: 20:46:11.8622 LVL= 27344, 29409, 26418, 32227, AGC= 72, IDX= 413, 0.18,-2.790, 1.970,-3.121, 2.959, PHS= 0.622,-0.942, 0.201, RAW= 134.9, 1.7, CAL= 140.1, -6.6, ROT= 9.9, 6.6
2025-06-11T20:46:11.193Z,1749674771.193 [DAT](INFO): got valid direction response:
20:46:11.8622 LVL= 27344, 29409, 26418, 32227, AGC= 72, IDX= 413, 0.18,-2.790, 1.970,-3.121, 2.959, PHS= 0.622,-0.942, 0.201, RAW= 134.9, 1.7, CAL= 140.1, -6.6, ROT= 9.9, 6.6
2025-06-11T20:46:11.194Z,1749674771.194 [DAT](INFO): DAT read: Bearing 9.9, 6.6 (Local)
2025-06-11T20:46:11.194Z,1749674771.194 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.9, 6.6 (Local)
2025-06-11T20:46:11.197Z,1749674771.197 [DAT](INFO): DAT read: Range 10 to 50 : 454.8 m (Round-trip 606.4 ms) speed 0.9 m/s
2025-06-11T20:46:11.198Z,1749674771.198 [DAT](INFO): DAT read: user:452>
2025-06-11T20:46:11.199Z,1749674771.199 [DAT](INFO): DAT read: Tx time:20:46:12.9516
2025-06-11T20:46:11.199Z,1749674771.199 [DAT](INFO): Ping request sent.
2025-06-11T20:46:11.199Z,1749674771.199 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:11.200Z,1749674771.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:11.202Z,1749674771.202 [DAT](INFO): direction in FSK: [0.978581,0.170790,-0.114937]
2025-06-11T20:46:11.202Z,1749674771.202 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:11.202Z,1749674771.202 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:11.213Z,1749674771.213 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:11.214Z,1749674771.214 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:11.437Z,1749674771.437 [DAT](INFO): DAT read: TxSync time:20:46:12.9508
2025-06-11T20:46:11.573Z,1749674771.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 454.799988 m,
deltaT: 4.031844 s,
deltaX: -1.900024 m,
approachRate: -0.471254 m/s,
rangeRepo size: 4
2025-06-11T20:46:11.575Z,1749674771.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 450.815796 m,
bearing: 332.936034 deg,
lat: 36.906516 deg,
lon: -122.115164 deg,
deltaT: 4.031844 s,
deltaX: -1.886047 m,
approachRate: -0.467788 m/s,
posRepo size: 4
2025-06-11T20:46:11.575Z,1749674771.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:11.590Z,1749674771.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 443.971710 m,
bearing: 332.937258 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.014032 deg/s,
cmd heading: 321.837339 deg,
new cmd heading: 321.855801 deg.
2025-06-11T20:46:11.591Z,1749674771.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617444 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:11.980Z,1749674771.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:11.983Z,1749674771.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 443.773773 m,
bearing: 332.940643 deg,
approach rate: -0.488054 m/s,
LOS rate: 0.008351 deg/s,
cmd heading: 321.855808 deg,
new cmd heading: 321.865968 deg.
2025-06-11T20:46:11.984Z,1749674771.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617621 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:12.407Z,1749674772.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:12.410Z,1749674772.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 443.550140 m,
bearing: 332.943146 deg,
approach rate: -0.520431 m/s,
LOS rate: 0.005828 deg/s,
cmd heading: 321.865971 deg,
new cmd heading: 321.873484 deg.
2025-06-11T20:46:12.411Z,1749674772.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617752 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:12.759Z,1749674772.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:12.762Z,1749674772.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 443.373047 m,
bearing: 332.945089 deg,
approach rate: -0.502600 m/s,
LOS rate: 0.005516 deg/s,
cmd heading: 321.873484 deg,
new cmd heading: 321.879315 deg.
2025-06-11T20:46:12.763Z,1749674772.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617854 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:13.154Z,1749674773.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:13.156Z,1749674773.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:13.158Z,1749674773.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 443.174164 m,
bearing: 332.947233 deg,
approach rate: -0.501723 m/s,
LOS rate: 0.005410 deg/s,
cmd heading: 321.879304 deg,
new cmd heading: 321.885737 deg.
2025-06-11T20:46:13.159Z,1749674773.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617966 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:13.201Z,1749674773.201 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:13.201Z,1749674773.201 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:13.201Z,1749674773.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:13.453Z,1749674773.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253249
2025-06-11T20:46:13.584Z,1749674773.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:13.587Z,1749674773.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 442.951050 m,
bearing: 332.948483 deg,
approach rate: -0.521114 m/s,
LOS rate: 0.002922 deg/s,
cmd heading: 321.885724 deg,
new cmd heading: 321.889478 deg.
2025-06-11T20:46:13.588Z,1749674773.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618031 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:13.705Z,1749674773.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505336
2025-06-11T20:46:13.957Z,1749674773.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757337
2025-06-11T20:46:13.973Z,1749674773.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:13.976Z,1749674773.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 442.748230 m,
bearing: 332.949649 deg,
approach rate: -0.520816 m/s,
LOS rate: 0.002993 deg/s,
cmd heading: 321.889467 deg,
new cmd heading: 321.892964 deg.
2025-06-11T20:46:13.977Z,1749674773.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618092 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:14.210Z,1749674774.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010074
2025-06-11T20:46:14.442Z,1749674774.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:14.444Z,1749674774.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 442.497559 m,
bearing: 332.949208 deg,
approach rate: -0.535349 m/s,
LOS rate: -0.000942 deg/s,
cmd heading: 321.892964 deg,
new cmd heading: 321.891641 deg.
2025-06-11T20:46:14.445Z,1749674774.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618069 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:14.463Z,1749674774.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263635
2025-06-11T20:46:14.713Z,1749674774.713 [DAT](INFO): DAT read: Rx Time:20:46:15.9594
2025-06-11T20:46:14.714Z,1749674774.714 [DAT](INFO): Rx dataTimestamp_ set to:1749674774.713288
2025-06-11T20:46:14.714Z,1749674774.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514643
2025-06-11T20:46:14.792Z,1749674774.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:14.795Z,1749674774.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 442.309784 m,
bearing: 332.948898 deg,
approach rate: -0.535705 m/s,
LOS rate: -0.000886 deg/s,
cmd heading: 321.891653 deg,
new cmd heading: 321.890721 deg.
2025-06-11T20:46:14.804Z,1749674774.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618053 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:14.965Z,1749674774.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765420
2025-06-11T20:46:15.179Z,1749674775.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:15.182Z,1749674775.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:15.184Z,1749674775.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 442.101501 m,
bearing: 332.948550 deg,
approach rate: -0.534572 m/s,
LOS rate: -0.000893 deg/s,
cmd heading: 321.890724 deg,
new cmd heading: 321.889679 deg.
2025-06-11T20:46:15.185Z,1749674775.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618035 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:15.226Z,1749674775.226 [DAT](INFO): DAT read: 20:46:15.9594 LVL= 24800, 32753, 22002, 32755, AGC= 73, IDX= 417,-0.12,-1.158,-2.468,-1.414,-1.671, PHS= 0.602,-0.750, 0.254, RAW= 135.6, -1.8, CAL= 141.0, -11.2, ROT= 9.0, 11.2
2025-06-11T20:46:15.227Z,1749674775.227 [DAT](INFO): got valid direction response:
20:46:15.9594 LVL= 24800, 32753, 22002, 32755, AGC= 73, IDX= 417,-0.12,-1.158,-2.468,-1.414,-1.671, PHS= 0.602,-0.750, 0.254, RAW= 135.6, -1.8, CAL= 141.0, -11.2, ROT= 9.0, 11.2
2025-06-11T20:46:15.229Z,1749674775.229 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:46:15.230Z,1749674775.230 [DAT](INFO): Received a bad header
2025-06-11T20:46:15.244Z,1749674775.244 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:46:15.245Z,1749674775.245 [DAT](INFO): direction in FSK: [0.968878,0.153455,-0.194234]
2025-06-11T20:46:15.248Z,1749674775.248 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:15.248Z,1749674775.248 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:15.248Z,1749674775.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:15.468Z,1749674775.468 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:15.469Z,1749674775.469 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:15.469Z,1749674775.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:15.611Z,1749674775.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:15.630Z,1749674775.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 441.866943 m,
bearing: 332.947113 deg,
approach rate: -0.546007 m/s,
LOS rate: -0.003346 deg/s,
cmd heading: 321.889685 deg,
new cmd heading: 321.885374 deg.
2025-06-11T20:46:15.631Z,1749674775.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617959 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:15.721Z,1749674775.721 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:15.721Z,1749674775.721 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:15.721Z,1749674775.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:15.974Z,1749674775.974 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:15.974Z,1749674775.974 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:15.974Z,1749674775.974 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:16.005Z,1749674776.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:16.008Z,1749674776.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 441.650391 m,
bearing: 332.945732 deg,
approach rate: -0.549777 m/s,
LOS rate: -0.003509 deg/s,
cmd heading: 321.885369 deg,
new cmd heading: 321.881222 deg.
2025-06-11T20:46:16.009Z,1749674776.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617887 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:16.225Z,1749674776.225 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:16.225Z,1749674776.225 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:16.225Z,1749674776.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:16.461Z,1749674776.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:16.464Z,1749674776.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 441.392212 m,
bearing: 332.942813 deg,
approach rate: -0.565817 m/s,
LOS rate: -0.006400 deg/s,
cmd heading: 321.881216 deg,
new cmd heading: 321.872455 deg.
2025-06-11T20:46:16.465Z,1749674776.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617734 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:16.477Z,1749674776.477 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:16.477Z,1749674776.477 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:16.477Z,1749674776.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:16.728Z,1749674776.728 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:16.729Z,1749674776.729 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:16.729Z,1749674776.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:16.818Z,1749674776.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:16.822Z,1749674776.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 441.193268 m,
bearing: 332.940561 deg,
approach rate: -0.557906 m/s,
LOS rate: -0.006317 deg/s,
cmd heading: 321.872446 deg,
new cmd heading: 321.865688 deg.
2025-06-11T20:46:16.823Z,1749674776.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617616 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:16.980Z,1749674776.980 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:16.981Z,1749674776.981 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:16.981Z,1749674776.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:17.214Z,1749674777.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:17.216Z,1749674777.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:17.218Z,1749674777.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 440.971954 m,
bearing: 332.937926 deg,
approach rate: -0.556689 m/s,
LOS rate: -0.006633 deg/s,
cmd heading: 321.865698 deg,
new cmd heading: 321.857787 deg.
2025-06-11T20:46:17.219Z,1749674777.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617478 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:17.233Z,1749674777.233 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:17.233Z,1749674777.233 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:17.233Z,1749674777.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:17.484Z,1749674777.484 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:17.485Z,1749674777.485 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:17.485Z,1749674777.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:17.646Z,1749674777.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:17.653Z,1749674777.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 440.734406 m,
bearing: 332.934925 deg,
approach rate: -0.551712 m/s,
LOS rate: -0.006973 deg/s,
cmd heading: 321.857775 deg,
new cmd heading: 321.848767 deg.
2025-06-11T20:46:17.654Z,1749674777.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617321 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:17.738Z,1749674777.738 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:17.738Z,1749674777.738 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:17.738Z,1749674777.738 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:17.989Z,1749674777.989 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:17.989Z,1749674777.989 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:17.989Z,1749674777.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:18.011Z,1749674778.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:18.014Z,1749674778.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 440.515900 m,
bearing: 332.932136 deg,
approach rate: -0.598313 m/s,
LOS rate: -0.007639 deg/s,
cmd heading: 321.848759 deg,
new cmd heading: 321.840389 deg.
2025-06-11T20:46:18.015Z,1749674778.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617175 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:18.241Z,1749674778.241 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:18.242Z,1749674778.242 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:18.242Z,1749674778.242 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:18.477Z,1749674778.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:18.480Z,1749674778.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 440.264099 m,
bearing: 332.928879 deg,
approach rate: -0.540567 m/s,
LOS rate: -0.006997 deg/s,
cmd heading: 321.840399 deg,
new cmd heading: 321.830621 deg.
2025-06-11T20:46:18.481Z,1749674778.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617004 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:18.493Z,1749674778.493 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:18.493Z,1749674778.493 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:18.493Z,1749674778.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:18.745Z,1749674778.745 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:18.745Z,1749674778.745 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:18.745Z,1749674778.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:18.860Z,1749674778.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:18.863Z,1749674778.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 440.037689 m,
bearing: 332.926157 deg,
approach rate: -0.597870 m/s,
LOS rate: -0.007191 deg/s,
cmd heading: 321.830618 deg,
new cmd heading: 321.822448 deg.
2025-06-11T20:46:18.868Z,1749674778.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616861 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:18.997Z,1749674778.997 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:18.997Z,1749674778.997 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:18.997Z,1749674778.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:19.216Z,1749674779.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:19.218Z,1749674779.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:19.221Z,1749674779.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 439.826660 m,
bearing: 332.923626 deg,
approach rate: -0.581934 m/s,
LOS rate: -0.006984 deg/s,
cmd heading: 321.822449 deg,
new cmd heading: 321.814851 deg.
2025-06-11T20:46:19.222Z,1749674779.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616729 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:19.249Z,1749674779.249 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:19.249Z,1749674779.249 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:19.249Z,1749674779.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:19.501Z,1749674779.501 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:19.501Z,1749674779.501 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:19.501Z,1749674779.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:19.678Z,1749674779.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:19.690Z,1749674779.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 439.584595 m,
bearing: 332.920741 deg,
approach rate: -0.536978 m/s,
LOS rate: -0.006403 deg/s,
cmd heading: 321.814854 deg,
new cmd heading: 321.806194 deg.
2025-06-11T20:46:19.691Z,1749674779.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616578 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:19.753Z,1749674779.753 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:19.753Z,1749674779.753 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:19.754Z,1749674779.754 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:20.005Z,1749674780.005 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:20.005Z,1749674780.005 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:20.005Z,1749674780.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:20.046Z,1749674780.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:20.050Z,1749674780.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 439.351898 m,
bearing: 332.917956 deg,
approach rate: -0.617414 m/s,
LOS rate: -0.007392 deg/s,
cmd heading: 321.806193 deg,
new cmd heading: 321.797836 deg.
2025-06-11T20:46:20.051Z,1749674780.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616432 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:20.258Z,1749674780.258 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:20.258Z,1749674780.258 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:20.258Z,1749674780.258 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:20.509Z,1749674780.509 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:20.510Z,1749674780.510 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:20.510Z,1749674780.510 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:20.513Z,1749674780.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:20.515Z,1749674780.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 439.101471 m,
bearing: 332.914956 deg,
approach rate: -0.536717 m/s,
LOS rate: -0.006433 deg/s,
cmd heading: 321.797833 deg,
new cmd heading: 321.788829 deg.
2025-06-11T20:46:20.521Z,1749674780.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616274 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:20.761Z,1749674780.761 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:20.761Z,1749674780.761 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:20.761Z,1749674780.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:20.856Z,1749674780.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:20.859Z,1749674780.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 438.893311 m,
bearing: 332.913222 deg,
approach rate: -0.606519 m/s,
LOS rate: -0.005055 deg/s,
cmd heading: 321.788817 deg,
new cmd heading: 321.783612 deg.
2025-06-11T20:46:20.860Z,1749674780.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616183 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:21.013Z,1749674781.013 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:21.013Z,1749674781.013 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:21.013Z,1749674781.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:46:21.236Z,1749674781.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:21.238Z,1749674781.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:21.241Z,1749674781.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 438.679871 m,
bearing: 332.911470 deg,
approach rate: -0.558136 m/s,
LOS rate: -0.004583 deg/s,
cmd heading: 321.783599 deg,
new cmd heading: 321.778341 deg.
2025-06-11T20:46:21.242Z,1749674781.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616092 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:21.277Z,1749674781.277 [DAT](INFO): Reached modem response timeout
2025-06-11T20:46:21.278Z,1749674781.278 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:46:21.278Z,1749674781.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:21.529Z,1749674781.529 [DAT](INFO): Reached modem response timeout
2025-06-11T20:46:21.529Z,1749674781.529 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:46:21.529Z,1749674781.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:21.684Z,1749674781.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:21.687Z,1749674781.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 438.431183 m,
bearing: 332.910222 deg,
approach rate: -0.558108 m/s,
LOS rate: -0.002803 deg/s,
cmd heading: 321.778353 deg,
new cmd heading: 321.774607 deg.
2025-06-11T20:46:21.688Z,1749674781.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616026 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:21.781Z,1749674781.781 [DAT](INFO): Reached modem response timeout
2025-06-11T20:46:21.781Z,1749674781.781 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:46:21.781Z,1749674781.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:22.033Z,1749674782.033 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:46:22.033Z,1749674782.033 [DAT](INFO): response not received
2025-06-11T20:46:22.034Z,1749674782.034 [DAT](INFO): DAT read: user:454>
2025-06-11T20:46:22.034Z,1749674782.034 [DAT](INFO): DAT read: Tx time:20:46:23.9017
2025-06-11T20:46:22.035Z,1749674782.035 [DAT](INFO): Ping request sent.
2025-06-11T20:46:22.035Z,1749674782.035 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:22.035Z,1749674782.035 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:22.036Z,1749674782.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-06-11T20:46:22.125Z,1749674782.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:22.132Z,1749674782.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 438.189728 m,
bearing: 332.909064 deg,
approach rate: -0.547418 m/s,
LOS rate: -0.002627 deg/s,
cmd heading: 321.774610 deg,
new cmd heading: 321.771134 deg.
2025-06-11T20:46:22.133Z,1749674782.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615966 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:22.285Z,1749674782.285 [DAT](INFO): DAT read: TxSync time:20:46:23.9009
2025-06-11T20:46:22.286Z,1749674782.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250895
2025-06-11T20:46:22.512Z,1749674782.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:22.520Z,1749674782.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 438.003021 m,
bearing: 332.908212 deg,
approach rate: -0.489856 m/s,
LOS rate: -0.002237 deg/s,
cmd heading: 321.771141 deg,
new cmd heading: 321.768583 deg.
2025-06-11T20:46:22.521Z,1749674782.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615921 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:22.537Z,1749674782.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502146
2025-06-11T20:46:22.789Z,1749674782.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753960
2025-06-11T20:46:22.879Z,1749674782.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:22.882Z,1749674782.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 437.771820 m,
bearing: 332.908863 deg,
approach rate: -0.619905 m/s,
LOS rate: 0.001747 deg/s,
cmd heading: 321.768573 deg,
new cmd heading: 321.770527 deg.
2025-06-11T20:46:22.883Z,1749674782.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615955 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:23.041Z,1749674783.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006173
2025-06-11T20:46:23.262Z,1749674783.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:23.265Z,1749674783.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:23.267Z,1749674783.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 437.563629 m,
bearing: 332.909693 deg,
approach rate: -0.539910 m/s,
LOS rate: 0.002152 deg/s,
cmd heading: 321.770540 deg,
new cmd heading: 321.773029 deg.
2025-06-11T20:46:23.269Z,1749674783.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615999 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:23.293Z,1749674783.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258002
2025-06-11T20:46:23.545Z,1749674783.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509918
2025-06-11T20:46:23.705Z,1749674783.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:23.708Z,1749674783.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 437.342072 m,
bearing: 332.911962 deg,
approach rate: -0.503040 m/s,
LOS rate: 0.005155 deg/s,
cmd heading: 321.773026 deg,
new cmd heading: 321.779837 deg.
2025-06-11T20:46:23.709Z,1749674783.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616117 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:23.797Z,1749674783.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762572
2025-06-11T20:46:24.049Z,1749674784.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014102
2025-06-11T20:46:24.068Z,1749674784.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:24.071Z,1749674784.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 437.133545 m,
bearing: 332.914189 deg,
approach rate: -0.574860 m/s,
LOS rate: 0.006143 deg/s,
cmd heading: 321.779829 deg,
new cmd heading: 321.786513 deg.
2025-06-11T20:46:24.072Z,1749674784.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616234 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:24.301Z,1749674784.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265875
2025-06-11T20:46:24.473Z,1749674784.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:24.501Z,1749674784.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 436.917175 m,
bearing: 332.916605 deg,
approach rate: -0.535521 m/s,
LOS rate: 0.005982 deg/s,
cmd heading: 321.786522 deg,
new cmd heading: 321.793773 deg.
2025-06-11T20:46:24.509Z,1749674784.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616361 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:24.553Z,1749674784.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518042
2025-06-11T20:46:24.805Z,1749674784.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770004
2025-06-11T20:46:24.904Z,1749674784.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:24.907Z,1749674784.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 436.695160 m,
bearing: 332.920233 deg,
approach rate: -0.514190 m/s,
LOS rate: 0.008408 deg/s,
cmd heading: 321.793762 deg,
new cmd heading: 321.804653 deg.
2025-06-11T20:46:24.907Z,1749674784.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616551 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:25.057Z,1749674785.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021956
2025-06-11T20:46:25.282Z,1749674785.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:25.304Z,1749674785.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:25.307Z,1749674785.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 436.500122 m,
bearing: 332.923586 deg,
approach rate: -0.513218 m/s,
LOS rate: 0.008826 deg/s,
cmd heading: 321.804663 deg,
new cmd heading: 321.814726 deg.
2025-06-11T20:46:25.309Z,1749674785.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274102
2025-06-11T20:46:25.316Z,1749674785.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616726 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:25.561Z,1749674785.561 [DAT](INFO): DAT read: Rx Time:20:46:26.9013
2025-06-11T20:46:25.561Z,1749674785.561 [DAT](INFO): Rx dataTimestamp_ set to:1749674785.561188
2025-06-11T20:46:25.562Z,1749674785.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527228
2025-06-11T20:46:25.706Z,1749674785.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:25.709Z,1749674785.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 436.285034 m,
bearing: 332.928180 deg,
approach rate: -0.509085 m/s,
LOS rate: 0.010879 deg/s,
cmd heading: 321.814717 deg,
new cmd heading: 321.828506 deg.
2025-06-11T20:46:25.710Z,1749674785.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616967 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:25.814Z,1749674785.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778861
2025-06-11T20:46:26.054Z,1749674786.054 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:46:26.068Z,1749674786.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032593
2025-06-11T20:46:26.166Z,1749674786.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.82 m.
2025-06-11T20:46:26.173Z,1749674786.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 450.815796 m,
nav range: 436.058929 m,
bearing: 332.933131 deg,
approach rate: -0.492163 m/s,
LOS rate: 0.010783 deg/s,
cmd heading: 321.828514 deg,
new cmd heading: 321.843376 deg.
2025-06-11T20:46:26.174Z,1749674786.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617227 target range: 450.815796 and range: 454.80 m.
2025-06-11T20:46:26.323Z,1749674786.323 [DAT](INFO): DAT read: 20:46:26.9013 LVL= 30192, 27505, 30418, 32755, AGC= 71, IDX= 502, 0.01,-2.467, 2.368,-2.550, 3.112, PHS= 0.792,-0.697, 0.618, RAW= 143.9, -10.1, CAL= 150.9, -19.2, ROT= 359.1, 19.2
2025-06-11T20:46:26.324Z,1749674786.324 [DAT](INFO): got valid direction response:
20:46:26.9013 LVL= 30192, 27505, 30418, 32755, AGC= 71, IDX= 502, 0.01,-2.467, 2.368,-2.550, 3.112, PHS= 0.792,-0.697, 0.618, RAW= 143.9, -10.1, CAL= 150.9, -19.2, ROT= 359.1, 19.2
2025-06-11T20:46:26.325Z,1749674786.325 [DAT](INFO): DAT read: Bearing 359.1, 19.2 (Local)
2025-06-11T20:46:26.326Z,1749674786.326 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.1, 19.2 (Local)
2025-06-11T20:46:26.327Z,1749674786.327 [DAT](INFO): DAT read: Range 10 to 50 : 446.6 m (Round-trip 595.5 ms) speed 0.4 m/s
2025-06-11T20:46:26.328Z,1749674786.328 [DAT](INFO): DAT read: user:455>
2025-06-11T20:46:26.329Z,1749674786.329 [DAT](INFO): DAT read: Tx time:20:46:28.0017
2025-06-11T20:46:26.329Z,1749674786.329 [DAT](INFO): Ping request sent.
2025-06-11T20:46:26.329Z,1749674786.329 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:26.330Z,1749674786.330 [DAT](INFO): DAT read: TxSync time:20:46:28.0009
2025-06-11T20:46:26.330Z,1749674786.330 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:26.331Z,1749674786.331 [DAT](INFO): direction in FSK: [0.944260,-0.014833,-0.328867]
2025-06-11T20:46:26.332Z,1749674786.332 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:26.332Z,1749674786.332 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:26.335Z,1749674786.335 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:26.335Z,1749674786.335 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:26.574Z,1749674786.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 446.600006 m,
deltaT: 15.131812 s,
deltaX: -8.199982 m,
approachRate: -0.541903 m/s,
rangeRepo size: 4
2025-06-11T20:46:26.581Z,1749674786.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 442.689301 m,
bearing: 320.847414 deg,
lat: 36.906516 deg,
lon: -122.115164 deg,
deltaT: 15.131812 s,
deltaX: -8.126495 m,
approachRate: -0.537047 m/s,
posRepo size: 4
2025-06-11T20:46:26.581Z,1749674786.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:26.588Z,1749674786.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 435.885956 m,
bearing: 332.936997 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.010783 deg/s,
cmd heading: 321.843377 deg,
new cmd heading: 321.856387 deg.
2025-06-11T20:46:26.589Z,1749674786.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617454 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:26.947Z,1749674786.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:26.954Z,1749674786.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 435.667603 m,
bearing: 332.941773 deg,
approach rate: -0.575858 m/s,
LOS rate: 0.012600 deg/s,
cmd heading: 321.856381 deg,
new cmd heading: 321.870715 deg.
2025-06-11T20:46:26.955Z,1749674786.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617704 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:27.056Z,1749674787.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:46:27.304Z,1749674787.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:27.306Z,1749674787.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:27.309Z,1749674787.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 435.479797 m,
bearing: 332.945925 deg,
approach rate: -0.523007 m/s,
LOS rate: 0.011568 deg/s,
cmd heading: 321.870725 deg,
new cmd heading: 321.883187 deg.
2025-06-11T20:46:27.310Z,1749674787.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617921 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:27.341Z,1749674787.341 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:27.341Z,1749674787.341 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:27.342Z,1749674787.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:27.593Z,1749674787.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263449
2025-06-11T20:46:27.734Z,1749674787.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:27.737Z,1749674787.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 435.265533 m,
bearing: 332.949827 deg,
approach rate: -0.501181 m/s,
LOS rate: 0.009131 deg/s,
cmd heading: 321.883183 deg,
new cmd heading: 321.894894 deg.
2025-06-11T20:46:27.738Z,1749674787.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618126 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:27.845Z,1749674787.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515598
2025-06-11T20:46:28.097Z,1749674788.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767548
2025-06-11T20:46:28.107Z,1749674788.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:28.110Z,1749674788.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 435.078369 m,
bearing: 332.953224 deg,
approach rate: -0.501061 m/s,
LOS rate: 0.009099 deg/s,
cmd heading: 321.894904 deg,
new cmd heading: 321.905100 deg.
2025-06-11T20:46:28.111Z,1749674788.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618304 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:28.349Z,1749674788.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019392
2025-06-11T20:46:28.508Z,1749674788.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:28.511Z,1749674788.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 434.877594 m,
bearing: 332.956783 deg,
approach rate: -0.501165 m/s,
LOS rate: 0.008888 deg/s,
cmd heading: 321.905094 deg,
new cmd heading: 321.915776 deg.
2025-06-11T20:46:28.512Z,1749674788.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618490 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:28.604Z,1749674788.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274510
2025-06-11T20:46:28.853Z,1749674788.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523456
2025-06-11T20:46:28.979Z,1749674788.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:28.986Z,1749674788.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 434.647064 m,
bearing: 332.959255 deg,
approach rate: -0.489190 m/s,
LOS rate: 0.005249 deg/s,
cmd heading: 321.915777 deg,
new cmd heading: 321.923198 deg.
2025-06-11T20:46:28.987Z,1749674788.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618620 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:29.105Z,1749674789.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776053
2025-06-11T20:46:29.325Z,1749674789.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:29.327Z,1749674789.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:29.330Z,1749674789.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 434.458344 m,
bearing: 332.961126 deg,
approach rate: -0.542246 m/s,
LOS rate: 0.005379 deg/s,
cmd heading: 321.923208 deg,
new cmd heading: 321.928824 deg.
2025-06-11T20:46:29.331Z,1749674789.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618718 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:29.357Z,1749674789.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027466
2025-06-11T20:46:29.609Z,1749674789.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279441
2025-06-11T20:46:29.765Z,1749674789.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:29.767Z,1749674789.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 434.239319 m,
bearing: 332.962423 deg,
approach rate: -0.500616 m/s,
LOS rate: 0.002966 deg/s,
cmd heading: 321.928836 deg,
new cmd heading: 321.932729 deg.
2025-06-11T20:46:29.772Z,1749674789.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618786 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:29.862Z,1749674789.862 [DAT](INFO): DAT read: Rx Time:20:46:30.9986
2025-06-11T20:46:29.862Z,1749674789.862 [DAT](INFO): Rx dataTimestamp_ set to:1749674789.862064
2025-06-11T20:46:29.863Z,1749674789.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533948
2025-06-11T20:46:30.113Z,1749674790.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783580
2025-06-11T20:46:30.146Z,1749674790.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:30.149Z,1749674790.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 434.037201 m,
bearing: 332.963551 deg,
approach rate: -0.529810 m/s,
LOS rate: 0.002958 deg/s,
cmd heading: 321.932716 deg,
new cmd heading: 321.936101 deg.
2025-06-11T20:46:30.150Z,1749674790.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618845 target range: 442.689301 and range: 446.60 m.
2025-06-11T20:46:30.366Z,1749674790.366 [DAT](INFO): DAT read: Range 10 to 50 : 444.5 m (Round-trip 592.7 ms) speed 0.4 m/s
2025-06-11T20:46:30.367Z,1749674790.367 [DAT](INFO): DAT read: user:456>
2025-06-11T20:46:30.367Z,1749674790.367 [DAT](INFO): DAT read: Tx time:20:46:32.1018
2025-06-11T20:46:30.368Z,1749674790.368 [DAT](INFO): Ping request sent.
2025-06-11T20:46:30.368Z,1749674790.368 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:30.368Z,1749674790.368 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:46:30.368Z,1749674790.368 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:30.369Z,1749674790.369 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:30.533Z,1749674790.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 444.500000 m,
deltaT: 4.048067 s,
deltaX: -2.100006 m,
approachRate: -0.518768 m/s,
rangeRepo size: 4
2025-06-11T20:46:30.533Z,1749674790.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:30.536Z,1749674790.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 433.832611 m,
bearing: 332.964627 deg,
approach rate: -0.530355 m/s,
LOS rate: 0.002790 deg/s,
cmd heading: 321.936103 deg,
new cmd heading: 321.939332 deg.
2025-06-11T20:46:30.537Z,1749674790.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618901 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:30.621Z,1749674790.621 [DAT](INFO): DAT read: TxSync time:20:46:32.1010
2025-06-11T20:46:31.024Z,1749674791.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:31.027Z,1749674791.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 433.574341 m,
bearing: 332.964202 deg,
approach rate: -0.524929 m/s,
LOS rate: -0.000865 deg/s,
cmd heading: 321.939327 deg,
new cmd heading: 321.938050 deg.
2025-06-11T20:46:31.028Z,1749674791.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618879 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:31.485Z,1749674791.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:31.487Z,1749674791.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:31.490Z,1749674791.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 433.331482 m,
bearing: 332.963632 deg,
approach rate: -0.524457 m/s,
LOS rate: -0.001230 deg/s,
cmd heading: 321.938043 deg,
new cmd heading: 321.936334 deg.
2025-06-11T20:46:31.491Z,1749674791.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618849 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:31.628Z,1749674791.628 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:31.628Z,1749674791.628 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:31.629Z,1749674791.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:31.877Z,1749674791.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508869
2025-06-11T20:46:31.931Z,1749674791.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:31.951Z,1749674791.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 433.104736 m,
bearing: 332.962146 deg,
approach rate: -0.511378 m/s,
LOS rate: -0.003353 deg/s,
cmd heading: 321.936322 deg,
new cmd heading: 321.931862 deg.
2025-06-11T20:46:31.956Z,1749674791.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618771 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:32.129Z,1749674792.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760849
2025-06-11T20:46:32.300Z,1749674792.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:32.303Z,1749674792.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 432.889252 m,
bearing: 332.960643 deg,
approach rate: -0.582211 m/s,
LOS rate: -0.004064 deg/s,
cmd heading: 321.931869 deg,
new cmd heading: 321.927357 deg.
2025-06-11T20:46:32.304Z,1749674792.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618692 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:32.382Z,1749674792.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013845
2025-06-11T20:46:32.635Z,1749674792.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266869
2025-06-11T20:46:32.742Z,1749674792.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:32.753Z,1749674792.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 432.655396 m,
bearing: 332.958670 deg,
approach rate: -0.529634 m/s,
LOS rate: -0.004470 deg/s,
cmd heading: 321.927361 deg,
new cmd heading: 321.921440 deg.
2025-06-11T20:46:32.754Z,1749674792.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618589 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:32.885Z,1749674792.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517063
2025-06-11T20:46:33.101Z,1749674793.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:33.103Z,1749674793.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 432.457428 m,
bearing: 332.956924 deg,
approach rate: -0.551747 m/s,
LOS rate: -0.004870 deg/s,
cmd heading: 321.921432 deg,
new cmd heading: 321.916191 deg.
2025-06-11T20:46:33.105Z,1749674793.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618497 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:33.137Z,1749674793.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769529
2025-06-11T20:46:33.389Z,1749674793.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020806
2025-06-11T20:46:33.518Z,1749674793.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:33.520Z,1749674793.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:33.523Z,1749674793.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 432.238159 m,
bearing: 332.954909 deg,
approach rate: -0.523436 m/s,
LOS rate: -0.004812 deg/s,
cmd heading: 321.916187 deg,
new cmd heading: 321.910139 deg.
2025-06-11T20:46:33.524Z,1749674793.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618392 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:33.645Z,1749674793.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276821
2025-06-11T20:46:33.893Z,1749674793.893 [DAT](INFO): DAT read: Rx Time:20:46:35.0957
2025-06-11T20:46:33.893Z,1749674793.893 [DAT](INFO): Rx dataTimestamp_ set to:1749674793.893194
2025-06-11T20:46:33.894Z,1749674793.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526118
2025-06-11T20:46:33.976Z,1749674793.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:33.979Z,1749674793.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 432.007416 m,
bearing: 332.952487 deg,
approach rate: -0.509721 m/s,
LOS rate: -0.005354 deg/s,
cmd heading: 321.910149 deg,
new cmd heading: 321.902878 deg.
2025-06-11T20:46:33.980Z,1749674793.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618265 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:34.145Z,1749674794.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776831
2025-06-11T20:46:34.321Z,1749674794.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.69 m.
2025-06-11T20:46:34.324Z,1749674794.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 442.689301 m,
nav range: 431.793060 m,
bearing: 332.950216 deg,
approach rate: -0.614002 m/s,
LOS rate: -0.006507 deg/s,
cmd heading: 321.902881 deg,
new cmd heading: 321.896066 deg.
2025-06-11T20:46:34.325Z,1749674794.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618146 target range: 442.689301 and range: 444.50 m.
2025-06-11T20:46:34.404Z,1749674794.404 [DAT](INFO): DAT read: 20:46:35.0957 LVL= 18464, 21089, 16850, 27171, AGC= 73, IDX= 403,-0.23,-1.527,-2.867,-1.792,-2.118, PHS= 0.679,-0.701, 0.324, RAW= 135.7, -4.9, CAL= 141.2, -15.1, ROT= 8.8, 15.1
2025-06-11T20:46:34.405Z,1749674794.405 [DAT](INFO): got valid direction response:
20:46:35.0957 LVL= 18464, 21089, 16850, 27171, AGC= 73, IDX= 403,-0.23,-1.527,-2.867,-1.792,-2.118, PHS= 0.679,-0.701, 0.324, RAW= 135.7, -4.9, CAL= 141.2, -15.1, ROT= 8.8, 15.1
2025-06-11T20:46:34.407Z,1749674794.407 [DAT](INFO): DAT read: Bearing 8.8, 15.1 (Local)
2025-06-11T20:46:34.407Z,1749674794.407 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.8, 15.1 (Local)
2025-06-11T20:46:34.409Z,1749674794.409 [DAT](INFO): DAT read: Range 10 to 50 : 442.2 m (Round-trip 589.7 ms) speed 0.6 m/s
2025-06-11T20:46:34.410Z,1749674794.410 [DAT](INFO): DAT read: user:457>
2025-06-11T20:46:34.412Z,1749674794.412 [DAT](INFO): DAT read: Tx time:20:46:36.2018
2025-06-11T20:46:34.413Z,1749674794.413 [DAT](INFO): Ping request sent.
2025-06-11T20:46:34.413Z,1749674794.413 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:34.413Z,1749674794.413 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:34.414Z,1749674794.414 [DAT](INFO): direction in FSK: [0.954107,0.147704,-0.260505]
2025-06-11T20:46:34.415Z,1749674794.415 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:34.415Z,1749674794.415 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:34.419Z,1749674794.419 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:34.419Z,1749674794.419 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:34.651Z,1749674794.651 [DAT](INFO): DAT read: TxSync time:20:46:36.2010
2025-06-11T20:46:34.805Z,1749674794.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 442.200012 m,
deltaT: 4.032180 s,
deltaX: -2.299988 m,
approachRate: -0.570408 m/s,
rangeRepo size: 4
2025-06-11T20:46:34.807Z,1749674794.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 438.325317 m,
bearing: 333.506506 deg,
lat: 36.906469 deg,
lon: -122.115164 deg,
deltaT: 8.080247 s,
deltaX: -4.363983 m,
approachRate: -0.540080 m/s,
posRepo size: 4
2025-06-11T20:46:34.807Z,1749674794.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.33 m.
2025-06-11T20:46:34.814Z,1749674794.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 438.325317 m,
nav range: 426.909454 m,
bearing: 332.629608 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006507 deg/s,
cmd heading: 321.896079 deg,
new cmd heading: 321.886978 deg.
2025-06-11T20:46:34.815Z,1749674794.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617988 target range: 438.325317 and range: 442.20 m.
2025-06-11T20:46:35.121Z,1749674795.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.33 m.
2025-06-11T20:46:35.123Z,1749674795.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 438.325317 m,
nav range: 426.725006 m,
bearing: 332.627985 deg,
approach rate: -0.554100 m/s,
LOS rate: -0.004878 deg/s,
cmd heading: 321.886981 deg,
new cmd heading: 321.882109 deg.
2025-06-11T20:46:35.124Z,1749674795.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617903 target range: 438.325317 and range: 442.20 m.
2025-06-11T20:46:35.528Z,1749674795.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:35.530Z,1749674795.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.33 m.
2025-06-11T20:46:35.533Z,1749674795.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 438.325317 m,
nav range: 426.505951 m,
bearing: 332.626149 deg,
approach rate: -0.534727 m/s,
LOS rate: -0.004483 deg/s,
cmd heading: 321.882118 deg,
new cmd heading: 321.876608 deg.
2025-06-11T20:46:35.534Z,1749674795.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617806 target range: 438.325317 and range: 442.20 m.
2025-06-11T20:46:35.660Z,1749674795.660 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:35.660Z,1749674795.660 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:35.661Z,1749674795.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:35.909Z,1749674795.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495699
2025-06-11T20:46:35.992Z,1749674795.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.33 m.
2025-06-11T20:46:35.994Z,1749674795.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 438.325317 m,
nav range: 426.276520 m,
bearing: 332.625213 deg,
approach rate: -0.501582 m/s,
LOS rate: -0.002048 deg/s,
cmd heading: 321.876599 deg,
new cmd heading: 321.873788 deg.
2025-06-11T20:46:35.995Z,1749674795.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617757 target range: 438.325317 and range: 442.20 m.
2025-06-11T20:46:36.161Z,1749674796.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747752
2025-06-11T20:46:36.332Z,1749674796.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.33 m.
2025-06-11T20:46:36.334Z,1749674796.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 438.325317 m,
nav range: 426.087891 m,
bearing: 332.624479 deg,
approach rate: -0.548234 m/s,
LOS rate: -0.002135 deg/s,
cmd heading: 321.873785 deg,
new cmd heading: 321.871581 deg.
2025-06-11T20:46:36.335Z,1749674796.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617719 target range: 438.325317 and range: 442.20 m.
2025-06-11T20:46:36.414Z,1749674796.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000632
2025-06-11T20:46:36.668Z,1749674796.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254559
2025-06-11T20:46:36.789Z,1749674796.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.33 m.
2025-06-11T20:46:36.796Z,1749674796.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 438.325317 m,
nav range: 425.860931 m,
bearing: 332.625330 deg,
approach rate: -0.495807 m/s,
LOS rate: 0.001861 deg/s,
cmd heading: 321.871572 deg,
new cmd heading: 321.874127 deg.
2025-06-11T20:46:36.797Z,1749674796.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617764 target range: 438.325317 and range: 442.20 m.
2025-06-11T20:46:36.919Z,1749674796.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505799
2025-06-11T20:46:37.152Z,1749674797.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.33 m.
2025-06-11T20:46:37.155Z,1749674797.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 438.325317 m,
nav range: 425.674866 m,
bearing: 332.626088 deg,
approach rate: -0.518022 m/s,
LOS rate: 0.002110 deg/s,
cmd heading: 321.874140 deg,
new cmd heading: 321.876414 deg.
2025-06-11T20:46:37.156Z,1749674797.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617803 target range: 438.325317 and range: 442.20 m.
2025-06-11T20:46:37.169Z,1749674797.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755782
2025-06-11T20:46:37.421Z,1749674797.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008067
2025-06-11T20:46:37.540Z,1749674797.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:37.542Z,1749674797.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.33 m.
2025-06-11T20:46:37.545Z,1749674797.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 438.325317 m,
nav range: 425.466583 m,
bearing: 332.626973 deg,
approach rate: -0.529718 m/s,
LOS rate: 0.002253 deg/s,
cmd heading: 321.876408 deg,
new cmd heading: 321.879065 deg.
2025-06-11T20:46:37.546Z,1749674797.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617849 target range: 438.325317 and range: 442.20 m.
2025-06-11T20:46:37.676Z,1749674797.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261938
2025-06-11T20:46:37.926Z,1749674797.926 [DAT](INFO): DAT read: Rx Time:20:46:39.1926
2025-06-11T20:46:37.926Z,1749674797.926 [DAT](INFO): Rx dataTimestamp_ set to:1749674797.925719
2025-06-11T20:46:37.927Z,1749674797.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513889
2025-06-11T20:46:38.045Z,1749674798.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.33 m.
2025-06-11T20:46:38.047Z,1749674798.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 438.325317 m,
nav range: 425.227814 m,
bearing: 332.628832 deg,
approach rate: -0.474816 m/s,
LOS rate: 0.003698 deg/s,
cmd heading: 321.879058 deg,
new cmd heading: 321.884637 deg.
2025-06-11T20:46:38.057Z,1749674798.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617947 target range: 438.325317 and range: 442.20 m.
2025-06-11T20:46:38.177Z,1749674798.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763743
2025-06-11T20:46:38.435Z,1749674798.435 [DAT](INFO): DAT read: 20:46:39.1926 LVL= 18912, 22337, 19570, 26915, AGC= 72, IDX= 404, 0.02,-2.887, 1.957,-3.123, 2.738, PHS= 0.746,-0.734, 0.419, RAW= 137.9, -6.5, CAL= 143.7, -16.6, ROT= 6.3, 16.6
2025-06-11T20:46:38.436Z,1749674798.436 [DAT](INFO): got valid direction response:
20:46:39.1926 LVL= 18912, 22337, 19570, 26915, AGC= 72, IDX= 404, 0.02,-2.887, 1.957,-3.123, 2.738, PHS= 0.746,-0.734, 0.419, RAW= 137.9, -6.5, CAL= 143.7, -16.6, ROT= 6.3, 16.6
2025-06-11T20:46:38.437Z,1749674798.437 [DAT](INFO): DAT read: Bearing 6.3, 16.6 (Local)
2025-06-11T20:46:38.437Z,1749674798.437 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.3, 16.6 (Local)
2025-06-11T20:46:38.439Z,1749674798.439 [DAT](INFO): DAT read: Range 10 to 50 : 440.0 m (Round-trip 586.7 ms) speed 0.4 m/s
2025-06-11T20:46:38.440Z,1749674798.440 [DAT](INFO): DAT read: user:458>
2025-06-11T20:46:38.441Z,1749674798.441 [DAT](INFO): DAT read: Tx time:20:46:40.3018
2025-06-11T20:46:38.441Z,1749674798.441 [DAT](INFO): Ping request sent.
2025-06-11T20:46:38.441Z,1749674798.441 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:38.441Z,1749674798.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:38.442Z,1749674798.442 [DAT](INFO): direction in FSK: [0.952535,0.105161,-0.285688]
2025-06-11T20:46:38.442Z,1749674798.442 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:38.443Z,1749674798.443 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:38.450Z,1749674798.450 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:38.450Z,1749674798.450 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:38.458Z,1749674798.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 440.000000 m,
deltaT: 4.031884 s,
deltaX: -2.200012 m,
approachRate: -0.545654 m/s,
rangeRepo size: 4
2025-06-11T20:46:38.465Z,1749674798.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 436.144592 m,
bearing: 329.215026 deg,
lat: 36.906377 deg,
lon: -122.115367 deg,
deltaT: 4.031884 s,
deltaX: -2.180725 m,
approachRate: -0.540870 m/s,
posRepo size: 4
2025-06-11T20:46:38.465Z,1749674798.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:38.476Z,1749674798.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 424.709717 m,
bearing: 329.825501 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003698 deg/s,
cmd heading: 321.884631 deg,
new cmd heading: 321.889213 deg.
2025-06-11T20:46:38.477Z,1749674798.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618027 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:38.682Z,1749674798.682 [DAT](INFO): DAT read: TxSync time:20:46:40.3010
2025-06-11T20:46:38.984Z,1749674798.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:38.987Z,1749674798.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 424.441772 m,
bearing: 329.827183 deg,
approach rate: -0.513123 m/s,
LOS rate: 0.003225 deg/s,
cmd heading: 321.889221 deg,
new cmd heading: 321.894273 deg.
2025-06-11T20:46:38.992Z,1749674798.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618115 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:39.313Z,1749674799.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:39.316Z,1749674799.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 424.245941 m,
bearing: 329.828411 deg,
approach rate: -0.586956 m/s,
LOS rate: 0.003682 deg/s,
cmd heading: 321.894275 deg,
new cmd heading: 321.897961 deg.
2025-06-11T20:46:39.317Z,1749674799.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618179 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:39.813Z,1749674799.813 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061112480, +10.1, 0.0,1490.:RA, 0.00, 89.60, 81.11, 85.87, 84.17
2025-06-11T20:46:39.826Z,1749674799.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:39.829Z,1749674799.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:39.831Z,1749674799.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 423.979706 m,
bearing: 329.830083 deg,
approach rate: -0.516690 m/s,
LOS rate: 0.003245 deg/s,
cmd heading: 321.897964 deg,
new cmd heading: 321.902980 deg.
2025-06-11T20:46:39.833Z,1749674799.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618267 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:39.941Z,1749674799.941 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:39.942Z,1749674799.942 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:39.942Z,1749674799.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:40.188Z,1749674800.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:40.191Z,1749674800.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 423.793915 m,
bearing: 329.831192 deg,
approach rate: -0.517380 m/s,
LOS rate: 0.003092 deg/s,
cmd heading: 321.902991 deg,
new cmd heading: 321.906322 deg.
2025-06-11T20:46:40.193Z,1749674800.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751968
2025-06-11T20:46:40.194Z,1749674800.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618325 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:40.445Z,1749674800.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003820
2025-06-11T20:46:40.607Z,1749674800.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:40.615Z,1749674800.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 423.585510 m,
bearing: 329.832407 deg,
approach rate: -0.496763 m/s,
LOS rate: 0.002896 deg/s,
cmd heading: 321.906324 deg,
new cmd heading: 321.909969 deg.
2025-06-11T20:46:40.620Z,1749674800.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618389 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:40.700Z,1749674800.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258359
2025-06-11T20:46:40.949Z,1749674800.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508436
2025-06-11T20:46:41.036Z,1749674801.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:41.039Z,1749674801.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 423.366791 m,
bearing: 329.834279 deg,
approach rate: -0.535269 m/s,
LOS rate: 0.004583 deg/s,
cmd heading: 321.909957 deg,
new cmd heading: 321.915576 deg.
2025-06-11T20:46:41.044Z,1749674801.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618487 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:41.201Z,1749674801.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760136
2025-06-11T20:46:41.408Z,1749674801.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:41.411Z,1749674801.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 423.171265 m,
bearing: 329.836002 deg,
approach rate: -0.498853 m/s,
LOS rate: 0.004398 deg/s,
cmd heading: 321.915586 deg,
new cmd heading: 321.920757 deg.
2025-06-11T20:46:41.412Z,1749674801.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618577 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:41.454Z,1749674801.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012702
2025-06-11T20:46:41.705Z,1749674801.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263863
2025-06-11T20:46:41.834Z,1749674801.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:41.837Z,1749674801.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:41.839Z,1749674801.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 422.940582 m,
bearing: 329.837411 deg,
approach rate: -0.538950 m/s,
LOS rate: 0.003295 deg/s,
cmd heading: 321.920749 deg,
new cmd heading: 321.924980 deg.
2025-06-11T20:46:41.840Z,1749674801.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618651 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:41.957Z,1749674801.957 [DAT](INFO): DAT read: Rx Time:20:46:43.2900
2025-06-11T20:46:41.958Z,1749674801.958 [DAT](INFO): Rx dataTimestamp_ set to:1749674801.957464
2025-06-11T20:46:41.958Z,1749674801.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517370
2025-06-11T20:46:42.202Z,1749674802.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 436.14 m.
2025-06-11T20:46:42.205Z,1749674802.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 436.144592 m,
nav range: 422.748383 m,
bearing: 329.838655 deg,
approach rate: -0.524955 m/s,
LOS rate: 0.003400 deg/s,
cmd heading: 321.924984 deg,
new cmd heading: 321.928719 deg.
2025-06-11T20:46:42.206Z,1749674802.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618716 target range: 436.144592 and range: 440.00 m.
2025-06-11T20:46:42.209Z,1749674802.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767986
2025-06-11T20:46:42.483Z,1749674802.483 [DAT](INFO): DAT read: 20:46:43.2900 LVL= 26512, 28273, 26418, 30195, AGC= 72, IDX= 409,-0.32,-1.460,-2.804,-1.693,-2.145, PHS= 0.773,-0.611, 0.449, RAW= 137.1, -9.8, CAL= 143.2, -20.5, ROT= 6.8, 20.5
2025-06-11T20:46:42.484Z,1749674802.484 [DAT](INFO): got valid direction response:
20:46:43.2900 LVL= 26512, 28273, 26418, 30195, AGC= 72, IDX= 409,-0.32,-1.460,-2.804,-1.693,-2.145, PHS= 0.773,-0.611, 0.449, RAW= 137.1, -9.8, CAL= 143.2, -20.5, ROT= 6.8, 20.5
2025-06-11T20:46:42.485Z,1749674802.485 [DAT](INFO): DAT read: Bearing 6.8, 20.5 (Local)
2025-06-11T20:46:42.486Z,1749674802.486 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.8, 20.5 (Local)
2025-06-11T20:46:42.487Z,1749674802.487 [DAT](INFO): DAT read: Range 10 to 50 : 438.0 m (Round-trip 584.0 ms) speed 0.0 m/s
2025-06-11T20:46:42.488Z,1749674802.488 [DAT](INFO): DAT read: user:459>
2025-06-11T20:46:42.489Z,1749674802.489 [DAT](INFO): DAT read: Tx time:20:46:44.4034
2025-06-11T20:46:42.489Z,1749674802.489 [DAT](INFO): Ping request sent.
2025-06-11T20:46:42.489Z,1749674802.489 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:42.490Z,1749674802.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:42.491Z,1749674802.491 [DAT](INFO): direction in FSK: [0.930083,0.110906,-0.350207]
2025-06-11T20:46:42.491Z,1749674802.491 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:42.491Z,1749674802.491 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:42.494Z,1749674802.494 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:42.495Z,1749674802.495 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:42.649Z,1749674802.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 438.000000 m,
deltaT: 4.033877 s,
deltaX: -2.000000 m,
approachRate: -0.495801 m/s,
rangeRepo size: 4
2025-06-11T20:46:42.651Z,1749674802.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 434.162842 m,
bearing: 329.445434 deg,
lat: 36.906298 deg,
lon: -122.115347 deg,
deltaT: 4.033877 s,
deltaX: -1.981750 m,
approachRate: -0.491277 m/s,
posRepo size: 4
2025-06-11T20:46:42.656Z,1749674802.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:42.659Z,1749674802.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 414.019867 m,
bearing: 329.438867 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003400 deg/s,
cmd heading: 321.928727 deg,
new cmd heading: 321.933231 deg.
2025-06-11T20:46:42.664Z,1749674802.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618795 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:42.714Z,1749674802.714 [DAT](INFO): DAT read: TxSync time:20:46:44.4026
2025-06-11T20:46:43.109Z,1749674803.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:43.111Z,1749674803.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 413.765533 m,
bearing: 329.439603 deg,
approach rate: -0.547147 m/s,
LOS rate: 0.001584 deg/s,
cmd heading: 321.933235 deg,
new cmd heading: 321.935444 deg.
2025-06-11T20:46:43.112Z,1749674803.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618834 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:43.411Z,1749674803.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:43.430Z,1749674803.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 413.607880 m,
bearing: 329.440217 deg,
approach rate: -0.520720 m/s,
LOS rate: 0.002029 deg/s,
cmd heading: 321.935448 deg,
new cmd heading: 321.937291 deg.
2025-06-11T20:46:43.431Z,1749674803.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618865 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:43.880Z,1749674803.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:43.882Z,1749674803.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:43.893Z,1749674803.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 413.375671 m,
bearing: 329.440736 deg,
approach rate: -0.493125 m/s,
LOS rate: 0.001103 deg/s,
cmd heading: 321.937278 deg,
new cmd heading: 321.938837 deg.
2025-06-11T20:46:43.894Z,1749674803.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618893 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:43.973Z,1749674803.973 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:43.974Z,1749674803.974 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:43.974Z,1749674803.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:44.225Z,1749674804.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735333
2025-06-11T20:46:44.247Z,1749674804.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:44.250Z,1749674804.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 413.172852 m,
bearing: 329.441190 deg,
approach rate: -0.555508 m/s,
LOS rate: 0.001244 deg/s,
cmd heading: 321.938836 deg,
new cmd heading: 321.940198 deg.
2025-06-11T20:46:44.251Z,1749674804.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618917 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:44.478Z,1749674804.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987930
2025-06-11T20:46:44.625Z,1749674804.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:44.628Z,1749674804.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 412.976440 m,
bearing: 329.441645 deg,
approach rate: -0.519375 m/s,
LOS rate: 0.001202 deg/s,
cmd heading: 321.940202 deg,
new cmd heading: 321.941566 deg.
2025-06-11T20:46:44.629Z,1749674804.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618940 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:44.729Z,1749674804.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239518
2025-06-11T20:46:44.981Z,1749674804.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491411
2025-06-11T20:46:45.065Z,1749674805.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:45.068Z,1749674805.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 412.747681 m,
bearing: 329.441071 deg,
approach rate: -0.520487 m/s,
LOS rate: -0.001306 deg/s,
cmd heading: 321.941568 deg,
new cmd heading: 321.939845 deg.
2025-06-11T20:46:45.069Z,1749674805.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618910 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:45.233Z,1749674805.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743384
2025-06-11T20:46:45.434Z,1749674805.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:45.437Z,1749674805.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 412.555908 m,
bearing: 329.440527 deg,
approach rate: -0.519882 m/s,
LOS rate: -0.001476 deg/s,
cmd heading: 321.939846 deg,
new cmd heading: 321.938213 deg.
2025-06-11T20:46:45.438Z,1749674805.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618882 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:45.485Z,1749674805.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996106
2025-06-11T20:46:45.737Z,1749674805.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247347
2025-06-11T20:46:45.985Z,1749674805.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:45.987Z,1749674805.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:45.989Z,1749674805.989 [DAT](INFO): DAT read: Rx Time:20:46:47.3887
2025-06-11T20:46:45.989Z,1749674805.989 [DAT](INFO): Rx dataTimestamp_ set to:1749674805.989201
2025-06-11T20:46:45.990Z,1749674805.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500666
2025-06-11T20:46:46.033Z,1749674806.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 412.274078 m,
bearing: 329.438401 deg,
approach rate: -0.509132 m/s,
LOS rate: -0.003843 deg/s,
cmd heading: 321.938207 deg,
new cmd heading: 321.931825 deg.
2025-06-11T20:46:46.034Z,1749674806.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618770 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:46.241Z,1749674806.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751358
2025-06-11T20:46:46.338Z,1749674806.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:46.341Z,1749674806.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 412.091400 m,
bearing: 329.436904 deg,
approach rate: -0.520421 m/s,
LOS rate: -0.004267 deg/s,
cmd heading: 321.931814 deg,
new cmd heading: 321.927320 deg.
2025-06-11T20:46:46.342Z,1749674806.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618692 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:46.493Z,1749674806.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003492
2025-06-11T20:46:46.751Z,1749674806.751 [DAT](INFO): DAT read: 20:46:47.3887 LVL= 20640, 24769, 20946, 26963, AGC= 73, IDX= 411, 0.02, 0.225,-1.132,-0.070,-0.527, PHS= 0.839,-0.558, 0.454, RAW= 134.5, -11.8, CAL= 140.1, -22.3, ROT= 9.9, 22.3
2025-06-11T20:46:46.752Z,1749674806.752 [DAT](INFO): got valid direction response:
20:46:47.3887 LVL= 20640, 24769, 20946, 26963, AGC= 73, IDX= 411, 0.02, 0.225,-1.132,-0.070,-0.527, PHS= 0.839,-0.558, 0.454, RAW= 134.5, -11.8, CAL= 140.1, -22.3, ROT= 9.9, 22.3
2025-06-11T20:46:46.753Z,1749674806.753 [DAT](INFO): DAT read: Bearing 9.9, 22.3 (Local)
2025-06-11T20:46:46.754Z,1749674806.754 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.9, 22.3 (Local)
2025-06-11T20:46:46.755Z,1749674806.755 [DAT](INFO): DAT read: Range 10 to 50 : 435.8 m (Round-trip 581.1 ms) speed 0.0 m/s
2025-06-11T20:46:46.756Z,1749674806.756 [DAT](INFO): DAT read: user:460>
2025-06-11T20:46:46.757Z,1749674806.757 [DAT](INFO): DAT read: Tx time:20:46:48.5019
2025-06-11T20:46:46.757Z,1749674806.757 [DAT](INFO): Ping request sent.
2025-06-11T20:46:46.757Z,1749674806.757 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:46.757Z,1749674806.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:46.758Z,1749674806.758 [DAT](INFO): direction in FSK: [0.911433,0.159070,-0.379456]
2025-06-11T20:46:46.759Z,1749674806.759 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:46.759Z,1749674806.759 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:46.760Z,1749674806.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.16 m.
2025-06-11T20:46:46.762Z,1749674806.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 434.162842 m,
nav range: 411.883728 m,
bearing: 329.435076 deg,
approach rate: -0.512410 m/s,
LOS rate: -0.004512 deg/s,
cmd heading: 321.927333 deg,
new cmd heading: 321.921847 deg.
2025-06-11T20:46:46.763Z,1749674806.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618596 target range: 434.162842 and range: 438.00 m.
2025-06-11T20:46:46.766Z,1749674806.766 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:46.766Z,1749674806.766 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:46.997Z,1749674806.997 [DAT](INFO): DAT read: TxSync time:20:46:48.5011
2025-06-11T20:46:47.190Z,1749674807.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 435.799988 m,
deltaT: 4.282173 s,
deltaX: -2.200012 m,
approachRate: -0.513761 m/s,
rangeRepo size: 4
2025-06-11T20:46:47.193Z,1749674807.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 431.983063 m,
bearing: 333.455769 deg,
lat: 36.906319 deg,
lon: -122.115329 deg,
deltaT: 4.282173 s,
deltaX: -2.179779 m,
approachRate: -0.509036 m/s,
posRepo size: 4
2025-06-11T20:46:47.193Z,1749674807.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.98 m.
2025-06-11T20:46:47.196Z,1749674807.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 431.983063 m,
nav range: 412.860992 m,
bearing: 329.797132 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004512 deg/s,
cmd heading: 321.921842 deg,
new cmd heading: 321.915809 deg.
2025-06-11T20:46:47.197Z,1749674807.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618491 target range: 431.983063 and range: 435.80 m.
2025-06-11T20:46:47.554Z,1749674807.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.98 m.
2025-06-11T20:46:47.560Z,1749674807.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 431.983063 m,
nav range: 412.671539 m,
bearing: 329.794896 deg,
approach rate: -0.522697 m/s,
LOS rate: -0.006174 deg/s,
cmd heading: 321.915804 deg,
new cmd heading: 321.909091 deg.
2025-06-11T20:46:47.562Z,1749674807.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618373 target range: 431.983063 and range: 435.80 m.
2025-06-11T20:46:47.988Z,1749674807.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:47.990Z,1749674807.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.98 m.
2025-06-11T20:46:47.993Z,1749674807.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 431.983063 m,
nav range: 412.445557 m,
bearing: 329.792333 deg,
approach rate: -0.515457 m/s,
LOS rate: -0.005847 deg/s,
cmd heading: 321.909083 deg,
new cmd heading: 321.901392 deg.
2025-06-11T20:46:47.994Z,1749674807.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618239 target range: 431.983063 and range: 435.80 m.
2025-06-11T20:46:48.021Z,1749674808.021 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:48.021Z,1749674808.021 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:48.022Z,1749674808.022 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:48.273Z,1749674808.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515716
2025-06-11T20:46:48.450Z,1749674808.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.98 m.
2025-06-11T20:46:48.453Z,1749674808.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 431.983063 m,
nav range: 412.209930 m,
bearing: 329.789491 deg,
approach rate: -0.512595 m/s,
LOS rate: -0.006188 deg/s,
cmd heading: 321.901406 deg,
new cmd heading: 321.892873 deg.
2025-06-11T20:46:48.454Z,1749674808.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618091 target range: 431.983063 and range: 435.80 m.
2025-06-11T20:46:48.525Z,1749674808.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767734
2025-06-11T20:46:48.777Z,1749674808.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019863
2025-06-11T20:46:48.978Z,1749674808.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.98 m.
2025-06-11T20:46:48.982Z,1749674808.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 431.983063 m,
nav range: 411.938934 m,
bearing: 329.785900 deg,
approach rate: -0.512866 m/s,
LOS rate: -0.006800 deg/s,
cmd heading: 321.892882 deg,
new cmd heading: 321.882102 deg.
2025-06-11T20:46:48.983Z,1749674808.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617902 target range: 431.983063 and range: 435.80 m.
2025-06-11T20:46:49.029Z,1749674809.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271711
2025-06-11T20:46:49.281Z,1749674809.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523710
2025-06-11T20:46:49.406Z,1749674809.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.98 m.
2025-06-11T20:46:49.409Z,1749674809.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 431.983063 m,
nav range: 411.719696 m,
bearing: 329.782989 deg,
approach rate: -0.512651 m/s,
LOS rate: -0.006810 deg/s,
cmd heading: 321.882090 deg,
new cmd heading: 321.873353 deg.
2025-06-11T20:46:49.410Z,1749674809.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617750 target range: 431.983063 and range: 435.80 m.
2025-06-11T20:46:49.533Z,1749674809.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775578
2025-06-11T20:46:49.785Z,1749674809.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027787
2025-06-11T20:46:49.911Z,1749674809.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.98 m.
2025-06-11T20:46:49.919Z,1749674809.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 431.983063 m,
nav range: 411.475922 m,
bearing: 329.779756 deg,
approach rate: -0.482379 m/s,
LOS rate: -0.006401 deg/s,
cmd heading: 321.873348 deg,
new cmd heading: 321.863644 deg.
2025-06-11T20:46:49.925Z,1749674809.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617580 target range: 431.983063 and range: 435.80 m.
2025-06-11T20:46:50.037Z,1749674810.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279621
2025-06-11T20:46:50.290Z,1749674810.290 [DAT](INFO): DAT read: Rx Time:20:46:51.4843
2025-06-11T20:46:50.291Z,1749674810.291 [DAT](INFO): Rx dataTimestamp_ set to:1749674810.290382
2025-06-11T20:46:50.291Z,1749674810.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534093
2025-06-11T20:46:50.398Z,1749674810.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:50.401Z,1749674810.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.98 m.
2025-06-11T20:46:50.403Z,1749674810.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 431.983063 m,
nav range: 411.209473 m,
bearing: 329.776829 deg,
approach rate: -0.544511 m/s,
LOS rate: -0.005986 deg/s,
cmd heading: 321.863649 deg,
new cmd heading: 321.854861 deg.
2025-06-11T20:46:50.404Z,1749674810.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617427 target range: 431.983063 and range: 435.80 m.
2025-06-11T20:46:50.541Z,1749674810.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783682
2025-06-11T20:46:50.780Z,1749674810.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 431.98 m.
2025-06-11T20:46:50.783Z,1749674810.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 431.983063 m,
nav range: 411.013977 m,
bearing: 329.774698 deg,
approach rate: -0.514745 m/s,
LOS rate: -0.005614 deg/s,
cmd heading: 321.854852 deg,
new cmd heading: 321.848455 deg.
2025-06-11T20:46:50.784Z,1749674810.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617315 target range: 431.983063 and range: 435.80 m.
2025-06-11T20:46:50.799Z,1749674810.799 [DAT](INFO): DAT read: 20:46:51.4843 LVL= 22192, 25697, 21410, 32755, AGC= 73, IDX= 414,-0.03,-1.476,-2.908,-1.762,-2.263, PHS= 0.876,-0.598, 0.498, RAW= 135.7, -11.7, CAL= 141.5, -22.0, ROT= 8.5, 22.0
2025-06-11T20:46:50.800Z,1749674810.800 [DAT](INFO): got valid direction response:
20:46:51.4843 LVL= 22192, 25697, 21410, 32755, AGC= 73, IDX= 414,-0.03,-1.476,-2.908,-1.762,-2.263, PHS= 0.876,-0.598, 0.498, RAW= 135.7, -11.7, CAL= 141.5, -22.0, ROT= 8.5, 22.0
2025-06-11T20:46:50.801Z,1749674810.801 [DAT](INFO): DAT read: Bearing 8.5, 22.0 (Local)
2025-06-11T20:46:50.801Z,1749674810.801 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.5, 22.0 (Local)
2025-06-11T20:46:50.803Z,1749674810.803 [DAT](INFO): DAT read: Range 10 to 50 : 433.7 m (Round-trip 578.3 ms) speed 0.0 m/s
2025-06-11T20:46:50.804Z,1749674810.804 [DAT](INFO): DAT read: user:461>
2025-06-11T20:46:50.805Z,1749674810.805 [DAT](INFO): DAT read: Tx time:20:46:52.6019
2025-06-11T20:46:50.805Z,1749674810.805 [DAT](INFO): Ping request sent.
2025-06-11T20:46:50.805Z,1749674810.805 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:50.805Z,1749674810.805 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:50.806Z,1749674810.806 [DAT](INFO): direction in FSK: [0.917000,0.137046,-0.374607]
2025-06-11T20:46:50.806Z,1749674810.806 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:50.807Z,1749674810.807 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:50.834Z,1749674810.834 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:50.834Z,1749674810.834 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:51.047Z,1749674811.047 [DAT](INFO): DAT read: TxSync time:20:46:52.6011
2025-06-11T20:46:51.234Z,1749674811.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 433.700012 m,
deltaT: 4.047941 s,
deltaX: -2.099976 m,
approachRate: -0.518776 m/s,
rangeRepo size: 4
2025-06-11T20:46:51.239Z,1749674811.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 429.901123 m,
bearing: 332.416664 deg,
lat: 36.906319 deg,
lon: -122.115329 deg,
deltaT: 4.047941 s,
deltaX: -2.081940 m,
approachRate: -0.514321 m/s,
posRepo size: 4
2025-06-11T20:46:51.248Z,1749674811.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m.
2025-06-11T20:46:51.250Z,1749674811.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 429.901123 m,
nav range: 410.788300 m,
bearing: 329.773231 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005614 deg/s,
cmd heading: 321.848458 deg,
new cmd heading: 321.840829 deg.
2025-06-11T20:46:51.251Z,1749674811.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617182 target range: 429.901123 and range: 433.70 m.
2025-06-11T20:46:51.595Z,1749674811.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m.
2025-06-11T20:46:51.598Z,1749674811.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 429.901123 m,
nav range: 410.599152 m,
bearing: 329.772065 deg,
approach rate: -0.522947 m/s,
LOS rate: -0.003225 deg/s,
cmd heading: 321.840836 deg,
new cmd heading: 321.837337 deg.
2025-06-11T20:46:51.599Z,1749674811.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617121 target range: 429.901123 and range: 433.70 m.
2025-06-11T20:46:52.031Z,1749674812.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m.
2025-06-11T20:46:52.039Z,1749674812.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 429.901123 m,
nav range: 410.371155 m,
bearing: 329.770378 deg,
approach rate: -0.522683 m/s,
LOS rate: -0.003871 deg/s,
cmd heading: 321.837339 deg,
new cmd heading: 321.832273 deg.
2025-06-11T20:46:52.040Z,1749674812.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617033 target range: 429.901123 and range: 433.70 m.
2025-06-11T20:46:52.406Z,1749674812.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:52.408Z,1749674812.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m.
2025-06-11T20:46:52.411Z,1749674812.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 429.901123 m,
nav range: 410.179535 m,
bearing: 329.768981 deg,
approach rate: -0.508915 m/s,
LOS rate: -0.003710 deg/s,
cmd heading: 321.832285 deg,
new cmd heading: 321.828094 deg.
2025-06-11T20:46:52.411Z,1749674812.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616960 target range: 429.901123 and range: 433.70 m.
2025-06-11T20:46:52.556Z,1749674812.556 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:52.557Z,1749674812.557 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:52.557Z,1749674812.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:52.809Z,1749674812.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003835
2025-06-11T20:46:52.829Z,1749674812.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m.
2025-06-11T20:46:52.832Z,1749674812.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 429.901123 m,
nav range: 409.964569 m,
bearing: 329.767449 deg,
approach rate: -0.509840 m/s,
LOS rate: -0.003636 deg/s,
cmd heading: 321.828104 deg,
new cmd heading: 321.823505 deg.
2025-06-11T20:46:52.833Z,1749674812.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616880 target range: 429.901123 and range: 433.70 m.
2025-06-11T20:46:53.064Z,1749674813.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258971
2025-06-11T20:46:53.261Z,1749674813.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m.
2025-06-11T20:46:53.264Z,1749674813.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 429.901123 m,
nav range: 409.744781 m,
bearing: 329.766964 deg,
approach rate: -0.509260 m/s,
LOS rate: -0.001124 deg/s,
cmd heading: 321.823515 deg,
new cmd heading: 321.822059 deg.
2025-06-11T20:46:53.265Z,1749674813.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616855 target range: 429.901123 and range: 433.70 m.
2025-06-11T20:46:53.313Z,1749674813.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508378
2025-06-11T20:46:53.565Z,1749674813.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759854
2025-06-11T20:46:53.642Z,1749674813.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m.
2025-06-11T20:46:53.645Z,1749674813.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 429.901123 m,
nav range: 409.550812 m,
bearing: 329.766575 deg,
approach rate: -0.509519 m/s,
LOS rate: -0.001024 deg/s,
cmd heading: 321.822067 deg,
new cmd heading: 321.820897 deg.
2025-06-11T20:46:53.646Z,1749674813.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616834 target range: 429.901123 and range: 433.70 m.
2025-06-11T20:46:53.817Z,1749674813.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011881
2025-06-11T20:46:54.069Z,1749674814.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263909
2025-06-11T20:46:54.075Z,1749674814.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m.
2025-06-11T20:46:54.078Z,1749674814.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 429.901123 m,
nav range: 409.328430 m,
bearing: 329.766310 deg,
approach rate: -0.513338 m/s,
LOS rate: -0.000612 deg/s,
cmd heading: 321.820892 deg,
new cmd heading: 321.820097 deg.
2025-06-11T20:46:54.079Z,1749674814.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616820 target range: 429.901123 and range: 433.70 m.
2025-06-11T20:46:54.322Z,1749674814.322 [DAT](INFO): DAT read: Rx Time:20:46:55.5814
2025-06-11T20:46:54.324Z,1749674814.324 [DAT](INFO): Rx dataTimestamp_ set to:1749674814.322940
2025-06-11T20:46:54.325Z,1749674814.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519915
2025-06-11T20:46:54.450Z,1749674814.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:54.452Z,1749674814.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m.
2025-06-11T20:46:54.454Z,1749674814.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 429.901123 m,
nav range: 409.133667 m,
bearing: 329.766087 deg,
approach rate: -0.516941 m/s,
LOS rate: -0.000590 deg/s,
cmd heading: 321.820100 deg,
new cmd heading: 321.819432 deg.
2025-06-11T20:46:54.455Z,1749674814.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616809 target range: 429.901123 and range: 433.70 m.
2025-06-11T20:46:54.573Z,1749674814.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767988
2025-06-11T20:46:54.831Z,1749674814.831 [DAT](INFO): DAT read: 20:46:55.5814 LVL= 18688, 24561, 15634, 25443, AGC= 73, IDX= 415, 0.47,-0.247,-1.836,-0.573,-1.058, PHS= 0.899,-0.731, 0.482, RAW= 135.7, -8.9, CAL= 141.7, -20.1, ROT= 8.3, 20.1
2025-06-11T20:46:54.832Z,1749674814.832 [DAT](INFO): got valid direction response:
20:46:55.5814 LVL= 18688, 24561, 15634, 25443, AGC= 73, IDX= 415, 0.47,-0.247,-1.836,-0.573,-1.058, PHS= 0.899,-0.731, 0.482, RAW= 135.7, -8.9, CAL= 141.7, -20.1, ROT= 8.3, 20.1
2025-06-11T20:46:54.833Z,1749674814.833 [DAT](INFO): DAT read: Bearing 8.3, 20.1 (Local)
2025-06-11T20:46:54.833Z,1749674814.833 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.3, 20.1 (Local)
2025-06-11T20:46:54.835Z,1749674814.835 [DAT](INFO): DAT read: Range 10 to 50 : 431.4 m (Round-trip 575.3 ms) speed 0.4 m/s
2025-06-11T20:46:54.835Z,1749674814.835 [DAT](INFO): DAT read: user:462>
2025-06-11T20:46:54.836Z,1749674814.836 [DAT](INFO): DAT read: Tx time:20:46:56.7019
2025-06-11T20:46:54.836Z,1749674814.836 [DAT](INFO): Ping request sent.
2025-06-11T20:46:54.837Z,1749674814.837 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:54.837Z,1749674814.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:54.838Z,1749674814.838 [DAT](INFO): direction in FSK: [0.929258,0.135564,-0.343660]
2025-06-11T20:46:54.838Z,1749674814.838 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:54.838Z,1749674814.838 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:54.842Z,1749674814.842 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:54.842Z,1749674814.842 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:54.999Z,1749674814.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 431.399994 m,
deltaT: 4.031829 s,
deltaX: -2.300018 m,
approachRate: -0.570465 m/s,
rangeRepo size: 4
2025-06-11T20:46:55.005Z,1749674815.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 427.621735 m,
bearing: 331.131942 deg,
lat: 36.906395 deg,
lon: -122.115267 deg,
deltaT: 4.031829 s,
deltaX: -2.279388 m,
approachRate: -0.565349 m/s,
posRepo size: 4
2025-06-11T20:46:55.006Z,1749674815.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:55.013Z,1749674815.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 413.594696 m,
bearing: 331.017399 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000590 deg/s,
cmd heading: 321.819444 deg,
new cmd heading: 321.818476 deg.
2025-06-11T20:46:55.014Z,1749674815.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616792 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:55.078Z,1749674815.078 [DAT](INFO): DAT read: TxSync time:20:46:56.7011
2025-06-11T20:46:55.333Z,1749674815.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:55.340Z,1749674815.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 413.379120 m,
bearing: 331.018333 deg,
approach rate: -0.643565 m/s,
LOS rate: 0.002788 deg/s,
cmd heading: 321.818488 deg,
new cmd heading: 321.821290 deg.
2025-06-11T20:46:55.341Z,1749674815.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616841 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:55.690Z,1749674815.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:55.693Z,1749674815.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 413.190491 m,
bearing: 331.019150 deg,
approach rate: -0.528372 m/s,
LOS rate: 0.002291 deg/s,
cmd heading: 321.821302 deg,
new cmd heading: 321.823756 deg.
2025-06-11T20:46:55.694Z,1749674815.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616884 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:56.105Z,1749674816.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:56.128Z,1749674816.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 412.971466 m,
bearing: 331.020333 deg,
approach rate: -0.528134 m/s,
LOS rate: 0.002852 deg/s,
cmd heading: 321.823760 deg,
new cmd heading: 321.827309 deg.
2025-06-11T20:46:56.129Z,1749674816.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616946 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:56.480Z,1749674816.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:56.482Z,1749674816.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:56.485Z,1749674816.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 412.772583 m,
bearing: 331.021440 deg,
approach rate: -0.527704 m/s,
LOS rate: 0.002941 deg/s,
cmd heading: 321.827312 deg,
new cmd heading: 321.830637 deg.
2025-06-11T20:46:56.486Z,1749674816.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617004 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:56.590Z,1749674816.590 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:46:56.590Z,1749674816.590 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:46:56.591Z,1749674816.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:46:56.841Z,1749674816.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004188
2025-06-11T20:46:56.911Z,1749674816.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:56.915Z,1749674816.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 412.545563 m,
bearing: 331.022763 deg,
approach rate: -0.528583 m/s,
LOS rate: 0.003080 deg/s,
cmd heading: 321.830645 deg,
new cmd heading: 321.834614 deg.
2025-06-11T20:46:56.916Z,1749674816.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617074 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:57.093Z,1749674817.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256151
2025-06-11T20:46:57.180Z,1749674817.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:46:57.334Z,1749674817.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:57.342Z,1749674817.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 412.325623 m,
bearing: 331.024418 deg,
approach rate: -0.520270 m/s,
LOS rate: 0.003917 deg/s,
cmd heading: 321.834607 deg,
new cmd heading: 321.839575 deg.
2025-06-11T20:46:57.343Z,1749674817.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617160 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:57.345Z,1749674817.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508402
2025-06-11T20:46:57.597Z,1749674817.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760298
2025-06-11T20:46:57.693Z,1749674817.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:57.696Z,1749674817.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 412.130157 m,
bearing: 331.025981 deg,
approach rate: -0.544131 m/s,
LOS rate: 0.004354 deg/s,
cmd heading: 321.839579 deg,
new cmd heading: 321.844272 deg.
2025-06-11T20:46:57.697Z,1749674817.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617242 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:57.849Z,1749674817.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012638
2025-06-11T20:46:58.101Z,1749674818.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264335
2025-06-11T20:46:58.142Z,1749674818.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:58.145Z,1749674818.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 411.889954 m,
bearing: 331.027444 deg,
approach rate: -0.535762 m/s,
LOS rate: 0.003265 deg/s,
cmd heading: 321.844278 deg,
new cmd heading: 321.848669 deg.
2025-06-11T20:46:58.146Z,1749674818.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617319 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:58.184Z,1749674818.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:46:58.353Z,1749674818.353 [DAT](INFO): DAT read: Rx Time:20:46:59.6788
2025-06-11T20:46:58.354Z,1749674818.354 [DAT](INFO): Rx dataTimestamp_ set to:1749674818.353854
2025-06-11T20:46:58.355Z,1749674818.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518516
2025-06-11T20:46:58.510Z,1749674818.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:46:58.517Z,1749674818.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.62 m.
2025-06-11T20:46:58.519Z,1749674818.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 427.621735 m,
nav range: 411.697876 m,
bearing: 331.028649 deg,
approach rate: -0.512070 m/s,
LOS rate: 0.003215 deg/s,
cmd heading: 321.848677 deg,
new cmd heading: 321.852295 deg.
2025-06-11T20:46:58.525Z,1749674818.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617382 target range: 427.621735 and range: 431.40 m.
2025-06-11T20:46:58.606Z,1749674818.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769902
2025-06-11T20:46:58.888Z,1749674818.888 [DAT](INFO): DAT read: 20:46:59.6788 LVL= 22704, 29873, 22322, 32755, AGC= 70, IDX= 420,-0.10, 0.678,-1.208, 0.205,-0.230, PHS= 0.996,-0.931, 0.433, RAW= 133.5, -5.9, CAL= 139.0, -16.8, ROT= 11.0, 16.8
2025-06-11T20:46:58.889Z,1749674818.889 [DAT](INFO): got valid direction response:
20:46:59.6788 LVL= 22704, 29873, 22322, 32755, AGC= 70, IDX= 420,-0.10, 0.678,-1.208, 0.205,-0.230, PHS= 0.996,-0.931, 0.433, RAW= 133.5, -5.9, CAL= 139.0, -16.8, ROT= 11.0, 16.8
2025-06-11T20:46:58.890Z,1749674818.890 [DAT](INFO): DAT read: Bearing 11.0, 16.8 (Local)
2025-06-11T20:46:58.891Z,1749674818.891 [DAT](INFO): Local bearing/azimuth received:
Bearing 11.0, 16.8 (Local)
2025-06-11T20:46:58.892Z,1749674818.892 [DAT](INFO): DAT read: Range 10 to 50 : 429.4 m (Round-trip 572.6 ms) speed 0.5 m/s
2025-06-11T20:46:58.893Z,1749674818.893 [DAT](INFO): DAT read: user:463>
2025-06-11T20:46:58.894Z,1749674818.894 [DAT](INFO): DAT read: Tx time:20:47:00.8020
2025-06-11T20:46:58.894Z,1749674818.894 [DAT](INFO): Ping request sent.
2025-06-11T20:46:58.894Z,1749674818.894 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:46:58.895Z,1749674818.895 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:46:58.905Z,1749674818.905 [DAT](INFO): direction in FSK: [0.939731,0.182665,-0.289032]
2025-06-11T20:46:58.905Z,1749674818.905 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:58.905Z,1749674818.905 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:58.917Z,1749674818.917 [DAT](INFO): publishing transmit ping time
2025-06-11T20:46:58.917Z,1749674818.917 [DAT](INFO): publishing direction and range info
2025-06-11T20:46:59.051Z,1749674819.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 429.399994 m,
deltaT: 4.034351 s,
deltaX: -2.000000 m,
approachRate: -0.495743 m/s,
rangeRepo size: 4
2025-06-11T20:46:59.083Z,1749674819.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 425.642334 m,
bearing: 332.434131 deg,
lat: 36.906411 deg,
lon: -122.115196 deg,
deltaT: 4.034351 s,
deltaX: -1.979401 m,
approachRate: -0.490637 m/s,
posRepo size: 4
2025-06-11T20:46:59.083Z,1749674819.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:46:59.090Z,1749674819.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 409.972382 m,
bearing: 331.914043 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003215 deg/s,
cmd heading: 321.852283 deg,
new cmd heading: 321.857361 deg.
2025-06-11T20:46:59.091Z,1749674819.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617471 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:46:59.109Z,1749674819.109 [DAT](INFO): DAT read: TxSync time:20:47:00.8012
2025-06-11T20:46:59.418Z,1749674819.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:46:59.423Z,1749674819.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 409.735138 m,
bearing: 331.916162 deg,
approach rate: -0.632291 m/s,
LOS rate: 0.005651 deg/s,
cmd heading: 321.857365 deg,
new cmd heading: 321.863726 deg.
2025-06-11T20:46:59.425Z,1749674819.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617582 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:46:59.791Z,1749674819.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:46:59.794Z,1749674819.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 409.533081 m,
bearing: 331.917923 deg,
approach rate: -0.541780 m/s,
LOS rate: 0.004725 deg/s,
cmd heading: 321.863731 deg,
new cmd heading: 321.869018 deg.
2025-06-11T20:46:59.795Z,1749674819.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617674 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:47:00.223Z,1749674820.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:00.226Z,1749674820.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 409.303497 m,
bearing: 331.919249 deg,
approach rate: -0.531208 m/s,
LOS rate: 0.003069 deg/s,
cmd heading: 321.869031 deg,
new cmd heading: 321.873010 deg.
2025-06-11T20:47:00.227Z,1749674820.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617744 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:47:00.609Z,1749674820.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:00.611Z,1749674820.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:00.613Z,1749674820.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 409.097931 m,
bearing: 331.920291 deg,
approach rate: -0.531006 m/s,
LOS rate: 0.002692 deg/s,
cmd heading: 321.873020 deg,
new cmd heading: 321.876146 deg.
2025-06-11T20:47:00.614Z,1749674820.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617798 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:47:00.621Z,1749674820.621 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:00.621Z,1749674820.621 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:00.621Z,1749674820.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:00.873Z,1749674820.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978329
2025-06-11T20:47:01.010Z,1749674821.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:01.033Z,1749674821.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 408.885590 m,
bearing: 331.921197 deg,
approach rate: -0.532033 m/s,
LOS rate: 0.002272 deg/s,
cmd heading: 321.876134 deg,
new cmd heading: 321.878854 deg.
2025-06-11T20:47:01.062Z,1749674821.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617846 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:47:01.125Z,1749674821.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230525
2025-06-11T20:47:01.377Z,1749674821.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482451
2025-06-11T20:47:01.466Z,1749674821.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:01.469Z,1749674821.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 408.646118 m,
bearing: 331.921695 deg,
approach rate: -0.525053 m/s,
LOS rate: 0.001093 deg/s,
cmd heading: 321.878866 deg,
new cmd heading: 321.880362 deg.
2025-06-11T20:47:01.470Z,1749674821.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617872 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:47:01.629Z,1749674821.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734635
2025-06-11T20:47:01.821Z,1749674821.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:01.823Z,1749674821.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 408.460236 m,
bearing: 331.922052 deg,
approach rate: -0.525288 m/s,
LOS rate: 0.001008 deg/s,
cmd heading: 321.880369 deg,
new cmd heading: 321.881439 deg.
2025-06-11T20:47:01.824Z,1749674821.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617891 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:47:01.881Z,1749674821.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986684
2025-06-11T20:47:02.136Z,1749674822.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241427
2025-06-11T20:47:02.265Z,1749674822.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:02.284Z,1749674822.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 408.233215 m,
bearing: 331.921852 deg,
approach rate: -0.509449 m/s,
LOS rate: -0.000449 deg/s,
cmd heading: 321.881435 deg,
new cmd heading: 321.880834 deg.
2025-06-11T20:47:02.285Z,1749674822.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617880 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:47:02.385Z,1749674822.385 [DAT](INFO): DAT read: Rx Time:20:47:03.7759
2025-06-11T20:47:02.385Z,1749674822.385 [DAT](INFO): Rx dataTimestamp_ set to:1749674822.385046
2025-06-11T20:47:02.386Z,1749674822.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491499
2025-06-11T20:47:02.637Z,1749674822.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742400
2025-06-11T20:47:02.731Z,1749674822.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:02.734Z,1749674822.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:02.737Z,1749674822.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 407.994537 m,
bearing: 331.921666 deg,
approach rate: -0.509576 m/s,
LOS rate: -0.000397 deg/s,
cmd heading: 321.880834 deg,
new cmd heading: 321.880276 deg.
2025-06-11T20:47:02.738Z,1749674822.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617871 target range: 425.642334 and range: 429.40 m.
2025-06-11T20:47:02.889Z,1749674822.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.994299
2025-06-11T20:47:03.142Z,1749674823.142 [DAT](INFO): DAT read: Range 10 to 50 : 427.3 m (Round-trip 569.8 ms) speed 0.6 m/s
2025-06-11T20:47:03.143Z,1749674823.143 [DAT](INFO): DAT read: user:464>
2025-06-11T20:47:03.144Z,1749674823.144 [DAT](INFO): DAT read: Tx time:20:47:04.8520
2025-06-11T20:47:03.144Z,1749674823.144 [DAT](INFO): Ping request sent.
2025-06-11T20:47:03.144Z,1749674823.144 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:03.145Z,1749674823.145 [DAT](INFO): DAT read: TxSync time:20:47:04.8512
2025-06-11T20:47:03.145Z,1749674823.145 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:47:03.145Z,1749674823.145 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:03.146Z,1749674823.146 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:03.255Z,1749674823.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 427.299988 m,
deltaT: 4.281832 s,
deltaX: -2.100006 m,
approachRate: -0.490446 m/s,
rangeRepo size: 4
2025-06-11T20:47:03.255Z,1749674823.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:03.262Z,1749674823.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 407.739807 m,
bearing: 331.921446 deg,
approach rate: -0.489465 m/s,
LOS rate: -0.000423 deg/s,
cmd heading: 321.880287 deg,
new cmd heading: 321.879627 deg.
2025-06-11T20:47:03.263Z,1749674823.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617859 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:03.583Z,1749674823.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:03.586Z,1749674823.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 407.568756 m,
bearing: 331.921386 deg,
approach rate: -0.520277 m/s,
LOS rate: -0.000182 deg/s,
cmd heading: 321.879631 deg,
new cmd heading: 321.879452 deg.
2025-06-11T20:47:03.587Z,1749674823.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617856 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:03.988Z,1749674823.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:03.990Z,1749674823.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 407.365814 m,
bearing: 331.921459 deg,
approach rate: -0.501402 m/s,
LOS rate: 0.000179 deg/s,
cmd heading: 321.879440 deg,
new cmd heading: 321.879658 deg.
2025-06-11T20:47:03.991Z,1749674823.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617860 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:04.418Z,1749674824.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:04.425Z,1749674824.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 407.164703 m,
bearing: 331.921651 deg,
approach rate: -0.467699 m/s,
LOS rate: 0.000447 deg/s,
cmd heading: 321.879659 deg,
new cmd heading: 321.880235 deg.
2025-06-11T20:47:04.425Z,1749674824.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617870 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:04.794Z,1749674824.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:04.796Z,1749674824.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:04.799Z,1749674824.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 406.969391 m,
bearing: 331.921877 deg,
approach rate: -0.516350 m/s,
LOS rate: 0.000598 deg/s,
cmd heading: 321.880232 deg,
new cmd heading: 321.880912 deg.
2025-06-11T20:47:04.800Z,1749674824.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617882 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:04.905Z,1749674824.905 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:04.905Z,1749674824.905 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:04.906Z,1749674824.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:05.157Z,1749674825.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012481
2025-06-11T20:47:05.226Z,1749674825.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:05.229Z,1749674825.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 406.764221 m,
bearing: 331.922084 deg,
approach rate: -0.477239 m/s,
LOS rate: 0.000481 deg/s,
cmd heading: 321.880916 deg,
new cmd heading: 321.881536 deg.
2025-06-11T20:47:05.230Z,1749674825.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617893 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:05.409Z,1749674825.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264829
2025-06-11T20:47:05.606Z,1749674825.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:05.611Z,1749674825.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 406.586029 m,
bearing: 331.922216 deg,
approach rate: -0.469213 m/s,
LOS rate: 0.000347 deg/s,
cmd heading: 321.881544 deg,
new cmd heading: 321.881939 deg.
2025-06-11T20:47:05.614Z,1749674825.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617899 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:05.661Z,1749674825.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516787
2025-06-11T20:47:05.913Z,1749674825.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768552
2025-06-11T20:47:05.000Z,1749674826.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:06.002Z,1749674826.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 406.395081 m,
bearing: 331.922294 deg,
approach rate: -0.484604 m/s,
LOS rate: 0.000200 deg/s,
cmd heading: 321.881926 deg,
new cmd heading: 321.882163 deg.
2025-06-11T20:47:06.003Z,1749674826.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617904 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:06.165Z,1749674826.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020624
2025-06-11T20:47:06.417Z,1749674826.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272706
2025-06-11T20:47:06.434Z,1749674826.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:06.437Z,1749674826.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 406.183868 m,
bearing: 331.922485 deg,
approach rate: -0.485962 m/s,
LOS rate: 0.000438 deg/s,
cmd heading: 321.882172 deg,
new cmd heading: 321.882743 deg.
2025-06-11T20:47:06.438Z,1749674826.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617914 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:06.669Z,1749674826.669 [DAT](INFO): DAT read: Rx Time:20:47:07.8230
2025-06-11T20:47:06.669Z,1749674826.669 [DAT](INFO): Rx dataTimestamp_ set to:1749674826.669113
2025-06-11T20:47:06.670Z,1749674826.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525739
2025-06-11T20:47:06.816Z,1749674826.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:06.818Z,1749674826.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:06.826Z,1749674826.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 406.000671 m,
bearing: 331.922605 deg,
approach rate: -0.477032 m/s,
LOS rate: 0.000314 deg/s,
cmd heading: 321.882746 deg,
new cmd heading: 321.883107 deg.
2025-06-11T20:47:06.827Z,1749674826.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617920 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:06.921Z,1749674826.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777071
2025-06-11T20:47:07.184Z,1749674827.184 [DAT](INFO): DAT read: 20:47:07.8230 LVL= 18864, 23585, 15778, 24643, AGC= 69, IDX= 409, 0.11, 0.414,-1.116, 0.086,-0.303, PHS= 0.804,-0.766, 0.385, RAW= 135.1, -6.1, CAL= 140.7, -16.7, ROT= 9.3, 16.7
2025-06-11T20:47:07.185Z,1749674827.185 [DAT](INFO): got valid direction response:
20:47:07.8230 LVL= 18864, 23585, 15778, 24643, AGC= 69, IDX= 409, 0.11, 0.414,-1.116, 0.086,-0.303, PHS= 0.804,-0.766, 0.385, RAW= 135.1, -6.1, CAL= 140.7, -16.7, ROT= 9.3, 16.7
2025-06-11T20:47:07.186Z,1749674827.186 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:47:07.186Z,1749674827.186 [DAT](INFO): Received a bad header
2025-06-11T20:47:07.200Z,1749674827.200 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:47:07.201Z,1749674827.201 [DAT](INFO): direction in FSK: [0.945233,0.154788,-0.287361]
2025-06-11T20:47:07.204Z,1749674827.204 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:07.204Z,1749674827.204 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:07.204Z,1749674827.204 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:07.322Z,1749674827.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:07.325Z,1749674827.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 405.748260 m,
bearing: 331.922502 deg,
approach rate: -0.501368 m/s,
LOS rate: -0.000206 deg/s,
cmd heading: 321.883101 deg,
new cmd heading: 321.882791 deg.
2025-06-11T20:47:07.326Z,1749674827.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617915 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:07.425Z,1749674827.425 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:07.425Z,1749674827.425 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:07.425Z,1749674827.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:07.612Z,1749674827.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:07.615Z,1749674827.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 405.606842 m,
bearing: 331.922398 deg,
approach rate: -0.487183 m/s,
LOS rate: -0.000357 deg/s,
cmd heading: 321.882801 deg,
new cmd heading: 321.882489 deg.
2025-06-11T20:47:07.616Z,1749674827.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617909 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:07.677Z,1749674827.677 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:07.677Z,1749674827.677 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:07.678Z,1749674827.678 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:07.929Z,1749674827.929 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:07.929Z,1749674827.929 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:07.929Z,1749674827.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:08.031Z,1749674828.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:08.037Z,1749674828.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 405.408813 m,
bearing: 331.922200 deg,
approach rate: -0.473066 m/s,
LOS rate: -0.000473 deg/s,
cmd heading: 321.882500 deg,
new cmd heading: 321.881906 deg.
2025-06-11T20:47:08.038Z,1749674828.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617899 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:08.181Z,1749674828.181 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:08.181Z,1749674828.181 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:08.181Z,1749674828.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:08.433Z,1749674828.433 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:08.433Z,1749674828.433 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:08.433Z,1749674828.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:08.441Z,1749674828.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:08.444Z,1749674828.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 405.196075 m,
bearing: 331.922403 deg,
approach rate: -0.517981 m/s,
LOS rate: 0.000493 deg/s,
cmd heading: 321.881899 deg,
new cmd heading: 321.882507 deg.
2025-06-11T20:47:08.445Z,1749674828.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617909 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:08.685Z,1749674828.685 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:08.685Z,1749674828.685 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:08.685Z,1749674828.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:08.831Z,1749674828.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:08.833Z,1749674828.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:08.836Z,1749674828.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 404.997253 m,
bearing: 331.922569 deg,
approach rate: -0.506975 m/s,
LOS rate: 0.000425 deg/s,
cmd heading: 321.882500 deg,
new cmd heading: 321.883001 deg.
2025-06-11T20:47:08.837Z,1749674828.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617918 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:08.938Z,1749674828.938 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:08.938Z,1749674828.938 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:08.938Z,1749674828.938 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:09.191Z,1749674829.191 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:09.193Z,1749674829.193 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:09.194Z,1749674829.194 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:09.271Z,1749674829.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:09.286Z,1749674829.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 404.775146 m,
bearing: 331.922349 deg,
approach rate: -0.507572 m/s,
LOS rate: -0.000504 deg/s,
cmd heading: 321.882992 deg,
new cmd heading: 321.882331 deg.
2025-06-11T20:47:09.287Z,1749674829.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617907 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:09.441Z,1749674829.441 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:09.441Z,1749674829.441 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:09.441Z,1749674829.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:09.647Z,1749674829.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:09.650Z,1749674829.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 404.584473 m,
bearing: 331.922179 deg,
approach rate: -0.507469 m/s,
LOS rate: -0.000454 deg/s,
cmd heading: 321.882336 deg,
new cmd heading: 321.881825 deg.
2025-06-11T20:47:09.651Z,1749674829.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617898 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:09.694Z,1749674829.694 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:09.694Z,1749674829.694 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:09.694Z,1749674829.694 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:09.945Z,1749674829.945 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:09.945Z,1749674829.945 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:09.945Z,1749674829.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:10.041Z,1749674830.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:10.044Z,1749674830.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 404.384399 m,
bearing: 331.922017 deg,
approach rate: -0.507405 m/s,
LOS rate: -0.000410 deg/s,
cmd heading: 321.881817 deg,
new cmd heading: 321.881332 deg.
2025-06-11T20:47:10.045Z,1749674830.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617889 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:10.200Z,1749674830.200 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:10.201Z,1749674830.201 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:10.201Z,1749674830.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:10.449Z,1749674830.449 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:10.449Z,1749674830.449 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:10.449Z,1749674830.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:10.471Z,1749674830.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:10.474Z,1749674830.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 404.162201 m,
bearing: 331.922017 deg,
approach rate: -0.516451 m/s,
LOS rate: -0.000001 deg/s,
cmd heading: 321.881325 deg,
new cmd heading: 321.881324 deg.
2025-06-11T20:47:10.475Z,1749674830.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617889 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:10.701Z,1749674830.701 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:10.701Z,1749674830.701 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:10.701Z,1749674830.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:10.922Z,1749674830.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:10.925Z,1749674830.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:10.930Z,1749674830.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 403.924713 m,
bearing: 331.922034 deg,
approach rate: -0.523660 m/s,
LOS rate: 0.000039 deg/s,
cmd heading: 321.881325 deg,
new cmd heading: 321.881379 deg.
2025-06-11T20:47:10.931Z,1749674830.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617890 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:10.953Z,1749674830.953 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:10.953Z,1749674830.953 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:10.953Z,1749674830.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:11.207Z,1749674831.207 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:11.207Z,1749674831.207 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:11.208Z,1749674831.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:11.358Z,1749674831.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:11.361Z,1749674831.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 403.691559 m,
bearing: 331.922237 deg,
approach rate: -0.537931 m/s,
LOS rate: 0.000468 deg/s,
cmd heading: 321.881380 deg,
new cmd heading: 321.881989 deg.
2025-06-11T20:47:11.362Z,1749674831.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617900 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:11.457Z,1749674831.457 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:11.457Z,1749674831.457 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:11.457Z,1749674831.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:11.709Z,1749674831.709 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:11.709Z,1749674831.709 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:11.709Z,1749674831.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:11.766Z,1749674831.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:11.773Z,1749674831.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 403.481262 m,
bearing: 331.922438 deg,
approach rate: -0.516100 m/s,
LOS rate: 0.000492 deg/s,
cmd heading: 321.881981 deg,
new cmd heading: 321.882583 deg.
2025-06-11T20:47:11.774Z,1749674831.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617911 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:11.961Z,1749674831.961 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:11.961Z,1749674831.961 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:11.961Z,1749674831.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:12.215Z,1749674832.215 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:12.215Z,1749674832.215 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:12.215Z,1749674832.215 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:12.243Z,1749674832.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:12.249Z,1749674832.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 403.239838 m,
bearing: 331.922679 deg,
approach rate: -0.506298 m/s,
LOS rate: 0.000507 deg/s,
cmd heading: 321.882582 deg,
new cmd heading: 321.883308 deg.
2025-06-11T20:47:12.250Z,1749674832.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617924 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:12.465Z,1749674832.465 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:12.465Z,1749674832.465 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:12.465Z,1749674832.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:12.602Z,1749674832.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:12.621Z,1749674832.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 403.030579 m,
bearing: 331.923053 deg,
approach rate: -0.582795 m/s,
LOS rate: 0.001042 deg/s,
cmd heading: 321.883320 deg,
new cmd heading: 321.884442 deg.
2025-06-11T20:47:12.622Z,1749674832.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617943 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:12.717Z,1749674832.717 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:12.717Z,1749674832.717 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:12.718Z,1749674832.718 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:12.969Z,1749674832.969 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:12.969Z,1749674832.969 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:12.970Z,1749674832.970 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:12.991Z,1749674832.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:12.994Z,1749674832.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:12.997Z,1749674832.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 402.822754 m,
bearing: 331.923445 deg,
approach rate: -0.529957 m/s,
LOS rate: 0.000999 deg/s,
cmd heading: 321.884440 deg,
new cmd heading: 321.885615 deg.
2025-06-11T20:47:12.998Z,1749674832.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617964 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:13.223Z,1749674833.223 [DAT](INFO): Reached modem response timeout
2025-06-11T20:47:13.223Z,1749674833.223 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:47:13.225Z,1749674833.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:13.421Z,1749674833.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:13.424Z,1749674833.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 402.593109 m,
bearing: 331.923352 deg,
approach rate: -0.537413 m/s,
LOS rate: -0.000217 deg/s,
cmd heading: 321.885615 deg,
new cmd heading: 321.885336 deg.
2025-06-11T20:47:13.425Z,1749674833.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617959 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:13.473Z,1749674833.473 [DAT](INFO): Reached modem response timeout
2025-06-11T20:47:13.473Z,1749674833.473 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:47:13.474Z,1749674833.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:13.724Z,1749674833.724 [DAT](INFO): Reached modem response timeout
2025-06-11T20:47:13.725Z,1749674833.725 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:47:13.725Z,1749674833.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:13.808Z,1749674833.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:13.810Z,1749674833.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 402.394562 m,
bearing: 331.923285 deg,
approach rate: -0.536036 m/s,
LOS rate: -0.000182 deg/s,
cmd heading: 321.885341 deg,
new cmd heading: 321.885140 deg.
2025-06-11T20:47:13.811Z,1749674833.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617956 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:13.978Z,1749674833.978 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:47:13.978Z,1749674833.978 [DAT](INFO): response not received
2025-06-11T20:47:13.979Z,1749674833.979 [DAT](INFO): DAT read: user:466>
2025-06-11T20:47:13.979Z,1749674833.979 [DAT](INFO): DAT read: Tx time:20:47:15.8021
2025-06-11T20:47:13.980Z,1749674833.980 [DAT](INFO): Ping request sent.
2025-06-11T20:47:13.980Z,1749674833.980 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:13.980Z,1749674833.980 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:13.981Z,1749674833.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000780
2025-06-11T20:47:14.232Z,1749674834.232 [DAT](INFO): DAT read: TxSync time:20:47:15.8013
2025-06-11T20:47:14.234Z,1749674834.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254133
2025-06-11T20:47:14.267Z,1749674834.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:14.273Z,1749674834.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 402.163055 m,
bearing: 331.923210 deg,
approach rate: -0.487304 m/s,
LOS rate: -0.000157 deg/s,
cmd heading: 321.885150 deg,
new cmd heading: 321.884926 deg.
2025-06-11T20:47:14.274Z,1749674834.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617952 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:14.481Z,1749674834.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501148
2025-06-11T20:47:14.647Z,1749674834.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:14.652Z,1749674834.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 401.939880 m,
bearing: 331.923327 deg,
approach rate: -0.588131 m/s,
LOS rate: 0.000310 deg/s,
cmd heading: 321.884932 deg,
new cmd heading: 321.885284 deg.
2025-06-11T20:47:14.653Z,1749674834.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617958 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:14.733Z,1749674834.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753398
2025-06-11T20:47:14.985Z,1749674834.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004869
2025-06-11T20:47:15.007Z,1749674835.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:15.009Z,1749674835.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:15.012Z,1749674835.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 401.741913 m,
bearing: 331.923532 deg,
approach rate: -0.545466 m/s,
LOS rate: 0.000565 deg/s,
cmd heading: 321.885287 deg,
new cmd heading: 321.885902 deg.
2025-06-11T20:47:15.013Z,1749674835.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617969 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:15.239Z,1749674835.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258697
2025-06-11T20:47:15.429Z,1749674835.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:15.432Z,1749674835.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 401.521179 m,
bearing: 331.923809 deg,
approach rate: -0.525465 m/s,
LOS rate: 0.000658 deg/s,
cmd heading: 321.885915 deg,
new cmd heading: 321.886745 deg.
2025-06-11T20:47:15.433Z,1749674835.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617983 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:15.490Z,1749674835.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509733
2025-06-11T20:47:15.741Z,1749674835.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760753
2025-06-11T20:47:15.814Z,1749674835.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:15.817Z,1749674835.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 401.319214 m,
bearing: 331.924001 deg,
approach rate: -0.525261 m/s,
LOS rate: 0.000501 deg/s,
cmd heading: 321.886735 deg,
new cmd heading: 321.887312 deg.
2025-06-11T20:47:15.818Z,1749674835.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617993 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:15.995Z,1749674835.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014723
2025-06-11T20:47:16.247Z,1749674836.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267193
2025-06-11T20:47:16.257Z,1749674836.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:16.294Z,1749674836.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 401.100128 m,
bearing: 331.924154 deg,
approach rate: -0.495537 m/s,
LOS rate: 0.000346 deg/s,
cmd heading: 321.887309 deg,
new cmd heading: 321.887767 deg.
2025-06-11T20:47:16.295Z,1749674836.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618001 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:16.497Z,1749674836.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516829
2025-06-11T20:47:16.653Z,1749674836.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:16.656Z,1749674836.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 400.877350 m,
bearing: 331.923795 deg,
approach rate: -0.560454 m/s,
LOS rate: -0.000905 deg/s,
cmd heading: 321.887773 deg,
new cmd heading: 321.886694 deg.
2025-06-11T20:47:16.657Z,1749674836.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617983 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:16.749Z,1749674836.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769375
2025-06-11T20:47:17.001Z,1749674837.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020723
2025-06-11T20:47:17.031Z,1749674837.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:17.038Z,1749674837.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:17.045Z,1749674837.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 400.683105 m,
bearing: 331.923450 deg,
approach rate: -0.505132 m/s,
LOS rate: -0.000898 deg/s,
cmd heading: 321.886708 deg,
new cmd heading: 321.885672 deg.
2025-06-11T20:47:17.046Z,1749674837.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617965 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:17.254Z,1749674837.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273450
2025-06-11T20:47:17.466Z,1749674837.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:17.481Z,1749674837.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 400.459625 m,
bearing: 331.923771 deg,
approach rate: -0.521935 m/s,
LOS rate: 0.000751 deg/s,
cmd heading: 321.885669 deg,
new cmd heading: 321.886634 deg.
2025-06-11T20:47:17.482Z,1749674837.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617981 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:17.505Z,1749674837.505 [DAT](INFO): DAT read: Rx Time:20:47:18.7657
2025-06-11T20:47:17.505Z,1749674837.505 [DAT](INFO): Rx dataTimestamp_ set to:1749674837.505212
2025-06-11T20:47:17.506Z,1749674837.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526069
2025-06-11T20:47:17.757Z,1749674837.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776880
2025-06-11T20:47:17.834Z,1749674837.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:17.837Z,1749674837.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 400.267456 m,
bearing: 331.924060 deg,
approach rate: -0.521836 m/s,
LOS rate: 0.000786 deg/s,
cmd heading: 321.886626 deg,
new cmd heading: 321.887493 deg.
2025-06-11T20:47:17.838Z,1749674837.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617997 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:18.023Z,1749674838.023 [DAT](INFO): DAT read: 20:47:18.7657 LVL= 16496, 17585, 16882, 22995, AGC= 74, IDX= 381,-0.17,-2.443, 2.338,-2.737,-3.093, PHS= 0.738,-0.805, 0.354, RAW= 136.2, -4.2, CAL= 141.7, -14.1, ROT= 8.3, 14.1
2025-06-11T20:47:18.037Z,1749674838.037 [DAT](INFO): got valid direction response:
20:47:18.7657 LVL= 16496, 17585, 16882, 22995, AGC= 74, IDX= 381,-0.17,-2.443, 2.338,-2.737,-3.093, PHS= 0.738,-0.805, 0.354, RAW= 136.2, -4.2, CAL= 141.7, -14.1, ROT= 8.3, 14.1
2025-06-11T20:47:18.038Z,1749674838.038 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:47:18.038Z,1749674838.038 [DAT](INFO): Received a bad header
2025-06-11T20:47:18.053Z,1749674838.053 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:47:18.054Z,1749674838.054 [DAT](INFO): direction in FSK: [0.959713,0.140007,-0.243615]
2025-06-11T20:47:18.070Z,1749674838.070 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:18.070Z,1749674838.070 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:18.070Z,1749674838.070 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:18.264Z,1749674838.264 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:18.264Z,1749674838.264 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:18.265Z,1749674838.265 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:18.319Z,1749674838.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:18.326Z,1749674838.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 400.052582 m,
bearing: 331.924384 deg,
approach rate: -0.444007 m/s,
LOS rate: 0.000669 deg/s,
cmd heading: 321.887500 deg,
new cmd heading: 321.888471 deg.
2025-06-11T20:47:18.327Z,1749674838.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618014 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:18.513Z,1749674838.513 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:18.513Z,1749674838.513 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:18.513Z,1749674838.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:18.669Z,1749674838.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:18.671Z,1749674838.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 399.841705 m,
bearing: 331.925576 deg,
approach rate: -0.601507 m/s,
LOS rate: 0.003402 deg/s,
cmd heading: 321.888483 deg,
new cmd heading: 321.892061 deg.
2025-06-11T20:47:18.673Z,1749674838.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618076 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:18.765Z,1749674838.765 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:18.765Z,1749674838.765 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:18.765Z,1749674838.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:19.017Z,1749674839.017 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:19.017Z,1749674839.017 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:19.017Z,1749674839.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:19.059Z,1749674839.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:19.066Z,1749674839.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:19.073Z,1749674839.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 399.641815 m,
bearing: 331.926775 deg,
approach rate: -0.503396 m/s,
LOS rate: 0.003021 deg/s,
cmd heading: 321.892062 deg,
new cmd heading: 321.895661 deg.
2025-06-11T20:47:19.074Z,1749674839.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618139 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:19.271Z,1749674839.271 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:19.271Z,1749674839.271 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:19.271Z,1749674839.271 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:19.490Z,1749674839.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:19.498Z,1749674839.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 399.438080 m,
bearing: 331.928398 deg,
approach rate: -0.479848 m/s,
LOS rate: 0.003825 deg/s,
cmd heading: 321.895669 deg,
new cmd heading: 321.900541 deg.
2025-06-11T20:47:19.498Z,1749674839.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618224 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:19.521Z,1749674839.521 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:19.521Z,1749674839.521 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:19.521Z,1749674839.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:19.773Z,1749674839.773 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:19.773Z,1749674839.773 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:19.773Z,1749674839.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:19.857Z,1749674839.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:19.859Z,1749674839.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 399.241730 m,
bearing: 331.930014 deg,
approach rate: -0.536127 m/s,
LOS rate: 0.004414 deg/s,
cmd heading: 321.900532 deg,
new cmd heading: 321.905382 deg.
2025-06-11T20:47:19.873Z,1749674839.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618309 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:20.025Z,1749674840.025 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:20.025Z,1749674840.025 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:20.025Z,1749674840.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:20.277Z,1749674840.277 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:20.277Z,1749674840.277 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:20.278Z,1749674840.278 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:20.293Z,1749674840.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:20.314Z,1749674840.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 399.043152 m,
bearing: 331.931677 deg,
approach rate: -0.468939 m/s,
LOS rate: 0.003929 deg/s,
cmd heading: 321.905395 deg,
new cmd heading: 321.910386 deg.
2025-06-11T20:47:20.322Z,1749674840.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618396 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:20.528Z,1749674840.528 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:20.529Z,1749674840.529 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:20.529Z,1749674840.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:20.703Z,1749674840.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:20.706Z,1749674840.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 398.823914 m,
bearing: 331.934397 deg,
approach rate: -0.518324 m/s,
LOS rate: 0.006434 deg/s,
cmd heading: 321.910395 deg,
new cmd heading: 321.918559 deg.
2025-06-11T20:47:20.707Z,1749674840.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618539 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:20.781Z,1749674840.781 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:20.781Z,1749674840.781 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:20.781Z,1749674840.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:21.032Z,1749674841.032 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:21.033Z,1749674841.033 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:21.033Z,1749674841.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:21.082Z,1749674841.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:21.084Z,1749674841.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:21.087Z,1749674841.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 398.638397 m,
bearing: 331.936707 deg,
approach rate: -0.486403 m/s,
LOS rate: 0.006059 deg/s,
cmd heading: 321.918564 deg,
new cmd heading: 321.925496 deg.
2025-06-11T20:47:21.088Z,1749674841.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618660 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:21.285Z,1749674841.285 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:21.285Z,1749674841.285 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:21.285Z,1749674841.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:21.488Z,1749674841.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:21.491Z,1749674841.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 398.440002 m,
bearing: 331.939579 deg,
approach rate: -0.491871 m/s,
LOS rate: 0.007124 deg/s,
cmd heading: 321.925503 deg,
new cmd heading: 321.934124 deg.
2025-06-11T20:47:21.492Z,1749674841.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618811 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:21.537Z,1749674841.537 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:21.537Z,1749674841.537 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:21.537Z,1749674841.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:21.789Z,1749674841.789 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:21.789Z,1749674841.789 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:21.789Z,1749674841.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:21.883Z,1749674841.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:21.886Z,1749674841.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 398.245789 m,
bearing: 331.942398 deg,
approach rate: -0.491237 m/s,
LOS rate: 0.007134 deg/s,
cmd heading: 321.934136 deg,
new cmd heading: 321.942598 deg.
2025-06-11T20:47:21.887Z,1749674841.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618958 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:22.041Z,1749674842.041 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:22.041Z,1749674842.041 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:22.041Z,1749674842.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:22.278Z,1749674842.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:22.282Z,1749674842.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 398.051727 m,
bearing: 331.945215 deg,
approach rate: -0.491131 m/s,
LOS rate: 0.007133 deg/s,
cmd heading: 321.942606 deg,
new cmd heading: 321.951062 deg.
2025-06-11T20:47:22.283Z,1749674842.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619106 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:22.293Z,1749674842.293 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:22.293Z,1749674842.293 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:22.293Z,1749674842.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:22.546Z,1749674842.546 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:22.546Z,1749674842.546 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:22.546Z,1749674842.546 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:22.714Z,1749674842.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:22.717Z,1749674842.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 397.840912 m,
bearing: 331.947787 deg,
approach rate: -0.483340 m/s,
LOS rate: 0.005900 deg/s,
cmd heading: 321.951075 deg,
new cmd heading: 321.958796 deg.
2025-06-11T20:47:22.718Z,1749674842.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619241 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:22.797Z,1749674842.797 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:22.797Z,1749674842.797 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:22.798Z,1749674842.798 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:23.049Z,1749674843.049 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:23.049Z,1749674843.049 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:23.049Z,1749674843.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:23.118Z,1749674843.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:23.120Z,1749674843.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:23.123Z,1749674843.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 397.645081 m,
bearing: 331.950179 deg,
approach rate: -0.482361 m/s,
LOS rate: 0.005894 deg/s,
cmd heading: 321.958807 deg,
new cmd heading: 321.965985 deg.
2025-06-11T20:47:23.124Z,1749674843.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619367 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:23.301Z,1749674843.301 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:23.301Z,1749674843.301 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:23.301Z,1749674843.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:23.525Z,1749674843.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:23.528Z,1749674843.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 397.442474 m,
bearing: 331.952029 deg,
approach rate: -0.500920 m/s,
LOS rate: 0.004576 deg/s,
cmd heading: 321.965992 deg,
new cmd heading: 321.971544 deg.
2025-06-11T20:47:23.529Z,1749674843.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619463 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:23.552Z,1749674843.552 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:23.553Z,1749674843.553 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:23.553Z,1749674843.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:23.805Z,1749674843.805 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:23.805Z,1749674843.805 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:23.805Z,1749674843.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:47:23.905Z,1749674843.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:23.908Z,1749674843.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 397.252441 m,
bearing: 331.953761 deg,
approach rate: -0.499608 m/s,
LOS rate: 0.004557 deg/s,
cmd heading: 321.971538 deg,
new cmd heading: 321.976738 deg.
2025-06-11T20:47:23.909Z,1749674843.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619554 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:24.056Z,1749674844.056 [DAT](INFO): Reached modem response timeout
2025-06-11T20:47:24.057Z,1749674844.057 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:47:24.057Z,1749674844.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:24.309Z,1749674844.309 [DAT](INFO): Reached modem response timeout
2025-06-11T20:47:24.309Z,1749674844.309 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:47:24.309Z,1749674844.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:24.329Z,1749674844.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:24.338Z,1749674844.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 397.051392 m,
bearing: 331.955567 deg,
approach rate: -0.494892 m/s,
LOS rate: 0.004449 deg/s,
cmd heading: 321.976729 deg,
new cmd heading: 321.982151 deg.
2025-06-11T20:47:24.339Z,1749674844.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619648 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:24.560Z,1749674844.560 [DAT](INFO): Reached modem response timeout
2025-06-11T20:47:24.561Z,1749674844.561 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:47:24.561Z,1749674844.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:24.766Z,1749674844.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:24.770Z,1749674844.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 396.820282 m,
bearing: 331.956525 deg,
approach rate: -0.508139 m/s,
LOS rate: 0.002107 deg/s,
cmd heading: 321.982139 deg,
new cmd heading: 321.985014 deg.
2025-06-11T20:47:24.773Z,1749674844.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619699 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:24.813Z,1749674844.813 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:47:24.813Z,1749674844.813 [DAT](INFO): response not received
2025-06-11T20:47:24.814Z,1749674844.814 [DAT](INFO): DAT read: user:468>
2025-06-11T20:47:24.814Z,1749674844.814 [DAT](ERROR): No response from remote modem.
2025-06-11T20:47:24.814Z,1749674844.814 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:47:24.814Z,1749674844.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:25.065Z,1749674845.065 [DAT](INFO): DAT read: Tx time:20:47:26.7522
2025-06-11T20:47:25.065Z,1749674845.065 [DAT](INFO): Ping request sent.
2025-06-11T20:47:25.066Z,1749674845.066 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:25.066Z,1749674845.066 [DAT](INFO): DAT read: TxSync time:20:47:26.7514
2025-06-11T20:47:25.067Z,1749674845.067 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:25.070Z,1749674845.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003997
2025-06-11T20:47:25.155Z,1749674845.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:25.162Z,1749674845.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:25.168Z,1749674845.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 396.625458 m,
bearing: 331.957316 deg,
approach rate: -0.492985 m/s,
LOS rate: 0.002004 deg/s,
cmd heading: 321.985008 deg,
new cmd heading: 321.987383 deg.
2025-06-11T20:47:25.169Z,1749674845.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619740 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:25.317Z,1749674845.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251292
2025-06-11T20:47:25.533Z,1749674845.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:25.536Z,1749674845.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 396.431885 m,
bearing: 331.957118 deg,
approach rate: -0.520608 m/s,
LOS rate: -0.000533 deg/s,
cmd heading: 321.987384 deg,
new cmd heading: 321.986790 deg.
2025-06-11T20:47:25.537Z,1749674845.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619730 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:25.569Z,1749674845.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503748
2025-06-11T20:47:25.821Z,1749674845.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755635
2025-06-11T20:47:25.932Z,1749674845.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:25.937Z,1749674845.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 396.233368 m,
bearing: 331.956940 deg,
approach rate: -0.498245 m/s,
LOS rate: -0.000449 deg/s,
cmd heading: 321.986783 deg,
new cmd heading: 321.986246 deg.
2025-06-11T20:47:25.938Z,1749674845.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619720 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:26.073Z,1749674846.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007384
2025-06-11T20:47:26.316Z,1749674846.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:26.319Z,1749674846.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 396.033783 m,
bearing: 331.956774 deg,
approach rate: -0.519659 m/s,
LOS rate: -0.000431 deg/s,
cmd heading: 321.986237 deg,
new cmd heading: 321.985740 deg.
2025-06-11T20:47:26.320Z,1749674846.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619711 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:26.325Z,1749674846.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259351
2025-06-11T20:47:26.577Z,1749674846.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511181
2025-06-11T20:47:26.755Z,1749674846.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:26.758Z,1749674846.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 395.804901 m,
bearing: 331.956637 deg,
approach rate: -0.521699 m/s,
LOS rate: -0.000313 deg/s,
cmd heading: 321.985745 deg,
new cmd heading: 321.985333 deg.
2025-06-11T20:47:26.758Z,1749674846.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619704 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:26.830Z,1749674846.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764375
2025-06-11T20:47:27.081Z,1749674847.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015194
2025-06-11T20:47:27.130Z,1749674847.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:27.133Z,1749674847.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 395.609131 m,
bearing: 331.956359 deg,
approach rate: -0.521295 m/s,
LOS rate: -0.000739 deg/s,
cmd heading: 321.985335 deg,
new cmd heading: 321.984503 deg.
2025-06-11T20:47:27.134Z,1749674847.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619690 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:27.334Z,1749674847.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268365
2025-06-11T20:47:27.562Z,1749674847.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:27.565Z,1749674847.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:27.567Z,1749674847.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 395.377289 m,
bearing: 331.955674 deg,
approach rate: -0.533538 m/s,
LOS rate: -0.001579 deg/s,
cmd heading: 321.984516 deg,
new cmd heading: 321.982457 deg.
2025-06-11T20:47:27.568Z,1749674847.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619654 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:27.597Z,1749674847.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531291
2025-06-11T20:47:27.849Z,1749674847.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783176
2025-06-11T20:47:27.943Z,1749674847.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:27.947Z,1749674847.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 395.177460 m,
bearing: 331.954885 deg,
approach rate: -0.528524 m/s,
LOS rate: -0.002087 deg/s,
cmd heading: 321.982467 deg,
new cmd heading: 321.980099 deg.
2025-06-11T20:47:27.949Z,1749674847.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619613 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:28.101Z,1749674848.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035491
2025-06-11T20:47:28.316Z,1749674848.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:47:28.353Z,1749674848.353 [DAT](INFO): DAT read: Rx Time:20:47:29.7083
2025-06-11T20:47:28.353Z,1749674848.353 [DAT](INFO): Rx dataTimestamp_ set to:1749674848.353157
2025-06-11T20:47:28.354Z,1749674848.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288464
2025-06-11T20:47:28.359Z,1749674848.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:28.362Z,1749674848.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 394.954102 m,
bearing: 331.953868 deg,
approach rate: -0.536679 m/s,
LOS rate: -0.002445 deg/s,
cmd heading: 321.980090 deg,
new cmd heading: 321.977037 deg.
2025-06-11T20:47:28.363Z,1749674848.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619559 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:28.605Z,1749674848.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539201
2025-06-11T20:47:28.765Z,1749674848.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.64 m.
2025-06-11T20:47:28.768Z,1749674848.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 425.642334 m,
nav range: 394.731689 m,
bearing: 331.952737 deg,
approach rate: -0.547657 m/s,
LOS rate: -0.002786 deg/s,
cmd heading: 321.977030 deg,
new cmd heading: 321.973636 deg.
2025-06-11T20:47:28.769Z,1749674848.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619500 target range: 425.642334 and range: 427.30 m.
2025-06-11T20:47:28.862Z,1749674848.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795411
2025-06-11T20:47:29.121Z,1749674849.121 [DAT](INFO): DAT read: 20:47:29.7083 LVL= 27440, 24145, 24786, 32755, AGC= 71, IDX= 515, 0.11,-0.675,-2.297,-1.059,-1.352, PHS= 0.765,-0.897, 0.291, RAW= 133.9, -2.2, CAL= 139.4, -11.7, ROT= 10.6, 11.7
2025-06-11T20:47:29.122Z,1749674849.122 [DAT](INFO): got valid direction response:
20:47:29.7083 LVL= 27440, 24145, 24786, 32755, AGC= 71, IDX= 515, 0.11,-0.675,-2.297,-1.059,-1.352, PHS= 0.765,-0.897, 0.291, RAW= 133.9, -2.2, CAL= 139.4, -11.7, ROT= 10.6, 11.7
2025-06-11T20:47:29.123Z,1749674849.123 [DAT](INFO): DAT read: Bearing 10.6, 11.7 (Local)
2025-06-11T20:47:29.132Z,1749674849.132 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.6, 11.7 (Local)
2025-06-11T20:47:29.134Z,1749674849.134 [DAT](INFO): DAT read: Range 10 to 50 : 413.9 m (Round-trip 551.9 ms) speed 0.2 m/s
2025-06-11T20:47:29.134Z,1749674849.134 [DAT](INFO): DAT read: user:469>
2025-06-11T20:47:29.135Z,1749674849.135 [DAT](INFO): DAT read: Tx time:20:47:30.8022
2025-06-11T20:47:29.136Z,1749674849.136 [DAT](INFO): Ping request sent.
2025-06-11T20:47:29.136Z,1749674849.136 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:29.136Z,1749674849.136 [DAT](INFO): DAT read: TxSync time:20:47:30.8014
2025-06-11T20:47:29.137Z,1749674849.137 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:47:29.138Z,1749674849.138 [DAT](INFO): direction in FSK: [0.962513,0.180129,-0.202787]
2025-06-11T20:47:29.138Z,1749674849.138 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:29.138Z,1749674849.138 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:29.146Z,1749674849.146 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:29.146Z,1749674849.146 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:29.229Z,1749674849.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 413.899994 m,
deltaT: 25.967925 s,
deltaX: -13.399994 m,
approachRate: -0.516021 m/s,
rangeRepo size: 4
2025-06-11T20:47:29.231Z,1749674849.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 410.280304 m,
bearing: 334.737589 deg,
lat: 36.906429 deg,
lon: -122.115160 deg,
deltaT: 30.249757 s,
deltaX: -15.362030 m,
approachRate: -0.507840 m/s,
posRepo size: 4
2025-06-11T20:47:29.237Z,1749674849.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:29.239Z,1749674849.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 394.760345 m,
bearing: 332.500919 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002786 deg/s,
cmd heading: 321.973642 deg,
new cmd heading: 321.969768 deg.
2025-06-11T20:47:29.246Z,1749674849.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619432 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:29.321Z,1749674849.321 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:47:29.601Z,1749674849.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:29.603Z,1749674849.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:29.610Z,1749674849.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 394.545258 m,
bearing: 332.500253 deg,
approach rate: -0.573704 m/s,
LOS rate: -0.001779 deg/s,
cmd heading: 321.969763 deg,
new cmd heading: 321.967762 deg.
2025-06-11T20:47:29.611Z,1749674849.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619398 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:29.613Z,1749674849.613 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:29.613Z,1749674849.613 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:29.613Z,1749674849.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:29.865Z,1749674849.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.729166
2025-06-11T20:47:29.980Z,1749674849.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:29.983Z,1749674849.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 394.350800 m,
bearing: 332.499607 deg,
approach rate: -0.515989 m/s,
LOS rate: -0.001714 deg/s,
cmd heading: 321.967768 deg,
new cmd heading: 321.965830 deg.
2025-06-11T20:47:29.984Z,1749674849.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619364 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:30.117Z,1749674850.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981078
2025-06-11T20:47:30.369Z,1749674850.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233184
2025-06-11T20:47:30.372Z,1749674850.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:30.375Z,1749674850.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 394.139160 m,
bearing: 332.498917 deg,
approach rate: -0.539925 m/s,
LOS rate: -0.001761 deg/s,
cmd heading: 321.965828 deg,
new cmd heading: 321.963757 deg.
2025-06-11T20:47:30.380Z,1749674850.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619328 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:30.622Z,1749674850.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486077
2025-06-11T20:47:30.794Z,1749674850.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:30.801Z,1749674850.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 393.916565 m,
bearing: 332.498890 deg,
approach rate: -0.527972 m/s,
LOS rate: -0.000065 deg/s,
cmd heading: 321.963752 deg,
new cmd heading: 321.963670 deg.
2025-06-11T20:47:30.802Z,1749674850.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619326 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:30.873Z,1749674850.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737713
2025-06-11T20:47:31.125Z,1749674851.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989093
2025-06-11T20:47:31.170Z,1749674851.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:31.172Z,1749674851.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 393.709625 m,
bearing: 332.498832 deg,
approach rate: -0.550908 m/s,
LOS rate: -0.000154 deg/s,
cmd heading: 321.963670 deg,
new cmd heading: 321.963497 deg.
2025-06-11T20:47:31.173Z,1749674851.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619323 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:31.378Z,1749674851.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242377
2025-06-11T20:47:31.610Z,1749674851.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:31.612Z,1749674851.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:31.614Z,1749674851.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 393.478027 m,
bearing: 332.499414 deg,
approach rate: -0.523860 m/s,
LOS rate: 0.001317 deg/s,
cmd heading: 321.963506 deg,
new cmd heading: 321.965253 deg.
2025-06-11T20:47:31.615Z,1749674851.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619354 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:31.629Z,1749674851.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493148
2025-06-11T20:47:31.882Z,1749674851.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746655
2025-06-11T20:47:31.982Z,1749674851.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:31.985Z,1749674851.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 393.283661 m,
bearing: 332.499904 deg,
approach rate: -0.525144 m/s,
LOS rate: 0.001323 deg/s,
cmd heading: 321.965255 deg,
new cmd heading: 321.966724 deg.
2025-06-11T20:47:31.986Z,1749674851.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619380 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:32.133Z,1749674852.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997692
2025-06-11T20:47:32.385Z,1749674852.385 [DAT](INFO): DAT read: Rx Time:20:47:33.7555
2025-06-11T20:47:32.385Z,1749674852.385 [DAT](INFO): Rx dataTimestamp_ set to:1749674852.385133
2025-06-11T20:47:32.386Z,1749674852.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250303
2025-06-11T20:47:32.400Z,1749674852.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:32.403Z,1749674852.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 393.064270 m,
bearing: 332.500455 deg,
approach rate: -0.524744 m/s,
LOS rate: 0.001319 deg/s,
cmd heading: 321.966730 deg,
new cmd heading: 321.968385 deg.
2025-06-11T20:47:32.404Z,1749674852.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619409 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:32.637Z,1749674852.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501196
2025-06-11T20:47:32.821Z,1749674852.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.28 m.
2025-06-11T20:47:32.824Z,1749674852.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 410.280304 m,
nav range: 392.850494 m,
bearing: 332.501704 deg,
approach rate: -0.507323 m/s,
LOS rate: 0.002967 deg/s,
cmd heading: 321.968397 deg,
new cmd heading: 321.972147 deg.
2025-06-11T20:47:32.825Z,1749674852.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619474 target range: 410.280304 and range: 413.90 m.
2025-06-11T20:47:32.893Z,1749674852.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755675
2025-06-11T20:47:33.147Z,1749674853.147 [DAT](INFO): DAT read: 20:47:33.7555 LVL= 22576, 19809, 21330, 27331, AGC= 75, IDX= 420,-0.20,-1.804, 3.133,-1.979,-2.402, PHS= 0.685,-0.702, 0.420, RAW= 139.6, -6.4, CAL= 145.5, -16.1, ROT= 4.5, 16.1
2025-06-11T20:47:33.148Z,1749674853.148 [DAT](INFO): got valid direction response:
20:47:33.7555 LVL= 22576, 19809, 21330, 27331, AGC= 75, IDX= 420,-0.20,-1.804, 3.133,-1.979,-2.402, PHS= 0.685,-0.702, 0.420, RAW= 139.6, -6.4, CAL= 145.5, -16.1, ROT= 4.5, 16.1
2025-06-11T20:47:33.149Z,1749674853.149 [DAT](INFO): DAT read: Bearing 4.5, 16.1 (Local)
2025-06-11T20:47:33.150Z,1749674853.150 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.5, 16.1 (Local)
2025-06-11T20:47:33.151Z,1749674853.151 [DAT](INFO): DAT read: Range 10 to 50 : 411.9 m (Round-trip 549.2 ms) speed 0.4 m/s
2025-06-11T20:47:33.152Z,1749674853.152 [DAT](INFO): DAT read: user:470>
2025-06-11T20:47:33.153Z,1749674853.153 [DAT](INFO): DAT read: Tx time:20:47:34.8522
2025-06-11T20:47:33.153Z,1749674853.153 [DAT](INFO): Ping request sent.
2025-06-11T20:47:33.153Z,1749674853.153 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:33.154Z,1749674853.154 [DAT](INFO): DAT read: TxSync time:20:47:34.8514
2025-06-11T20:47:33.155Z,1749674853.155 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:47:33.156Z,1749674853.156 [DAT](INFO): direction in FSK: [0.957817,0.075382,-0.277315]
2025-06-11T20:47:33.156Z,1749674853.156 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:33.157Z,1749674853.157 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:33.159Z,1749674853.159 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:33.160Z,1749674853.160 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:33.258Z,1749674853.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 411.899994 m,
deltaT: 4.031967 s,
deltaX: -2.000000 m,
approachRate: -0.496036 m/s,
rangeRepo size: 4
2025-06-11T20:47:33.265Z,1749674853.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 408.296814 m,
bearing: 329.078524 deg,
lat: 36.906429 deg,
lon: -122.115196 deg,
deltaT: 4.031967 s,
deltaX: -1.983490 m,
approachRate: -0.491941 m/s,
posRepo size: 4
2025-06-11T20:47:33.265Z,1749674853.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:33.272Z,1749674853.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 394.141144 m,
bearing: 332.086817 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002967 deg/s,
cmd heading: 321.972140 deg,
new cmd heading: 321.976023 deg.
2025-06-11T20:47:33.273Z,1749674853.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619542 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:33.625Z,1749674853.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:33.627Z,1749674853.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:33.630Z,1749674853.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 393.947510 m,
bearing: 332.088371 deg,
approach rate: -0.524455 m/s,
LOS rate: 0.004213 deg/s,
cmd heading: 321.976019 deg,
new cmd heading: 321.980685 deg.
2025-06-11T20:47:33.631Z,1749674853.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619623 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:33.645Z,1749674853.645 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:33.645Z,1749674853.645 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:33.645Z,1749674853.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:33.897Z,1749674853.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743284
2025-06-11T20:47:34.015Z,1749674854.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:34.022Z,1749674854.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 393.760620 m,
bearing: 332.089956 deg,
approach rate: -0.480949 m/s,
LOS rate: 0.004080 deg/s,
cmd heading: 321.980691 deg,
new cmd heading: 321.985447 deg.
2025-06-11T20:47:34.023Z,1749674854.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619706 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:34.151Z,1749674854.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997974
2025-06-11T20:47:34.401Z,1749674854.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247516
2025-06-11T20:47:34.411Z,1749674854.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:34.414Z,1749674854.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 393.558868 m,
bearing: 332.091698 deg,
approach rate: -0.509498 m/s,
LOS rate: 0.004401 deg/s,
cmd heading: 321.985445 deg,
new cmd heading: 321.990672 deg.
2025-06-11T20:47:34.415Z,1749674854.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619797 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:34.653Z,1749674854.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499324
2025-06-11T20:47:34.833Z,1749674854.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:34.836Z,1749674854.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 393.356110 m,
bearing: 332.093855 deg,
approach rate: -0.480743 m/s,
LOS rate: 0.005118 deg/s,
cmd heading: 321.990663 deg,
new cmd heading: 321.997138 deg.
2025-06-11T20:47:34.837Z,1749674854.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619910 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:34.906Z,1749674854.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752115
2025-06-11T20:47:35.157Z,1749674855.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003405
2025-06-11T20:47:35.220Z,1749674855.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:35.223Z,1749674855.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 393.171570 m,
bearing: 332.095840 deg,
approach rate: -0.477268 m/s,
LOS rate: 0.005137 deg/s,
cmd heading: 321.997138 deg,
new cmd heading: 322.003097 deg.
2025-06-11T20:47:35.224Z,1749674855.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620014 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:35.409Z,1749674855.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255314
2025-06-11T20:47:35.647Z,1749674855.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:35.650Z,1749674855.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:35.653Z,1749674855.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 392.961975 m,
bearing: 332.098031 deg,
approach rate: -0.487546 m/s,
LOS rate: 0.005099 deg/s,
cmd heading: 322.003094 deg,
new cmd heading: 322.009670 deg.
2025-06-11T20:47:35.653Z,1749674855.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620129 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:35.661Z,1749674855.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507726
2025-06-11T20:47:35.913Z,1749674855.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759338
2025-06-11T20:47:36.024Z,1749674856.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:36.027Z,1749674856.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 392.780579 m,
bearing: 332.099950 deg,
approach rate: -0.484578 m/s,
LOS rate: 0.005127 deg/s,
cmd heading: 322.009678 deg,
new cmd heading: 322.015436 deg.
2025-06-11T20:47:36.028Z,1749674856.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620230 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:36.165Z,1749674856.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011417
2025-06-11T20:47:36.417Z,1749674856.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263576
2025-06-11T20:47:36.457Z,1749674856.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:36.466Z,1749674856.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 392.574127 m,
bearing: 332.102200 deg,
approach rate: -0.476538 m/s,
LOS rate: 0.005198 deg/s,
cmd heading: 322.015443 deg,
new cmd heading: 322.022198 deg.
2025-06-11T20:47:36.467Z,1749674856.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620347 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:36.669Z,1749674856.669 [DAT](INFO): DAT read: Rx Time:20:47:37.8028
2025-06-11T20:47:36.669Z,1749674856.669 [DAT](INFO): Rx dataTimestamp_ set to:1749674856.669084
2025-06-11T20:47:36.670Z,1749674856.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516509
2025-06-11T20:47:36.857Z,1749674856.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m.
2025-06-11T20:47:36.859Z,1749674856.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 408.296814 m,
nav range: 392.372772 m,
bearing: 332.104252 deg,
approach rate: -0.504275 m/s,
LOS rate: 0.005141 deg/s,
cmd heading: 322.022191 deg,
new cmd heading: 322.028349 deg.
2025-06-11T20:47:36.860Z,1749674856.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620455 target range: 408.296814 and range: 411.90 m.
2025-06-11T20:47:36.922Z,1749674856.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768624
2025-06-11T20:47:37.184Z,1749674857.184 [DAT](INFO): DAT read: 20:47:37.8028 LVL= 26064, 32753, 28498, 32755, AGC= 73, IDX= 407, 0.39,-0.651,-1.941,-0.882,-1.263, PHS= 0.700,-0.631, 0.378, RAW= 136.6, -7.5, CAL= 142.5, -18.1, ROT= 7.5, 18.1
2025-06-11T20:47:37.186Z,1749674857.186 [DAT](INFO): got valid direction response:
20:47:37.8028 LVL= 26064, 32753, 28498, 32755, AGC= 73, IDX= 407, 0.39,-0.651,-1.941,-0.882,-1.263, PHS= 0.700,-0.631, 0.378, RAW= 136.6, -7.5, CAL= 142.5, -18.1, ROT= 7.5, 18.1
2025-06-11T20:47:37.212Z,1749674857.212 [DAT](INFO): DAT read: Bearing 7.5, 18.1 (Local)
2025-06-11T20:47:37.212Z,1749674857.212 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.5, 18.1 (Local)
2025-06-11T20:47:37.214Z,1749674857.214 [DAT](INFO): DAT read: Range 10 to 50 : 409.8 m (Round-trip 546.4 ms) speed 0.3 m/s
2025-06-11T20:47:37.215Z,1749674857.215 [DAT](INFO): DAT read: user:471>
2025-06-11T20:47:37.235Z,1749674857.235 [DAT](INFO): DAT read: Tx time:20:47:38.9022
2025-06-11T20:47:37.235Z,1749674857.235 [DAT](INFO): Ping request sent.
2025-06-11T20:47:37.235Z,1749674857.235 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:37.252Z,1749674857.252 [DAT](INFO): DAT read: TxSync time:20:47:38.9014
2025-06-11T20:47:37.253Z,1749674857.253 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:47:37.254Z,1749674857.254 [DAT](INFO): direction in FSK: [0.942384,0.124067,-0.310676]
2025-06-11T20:47:37.254Z,1749674857.254 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:37.254Z,1749674857.254 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:37.270Z,1749674857.270 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:37.270Z,1749674857.270 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:37.329Z,1749674857.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 409.799988 m,
deltaT: 4.032024 s,
deltaX: -2.100006 m,
approachRate: -0.520832 m/s,
rangeRepo size: 4
2025-06-11T20:47:37.331Z,1749674857.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 406.213806 m,
bearing: 330.937535 deg,
lat: 36.906411 deg,
lon: -122.115245 deg,
deltaT: 4.032024 s,
deltaX: -2.083008 m,
approachRate: -0.516616 m/s,
posRepo size: 4
2025-06-11T20:47:37.337Z,1749674857.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:37.339Z,1749674857.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 392.429901 m,
bearing: 331.415632 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005141 deg/s,
cmd heading: 322.028338 deg,
new cmd heading: 322.035622 deg.
2025-06-11T20:47:37.344Z,1749674857.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620582 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:37.705Z,1749674857.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:37.707Z,1749674857.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:37.710Z,1749674857.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 392.228668 m,
bearing: 331.416522 deg,
approach rate: -0.532490 m/s,
LOS rate: 0.002358 deg/s,
cmd heading: 322.035633 deg,
new cmd heading: 322.038306 deg.
2025-06-11T20:47:37.711Z,1749674857.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620629 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:37.929Z,1749674857.929 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:37.929Z,1749674857.930 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:37.930Z,1749674857.930 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:38.048Z,1749674858.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:38.051Z,1749674858.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 392.054993 m,
bearing: 331.417471 deg,
approach rate: -0.508987 m/s,
LOS rate: 0.002781 deg/s,
cmd heading: 322.038310 deg,
new cmd heading: 322.041157 deg.
2025-06-11T20:47:38.052Z,1749674858.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620678 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:38.181Z,1749674858.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.945717
2025-06-11T20:47:38.433Z,1749674858.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197580
2025-06-11T20:47:38.471Z,1749674858.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:38.474Z,1749674858.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 391.842712 m,
bearing: 331.418631 deg,
approach rate: -0.501494 m/s,
LOS rate: 0.002742 deg/s,
cmd heading: 322.041152 deg,
new cmd heading: 322.044634 deg.
2025-06-11T20:47:38.475Z,1749674858.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620739 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:38.685Z,1749674858.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449665
2025-06-11T20:47:38.900Z,1749674858.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:38.903Z,1749674858.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 391.622589 m,
bearing: 331.419491 deg,
approach rate: -0.513042 m/s,
LOS rate: 0.002005 deg/s,
cmd heading: 322.044621 deg,
new cmd heading: 322.047202 deg.
2025-06-11T20:47:38.904Z,1749674858.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620784 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:38.937Z,1749674858.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702375
2025-06-11T20:47:39.189Z,1749674859.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953700
2025-06-11T20:47:39.288Z,1749674859.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:39.290Z,1749674859.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 391.428650 m,
bearing: 331.420240 deg,
approach rate: -0.505929 m/s,
LOS rate: 0.001956 deg/s,
cmd heading: 322.047190 deg,
new cmd heading: 322.049439 deg.
2025-06-11T20:47:39.291Z,1749674859.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620823 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:39.442Z,1749674859.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207206
2025-06-11T20:47:39.693Z,1749674859.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457852
2025-06-11T20:47:39.710Z,1749674859.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:39.712Z,1749674859.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:39.715Z,1749674859.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 391.198853 m,
bearing: 331.420001 deg,
approach rate: -0.536300 m/s,
LOS rate: -0.000559 deg/s,
cmd heading: 322.049430 deg,
new cmd heading: 322.048711 deg.
2025-06-11T20:47:39.716Z,1749674859.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620811 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:39.946Z,1749674859.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711041
2025-06-11T20:47:40.086Z,1749674860.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:40.089Z,1749674860.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 391.000641 m,
bearing: 331.419794 deg,
approach rate: -0.530564 m/s,
LOS rate: -0.000554 deg/s,
cmd heading: 322.048720 deg,
new cmd heading: 322.048099 deg.
2025-06-11T20:47:40.090Z,1749674860.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620800 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:40.197Z,1749674860.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962262
2025-06-11T20:47:40.449Z,1749674860.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213875
2025-06-11T20:47:40.497Z,1749674860.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:40.504Z,1749674860.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 390.792511 m,
bearing: 331.419569 deg,
approach rate: -0.505540 m/s,
LOS rate: -0.000546 deg/s,
cmd heading: 322.048091 deg,
new cmd heading: 322.047417 deg.
2025-06-11T20:47:40.505Z,1749674860.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620788 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:40.701Z,1749674860.701 [DAT](INFO): DAT read: Rx Time:20:47:41.8499
2025-06-11T20:47:40.701Z,1749674860.701 [DAT](INFO): Rx dataTimestamp_ set to:1749674860.701051
2025-06-11T20:47:40.702Z,1749674860.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466858
2025-06-11T20:47:40.907Z,1749674860.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:40.910Z,1749674860.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 390.562958 m,
bearing: 331.418356 deg,
approach rate: -0.560512 m/s,
LOS rate: -0.002965 deg/s,
cmd heading: 322.047408 deg,
new cmd heading: 322.043765 deg.
2025-06-11T20:47:40.911Z,1749674860.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620724 target range: 406.213806 and range: 409.80 m.
2025-06-11T20:47:40.953Z,1749674860.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.717853
2025-06-11T20:47:41.206Z,1749674861.206 [DAT](INFO): DAT read: Range 10 to 50 : 407.5 m (Round-trip 543.4 ms) speed 0.4 m/s
2025-06-11T20:47:41.207Z,1749674861.207 [DAT](INFO): DAT read: user:472>
2025-06-11T20:47:41.208Z,1749674861.208 [DAT](INFO): DAT read: Tx time:20:47:42.9523
2025-06-11T20:47:41.208Z,1749674861.208 [DAT](INFO): Ping request sent.
2025-06-11T20:47:41.208Z,1749674861.208 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:41.208Z,1749674861.208 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:47:41.209Z,1749674861.209 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:41.209Z,1749674861.209 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:41.332Z,1749674861.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 407.500000 m,
deltaT: 4.032176 s,
deltaX: -2.299988 m,
approachRate: -0.570409 m/s,
rangeRepo size: 4
2025-06-11T20:47:41.333Z,1749674861.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:41.335Z,1749674861.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 390.334747 m,
bearing: 331.417134 deg,
approach rate: -0.537862 m/s,
LOS rate: -0.002880 deg/s,
cmd heading: 322.043775 deg,
new cmd heading: 322.040108 deg.
2025-06-11T20:47:41.336Z,1749674861.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620660 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:41.457Z,1749674861.457 [DAT](INFO): DAT read: TxSync time:20:47:42.9515
2025-06-11T20:47:41.747Z,1749674861.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:41.750Z,1749674861.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:41.753Z,1749674861.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 390.109314 m,
bearing: 331.415157 deg,
approach rate: -0.538654 m/s,
LOS rate: -0.004728 deg/s,
cmd heading: 322.040114 deg,
new cmd heading: 322.034177 deg.
2025-06-11T20:47:41.754Z,1749674861.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620557 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:41.961Z,1749674861.961 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:41.961Z,1749674861.961 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:41.961Z,1749674861.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:42.090Z,1749674862.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:42.093Z,1749674862.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 389.925812 m,
bearing: 331.413526 deg,
approach rate: -0.539343 m/s,
LOS rate: -0.004794 deg/s,
cmd heading: 322.034185 deg,
new cmd heading: 322.029291 deg.
2025-06-11T20:47:42.094Z,1749674862.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620471 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:42.213Z,1749674862.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004754
2025-06-11T20:47:42.465Z,1749674862.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256738
2025-06-11T20:47:42.494Z,1749674862.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:42.497Z,1749674862.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 389.707916 m,
bearing: 331.411553 deg,
approach rate: -0.539655 m/s,
LOS rate: -0.004891 deg/s,
cmd heading: 322.029295 deg,
new cmd heading: 322.023371 deg.
2025-06-11T20:47:42.498Z,1749674862.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620368 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:42.717Z,1749674862.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509221
2025-06-11T20:47:42.926Z,1749674862.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:42.930Z,1749674862.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 389.476196 m,
bearing: 331.409686 deg,
approach rate: -0.536362 m/s,
LOS rate: -0.004324 deg/s,
cmd heading: 322.023366 deg,
new cmd heading: 322.017762 deg.
2025-06-11T20:47:42.932Z,1749674862.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620270 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:42.969Z,1749674862.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760719
2025-06-11T20:47:43.221Z,1749674863.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012579
2025-06-11T20:47:43.328Z,1749674863.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:43.331Z,1749674863.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 389.262512 m,
bearing: 331.407786 deg,
approach rate: -0.536519 m/s,
LOS rate: -0.004773 deg/s,
cmd heading: 322.017765 deg,
new cmd heading: 322.012063 deg.
2025-06-11T20:47:43.336Z,1749674863.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620171 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:43.473Z,1749674863.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264815
2025-06-11T20:47:43.725Z,1749674863.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516725
2025-06-11T20:47:43.762Z,1749674863.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:43.764Z,1749674863.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:43.767Z,1749674863.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 389.022705 m,
bearing: 331.404615 deg,
approach rate: -0.545037 m/s,
LOS rate: -0.007211 deg/s,
cmd heading: 322.012055 deg,
new cmd heading: 322.002538 deg.
2025-06-11T20:47:43.768Z,1749674863.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620005 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:43.979Z,1749674863.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770438
2025-06-11T20:47:44.108Z,1749674864.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:44.110Z,1749674864.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 388.838623 m,
bearing: 331.402016 deg,
approach rate: -0.535625 m/s,
LOS rate: -0.007567 deg/s,
cmd heading: 322.002548 deg,
new cmd heading: 321.994746 deg.
2025-06-11T20:47:44.111Z,1749674864.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619868 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:44.229Z,1749674864.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020710
2025-06-11T20:47:44.482Z,1749674864.482 [DAT](INFO): DAT read: Rx Time:20:47:45.8970
2025-06-11T20:47:44.483Z,1749674864.483 [DAT](INFO): Rx dataTimestamp_ set to:1749674864.482365
2025-06-11T20:47:44.483Z,1749674864.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275101
2025-06-11T20:47:44.537Z,1749674864.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:44.540Z,1749674864.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 388.609039 m,
bearing: 331.398593 deg,
approach rate: -0.534560 m/s,
LOS rate: -0.007974 deg/s,
cmd heading: 321.994734 deg,
new cmd heading: 321.984460 deg.
2025-06-11T20:47:44.541Z,1749674864.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619689 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:44.734Z,1749674864.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525547
2025-06-11T20:47:44.957Z,1749674864.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.21 m.
2025-06-11T20:47:44.961Z,1749674864.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 406.213806 m,
nav range: 388.385864 m,
bearing: 331.395438 deg,
approach rate: -0.531339 m/s,
LOS rate: -0.007516 deg/s,
cmd heading: 321.984461 deg,
new cmd heading: 321.974990 deg.
2025-06-11T20:47:44.962Z,1749674864.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619524 target range: 406.213806 and range: 407.50 m.
2025-06-11T20:47:44.985Z,1749674864.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776723
2025-06-11T20:47:45.243Z,1749674865.243 [DAT](INFO): DAT read: 20:47:45.8970 LVL= 31856, 29217, 27282, 32755, AGC= 72, IDX= 411, 0.06, 0.472,-1.086, 0.235,-0.321, PHS= 0.881,-0.717, 0.553, RAW= 138.8, -9.8, CAL= 145.3, -20.2, ROT= 4.7, 20.2
2025-06-11T20:47:45.244Z,1749674865.244 [DAT](INFO): got valid direction response:
20:47:45.8970 LVL= 31856, 29217, 27282, 32755, AGC= 72, IDX= 411, 0.06, 0.472,-1.086, 0.235,-0.321, PHS= 0.881,-0.717, 0.553, RAW= 138.8, -9.8, CAL= 145.3, -20.2, ROT= 4.7, 20.2
2025-06-11T20:47:45.245Z,1749674865.245 [DAT](INFO): DAT read: Bearing 4.7, 20.2 (Local)
2025-06-11T20:47:45.245Z,1749674865.245 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.7, 20.2 (Local)
2025-06-11T20:47:45.247Z,1749674865.247 [DAT](INFO): DAT read: Range 10 to 50 : 405.4 m (Round-trip 540.6 ms) speed 0.4 m/s
2025-06-11T20:47:45.247Z,1749674865.247 [DAT](INFO): DAT read: user:473>
2025-06-11T20:47:45.248Z,1749674865.248 [DAT](INFO): DAT read: Tx time:20:47:47.0023
2025-06-11T20:47:45.249Z,1749674865.249 [DAT](INFO): Ping request sent.
2025-06-11T20:47:45.249Z,1749674865.249 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:45.249Z,1749674865.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:47:45.250Z,1749674865.250 [DAT](INFO): direction in FSK: [0.935337,0.076899,-0.345298]
2025-06-11T20:47:45.250Z,1749674865.250 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:45.251Z,1749674865.251 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:45.254Z,1749674865.254 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:45.254Z,1749674865.254 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:45.389Z,1749674865.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 405.399994 m,
deltaT: 4.031792 s,
deltaX: -2.100006 m,
approachRate: -0.520862 m/s,
rangeRepo size: 4
2025-06-11T20:47:45.391Z,1749674865.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 401.853088 m,
bearing: 330.902080 deg,
lat: 36.906351 deg,
lon: -122.115241 deg,
deltaT: 8.063968 s,
deltaX: -4.360718 m,
approachRate: -0.540766 m/s,
posRepo size: 4
2025-06-11T20:47:45.396Z,1749674865.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:45.399Z,1749674865.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 382.133881 m,
bearing: 330.950546 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007516 deg/s,
cmd heading: 321.974981 deg,
new cmd heading: 321.965249 deg.
2025-06-11T20:47:45.404Z,1749674865.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619354 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:45.489Z,1749674865.489 [DAT](INFO): DAT read: TxSync time:20:47:47.0015
2025-06-11T20:47:45.786Z,1749674865.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:45.788Z,1749674865.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:45.791Z,1749674865.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 381.903076 m,
bearing: 330.948181 deg,
approach rate: -0.578237 m/s,
LOS rate: -0.005929 deg/s,
cmd heading: 321.965255 deg,
new cmd heading: 321.958154 deg.
2025-06-11T20:47:45.793Z,1749674865.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619230 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:45.993Z,1749674865.993 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:45.993Z,1749674865.993 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:45.993Z,1749674865.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:46.136Z,1749674866.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:46.138Z,1749674866.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 381.720276 m,
bearing: 330.946328 deg,
approach rate: -0.525861 m/s,
LOS rate: -0.005334 deg/s,
cmd heading: 321.958151 deg,
new cmd heading: 321.952589 deg.
2025-06-11T20:47:46.139Z,1749674866.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619133 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:46.245Z,1749674866.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996435
2025-06-11T20:47:46.497Z,1749674866.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248045
2025-06-11T20:47:46.542Z,1749674866.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:46.545Z,1749674866.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 381.506592 m,
bearing: 330.944234 deg,
approach rate: -0.525231 m/s,
LOS rate: -0.005148 deg/s,
cmd heading: 321.952578 deg,
new cmd heading: 321.946295 deg.
2025-06-11T20:47:46.546Z,1749674866.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619023 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:46.749Z,1749674866.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500613
2025-06-11T20:47:46.996Z,1749674866.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:46.999Z,1749674866.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 381.275208 m,
bearing: 330.943419 deg,
approach rate: -0.514886 m/s,
LOS rate: -0.001815 deg/s,
cmd heading: 321.946294 deg,
new cmd heading: 321.943847 deg.
2025-06-11T20:47:47.004Z,1749674867.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752140
2025-06-11T20:47:47.004Z,1749674867.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618980 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:47.253Z,1749674867.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004003
2025-06-11T20:47:47.367Z,1749674867.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:47.370Z,1749674867.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 381.075439 m,
bearing: 330.942792 deg,
approach rate: -0.531816 m/s,
LOS rate: -0.001670 deg/s,
cmd heading: 321.943835 deg,
new cmd heading: 321.941953 deg.
2025-06-11T20:47:47.371Z,1749674867.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618947 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:47.505Z,1749674867.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255946
2025-06-11T20:47:47.760Z,1749674867.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510425
2025-06-11T20:47:47.814Z,1749674867.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:47.836Z,1749674867.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:47.839Z,1749674867.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 380.843842 m,
bearing: 330.942668 deg,
approach rate: -0.516543 m/s,
LOS rate: -0.000278 deg/s,
cmd heading: 321.941950 deg,
new cmd heading: 321.941577 deg.
2025-06-11T20:47:47.839Z,1749674867.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618940 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:48.009Z,1749674868.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760001
2025-06-11T20:47:48.214Z,1749674868.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:48.255Z,1749674868.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 380.655457 m,
bearing: 330.942567 deg,
approach rate: -0.473192 m/s,
LOS rate: -0.000254 deg/s,
cmd heading: 321.941568 deg,
new cmd heading: 321.941264 deg.
2025-06-11T20:47:48.256Z,1749674868.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618935 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:48.261Z,1749674868.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012120
2025-06-11T20:47:48.513Z,1749674868.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264040
2025-06-11T20:47:48.559Z,1749674868.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:48.578Z,1749674868.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 380.461273 m,
bearing: 330.942769 deg,
approach rate: -0.562135 m/s,
LOS rate: 0.000588 deg/s,
cmd heading: 321.941267 deg,
new cmd heading: 321.941876 deg.
2025-06-11T20:47:48.579Z,1749674868.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618946 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:48.768Z,1749674868.768 [DAT](INFO): DAT read: Rx Time:20:47:49.9444
2025-06-11T20:47:48.769Z,1749674868.769 [DAT](INFO): Rx dataTimestamp_ set to:1749674868.768489
2025-06-11T20:47:48.771Z,1749674868.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522002
2025-06-11T20:47:48.987Z,1749674868.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.85 m.
2025-06-11T20:47:48.990Z,1749674868.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 401.853088 m,
nav range: 380.243958 m,
bearing: 330.943535 deg,
approach rate: -0.507868 m/s,
LOS rate: 0.001791 deg/s,
cmd heading: 321.941868 deg,
new cmd heading: 321.944167 deg.
2025-06-11T20:47:48.991Z,1749674868.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618986 target range: 401.853088 and range: 405.40 m.
2025-06-11T20:47:49.017Z,1749674869.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768083
2025-06-11T20:47:49.275Z,1749674869.275 [DAT](INFO): DAT read: 20:47:49.9444 LVL= 20096, 25649, 18242, 28035, AGC= 73, IDX= 416, 0.30,-0.799,-2.232,-1.025,-1.538, PHS= 0.827,-0.646, 0.511, RAW= 138.2, -10.3, CAL= 144.5, -20.6, ROT= 5.5, 20.6
2025-06-11T20:47:49.276Z,1749674869.276 [DAT](INFO): got valid direction response:
20:47:49.9444 LVL= 20096, 25649, 18242, 28035, AGC= 73, IDX= 416, 0.30,-0.799,-2.232,-1.025,-1.538, PHS= 0.827,-0.646, 0.511, RAW= 138.2, -10.3, CAL= 144.5, -20.6, ROT= 5.5, 20.6
2025-06-11T20:47:49.277Z,1749674869.277 [DAT](INFO): DAT read: Bearing 5.5, 20.6 (Local)
2025-06-11T20:47:49.277Z,1749674869.277 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.5, 20.6 (Local)
2025-06-11T20:47:49.279Z,1749674869.279 [DAT](INFO): DAT read: Range 10 to 50 : 403.4 m (Round-trip 537.9 ms) speed 0.3 m/s
2025-06-11T20:47:49.280Z,1749674869.280 [DAT](INFO): DAT read: user:474>
2025-06-11T20:47:49.280Z,1749674869.280 [DAT](INFO): DAT read: Tx time:20:47:51.0523
2025-06-11T20:47:49.281Z,1749674869.281 [DAT](INFO): Ping request sent.
2025-06-11T20:47:49.281Z,1749674869.281 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:49.281Z,1749674869.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:47:49.282Z,1749674869.282 [DAT](INFO): direction in FSK: [0.931750,0.089717,-0.351842]
2025-06-11T20:47:49.282Z,1749674869.282 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:49.283Z,1749674869.283 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:49.286Z,1749674869.286 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:49.286Z,1749674869.286 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:49.406Z,1749674869.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 403.399994 m,
deltaT: 4.032018 s,
deltaX: -2.000000 m,
approachRate: -0.496030 m/s,
rangeRepo size: 4
2025-06-11T20:47:49.412Z,1749674869.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 399.872589 m,
bearing: 328.112533 deg,
lat: 36.906345 deg,
lon: -122.115245 deg,
deltaT: 4.032018 s,
deltaX: -1.980499 m,
approachRate: -0.491193 m/s,
posRepo size: 4
2025-06-11T20:47:49.413Z,1749674869.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:49.415Z,1749674869.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 379.628693 m,
bearing: 330.855611 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001791 deg/s,
cmd heading: 321.944163 deg,
new cmd heading: 321.946408 deg.
2025-06-11T20:47:49.420Z,1749674869.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619025 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:49.521Z,1749674869.521 [DAT](INFO): DAT read: TxSync time:20:47:51.0515
2025-06-11T20:47:49.830Z,1749674869.830 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +51, +42,A
2025-06-11T20:47:49.847Z,1749674869.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:49.849Z,1749674869.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:49.853Z,1749674869.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 379.390533 m,
bearing: 330.856594 deg,
approach rate: -0.535761 m/s,
LOS rate: 0.002211 deg/s,
cmd heading: 321.946403 deg,
new cmd heading: 321.949352 deg.
2025-06-11T20:47:49.854Z,1749674869.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619076 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:50.029Z,1749674870.029 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:50.029Z,1749674870.029 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:50.029Z,1749674870.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:50.188Z,1749674870.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:50.190Z,1749674870.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 379.226471 m,
bearing: 330.857319 deg,
approach rate: -0.485152 m/s,
LOS rate: 0.002146 deg/s,
cmd heading: 321.949354 deg,
new cmd heading: 321.951531 deg.
2025-06-11T20:47:50.191Z,1749674870.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619114 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:50.282Z,1749674870.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001404
2025-06-11T20:47:50.533Z,1749674870.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251932
2025-06-11T20:47:50.587Z,1749674870.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:50.590Z,1749674870.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 379.015442 m,
bearing: 330.858237 deg,
approach rate: -0.527967 m/s,
LOS rate: 0.002298 deg/s,
cmd heading: 321.951540 deg,
new cmd heading: 321.954295 deg.
2025-06-11T20:47:50.591Z,1749674870.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619163 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:50.788Z,1749674870.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506390
2025-06-11T20:47:51.012Z,1749674871.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:51.015Z,1749674871.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 378.809479 m,
bearing: 330.859226 deg,
approach rate: -0.485120 m/s,
LOS rate: 0.002330 deg/s,
cmd heading: 321.954299 deg,
new cmd heading: 321.957267 deg.
2025-06-11T20:47:51.016Z,1749674871.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619215 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:51.037Z,1749674871.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756000
2025-06-11T20:47:51.289Z,1749674871.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007925
2025-06-11T20:47:51.391Z,1749674871.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:51.394Z,1749674871.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 378.624573 m,
bearing: 330.860055 deg,
approach rate: -0.487114 m/s,
LOS rate: 0.002187 deg/s,
cmd heading: 321.957277 deg,
new cmd heading: 321.959767 deg.
2025-06-11T20:47:51.395Z,1749674871.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619258 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:51.541Z,1749674871.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259903
2025-06-11T20:47:51.814Z,1749674871.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533111
2025-06-11T20:47:51.848Z,1749674871.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:51.854Z,1749674871.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:51.885Z,1749674871.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 378.404785 m,
bearing: 330.861034 deg,
approach rate: -0.478259 m/s,
LOS rate: 0.002132 deg/s,
cmd heading: 321.959763 deg,
new cmd heading: 321.962702 deg.
2025-06-11T20:47:51.886Z,1749674871.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619309 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:52.045Z,1749674872.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763927
2025-06-11T20:47:52.217Z,1749674872.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:52.220Z,1749674872.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 378.223511 m,
bearing: 330.861849 deg,
approach rate: -0.495027 m/s,
LOS rate: 0.002225 deg/s,
cmd heading: 321.962714 deg,
new cmd heading: 321.965158 deg.
2025-06-11T20:47:52.221Z,1749674872.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619352 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:52.298Z,1749674872.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017654
2025-06-11T20:47:52.549Z,1749674872.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268203
2025-06-11T20:47:52.607Z,1749674872.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:52.609Z,1749674872.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 378.034241 m,
bearing: 330.862724 deg,
approach rate: -0.486235 m/s,
LOS rate: 0.002249 deg/s,
cmd heading: 321.965145 deg,
new cmd heading: 321.967771 deg.
2025-06-11T20:47:52.610Z,1749674872.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619398 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:52.804Z,1749674872.804 [DAT](INFO): DAT read: Rx Time:20:47:53.9916
2025-06-11T20:47:52.805Z,1749674872.805 [DAT](INFO): Rx dataTimestamp_ set to:1749674872.804509
2025-06-11T20:47:52.807Z,1749674872.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525927
2025-06-11T20:47:53.053Z,1749674873.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772011
2025-06-11T20:47:53.083Z,1749674873.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.87 m.
2025-06-11T20:47:53.091Z,1749674873.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 399.872589 m,
nav range: 377.829651 m,
bearing: 330.863035 deg,
approach rate: -0.429105 m/s,
LOS rate: 0.000654 deg/s,
cmd heading: 321.967768 deg,
new cmd heading: 321.968704 deg.
2025-06-11T20:47:53.098Z,1749674873.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619414 target range: 399.872589 and range: 403.40 m.
2025-06-11T20:47:53.313Z,1749674873.313 [DAT](INFO): DAT read: 20:47:53.9916 LVL= 26736, 28657, 24882, 29299, AGC= 72, IDX= 420, 0.10,-0.782,-2.193,-1.072,-1.542, PHS= 0.848,-0.605, 0.467, RAW= 135.4, -10.9, CAL= 141.1, -21.5, ROT= 8.9, 21.5
2025-06-11T20:47:53.314Z,1749674873.314 [DAT](INFO): got valid direction response:
20:47:53.9916 LVL= 26736, 28657, 24882, 29299, AGC= 72, IDX= 420, 0.10,-0.782,-2.193,-1.072,-1.542, PHS= 0.848,-0.605, 0.467, RAW= 135.4, -10.9, CAL= 141.1, -21.5, ROT= 8.9, 21.5
2025-06-11T20:47:53.324Z,1749674873.324 [DAT](INFO): DAT read: Bearing 8.9, 21.5 (Local)
2025-06-11T20:47:53.325Z,1749674873.325 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.9, 21.5 (Local)
2025-06-11T20:47:53.327Z,1749674873.327 [DAT](INFO): DAT read: Range 10 to 50 : 401.3 m (Round-trip 535.1 ms) speed 0.4 m/s
2025-06-11T20:47:53.328Z,1749674873.328 [DAT](INFO): DAT read: user:475>
2025-06-11T20:47:53.329Z,1749674873.329 [DAT](INFO): DAT read: Tx time:20:47:55.1024
2025-06-11T20:47:53.329Z,1749674873.329 [DAT](INFO): Ping request sent.
2025-06-11T20:47:53.329Z,1749674873.329 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:53.329Z,1749674873.329 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:47:53.330Z,1749674873.330 [DAT](INFO): direction in FSK: [0.919215,0.143945,-0.366501]
2025-06-11T20:47:53.331Z,1749674873.331 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:53.331Z,1749674873.331 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:53.335Z,1749674873.335 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:53.335Z,1749674873.335 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:53.535Z,1749674873.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 401.299988 m,
deltaT: 4.038199 s,
deltaX: -2.100006 m,
approachRate: -0.520035 m/s,
rangeRepo size: 4
2025-06-11T20:47:53.541Z,1749674873.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 397.792267 m,
bearing: 332.319656 deg,
lat: 36.906345 deg,
lon: -122.115245 deg,
deltaT: 4.038199 s,
deltaX: -2.080322 m,
approachRate: -0.515161 m/s,
posRepo size: 4
2025-06-11T20:47:53.542Z,1749674873.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:53.549Z,1749674873.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 377.599670 m,
bearing: 330.863375 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000654 deg/s,
cmd heading: 321.968697 deg,
new cmd heading: 321.969582 deg.
2025-06-11T20:47:53.550Z,1749674873.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619429 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:53.557Z,1749674873.557 [DAT](INFO): DAT read: TxSync time:20:47:55.1016
2025-06-11T20:47:53.957Z,1749674873.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:53.962Z,1749674873.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:53.965Z,1749674873.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 377.398102 m,
bearing: 330.863024 deg,
approach rate: -0.471346 m/s,
LOS rate: -0.000821 deg/s,
cmd heading: 321.969571 deg,
new cmd heading: 321.968518 deg.
2025-06-11T20:47:53.966Z,1749674873.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619411 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:54.061Z,1749674874.061 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:54.062Z,1749674874.062 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:54.062Z,1749674874.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:54.313Z,1749674874.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983781
2025-06-11T20:47:54.329Z,1749674874.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:54.331Z,1749674874.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 377.216095 m,
bearing: 330.862707 deg,
approach rate: -0.519831 m/s,
LOS rate: -0.000907 deg/s,
cmd heading: 321.968506 deg,
new cmd heading: 321.967553 deg.
2025-06-11T20:47:54.337Z,1749674874.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619394 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:54.565Z,1749674874.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235649
2025-06-11T20:47:54.713Z,1749674874.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:54.715Z,1749674874.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 377.022369 m,
bearing: 330.862346 deg,
approach rate: -0.483557 m/s,
LOS rate: -0.000901 deg/s,
cmd heading: 321.967550 deg,
new cmd heading: 321.966467 deg.
2025-06-11T20:47:54.716Z,1749674874.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619375 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:54.820Z,1749674874.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489976
2025-06-11T20:47:55.071Z,1749674875.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741622
2025-06-11T20:47:55.169Z,1749674875.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:55.171Z,1749674875.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 376.806488 m,
bearing: 330.861152 deg,
approach rate: -0.478231 m/s,
LOS rate: -0.002646 deg/s,
cmd heading: 321.966457 deg,
new cmd heading: 321.962874 deg.
2025-06-11T20:47:55.177Z,1749674875.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619312 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:55.321Z,1749674875.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991534
2025-06-11T20:47:55.521Z,1749674875.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:55.524Z,1749674875.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 376.621460 m,
bearing: 330.860123 deg,
approach rate: -0.517903 m/s,
LOS rate: -0.002882 deg/s,
cmd heading: 321.962878 deg,
new cmd heading: 321.959788 deg.
2025-06-11T20:47:55.525Z,1749674875.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619258 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:55.574Z,1749674875.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244438
2025-06-11T20:47:55.828Z,1749674875.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498134
2025-06-11T20:47:55.962Z,1749674875.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:55.964Z,1749674875.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:55.967Z,1749674875.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 376.398102 m,
bearing: 330.859901 deg,
approach rate: -0.504560 m/s,
LOS rate: -0.000502 deg/s,
cmd heading: 321.959791 deg,
new cmd heading: 321.959123 deg.
2025-06-11T20:47:55.968Z,1749674875.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619247 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:56.077Z,1749674876.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747765
2025-06-11T20:47:56.329Z,1749674876.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999718
2025-06-11T20:47:56.359Z,1749674876.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:56.373Z,1749674876.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 376.211395 m,
bearing: 330.859808 deg,
approach rate: -0.473586 m/s,
LOS rate: -0.000234 deg/s,
cmd heading: 321.959135 deg,
new cmd heading: 321.958858 deg.
2025-06-11T20:47:56.375Z,1749674876.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619242 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:56.581Z,1749674876.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251647
2025-06-11T20:47:56.734Z,1749674876.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:56.737Z,1749674876.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 376.008362 m,
bearing: 330.859840 deg,
approach rate: -0.539974 m/s,
LOS rate: 0.000085 deg/s,
cmd heading: 321.958862 deg,
new cmd heading: 321.958957 deg.
2025-06-11T20:47:56.738Z,1749674876.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619244 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:56.838Z,1749674876.838 [DAT](INFO): DAT read: Rx Time:20:47:58.0389
2025-06-11T20:47:56.839Z,1749674876.839 [DAT](INFO): Rx dataTimestamp_ set to:1749674876.838460
2025-06-11T20:47:56.842Z,1749674876.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512575
2025-06-11T20:47:57.089Z,1749674877.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759601
2025-06-11T20:47:57.194Z,1749674877.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.79 m.
2025-06-11T20:47:57.265Z,1749674877.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 397.792267 m,
nav range: 375.777069 m,
bearing: 330.858842 deg,
approach rate: -0.506769 m/s,
LOS rate: -0.002190 deg/s,
cmd heading: 321.958944 deg,
new cmd heading: 321.955946 deg.
2025-06-11T20:47:57.266Z,1749674877.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619191 target range: 397.792267 and range: 401.30 m.
2025-06-11T20:47:57.350Z,1749674877.350 [DAT](INFO): DAT read: 20:47:58.0389 LVL= 20592, 21489, 19378, 26291, AGC= 72, IDX= 407, 0.35, 1.696, 0.090, 1.379, 0.856, PHS= 0.928,-0.719, 0.520, RAW= 136.2, -9.8, CAL= 142.2, -20.6, ROT= 7.8, 20.6
2025-06-11T20:47:57.352Z,1749674877.352 [DAT](INFO): got valid direction response:
20:47:58.0389 LVL= 20592, 21489, 19378, 26291, AGC= 72, IDX= 407, 0.35, 1.696, 0.090, 1.379, 0.856, PHS= 0.928,-0.719, 0.520, RAW= 136.2, -9.8, CAL= 142.2, -20.6, ROT= 7.8, 20.6
2025-06-11T20:47:57.354Z,1749674877.354 [DAT](INFO): DAT read: Bearing 7.8, 20.6 (Local)
2025-06-11T20:47:57.354Z,1749674877.354 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.8, 20.6 (Local)
2025-06-11T20:47:57.356Z,1749674877.356 [DAT](INFO): DAT read: Range 10 to 50 : 399.3 m (Round-trip 532.4 ms) speed 0.4 m/s
2025-06-11T20:47:57.357Z,1749674877.357 [DAT](INFO): DAT read: user:476>
2025-06-11T20:47:57.358Z,1749674877.358 [DAT](INFO): DAT read: Tx time:20:47:59.1524
2025-06-11T20:47:57.358Z,1749674877.358 [DAT](INFO): Ping request sent.
2025-06-11T20:47:57.358Z,1749674877.358 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:47:57.358Z,1749674877.358 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:47:57.359Z,1749674877.359 [DAT](INFO): direction in FSK: [0.927399,0.127038,-0.351842]
2025-06-11T20:47:57.365Z,1749674877.365 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:57.366Z,1749674877.366 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:57.382Z,1749674877.382 [DAT](INFO): publishing transmit ping time
2025-06-11T20:47:57.383Z,1749674877.383 [DAT](INFO): publishing direction and range info
2025-06-11T20:47:57.593Z,1749674877.593 [DAT](INFO): DAT read: TxSync time:20:47:59.1516
2025-06-11T20:47:57.602Z,1749674877.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 399.299988 m,
deltaT: 4.034344 s,
deltaX: -2.000000 m,
approachRate: -0.495744 m/s,
rangeRepo size: 4
2025-06-11T20:47:57.610Z,1749674877.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 395.809448 m,
bearing: 330.248654 deg,
lat: 36.906345 deg,
lon: -122.115245 deg,
deltaT: 4.034344 s,
deltaX: -1.982819 m,
approachRate: -0.491485 m/s,
posRepo size: 4
2025-06-11T20:47:57.611Z,1749674877.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:47:57.617Z,1749674877.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 375.565674 m,
bearing: 330.858163 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002190 deg/s,
cmd heading: 321.955938 deg,
new cmd heading: 321.953238 deg.
2025-06-11T20:47:57.618Z,1749674877.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619144 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:47:57.999Z,1749674877.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:47:58.001Z,1749674878.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:47:58.004Z,1749674878.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 375.334167 m,
bearing: 330.857409 deg,
approach rate: -0.579480 m/s,
LOS rate: -0.001888 deg/s,
cmd heading: 321.953234 deg,
new cmd heading: 321.950970 deg.
2025-06-11T20:47:58.005Z,1749674878.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619104 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:47:58.097Z,1749674878.097 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:47:58.097Z,1749674878.097 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:47:58.097Z,1749674878.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:47:58.349Z,1749674878.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990628
2025-06-11T20:47:58.395Z,1749674878.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:47:58.403Z,1749674878.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 375.131012 m,
bearing: 330.856765 deg,
approach rate: -0.515501 m/s,
LOS rate: -0.001636 deg/s,
cmd heading: 321.950966 deg,
new cmd heading: 321.949032 deg.
2025-06-11T20:47:58.408Z,1749674878.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619071 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:47:58.601Z,1749674878.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242502
2025-06-11T20:47:58.796Z,1749674878.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:47:58.799Z,1749674878.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 374.902466 m,
bearing: 330.856039 deg,
approach rate: -0.570447 m/s,
LOS rate: -0.001813 deg/s,
cmd heading: 321.949026 deg,
new cmd heading: 321.946847 deg.
2025-06-11T20:47:58.800Z,1749674878.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619032 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:47:58.857Z,1749674878.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497976
2025-06-11T20:47:59.105Z,1749674879.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746554
2025-06-11T20:47:59.217Z,1749674879.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:47:59.227Z,1749674879.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 374.681488 m,
bearing: 330.855456 deg,
approach rate: -0.524573 m/s,
LOS rate: -0.001385 deg/s,
cmd heading: 321.946840 deg,
new cmd heading: 321.945090 deg.
2025-06-11T20:47:59.232Z,1749674879.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619002 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:47:59.357Z,1749674879.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999003
2025-06-11T20:47:59.440Z,1749674879.440 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:47:59.604Z,1749674879.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:47:59.607Z,1749674879.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 374.467407 m,
bearing: 330.854807 deg,
approach rate: -0.553718 m/s,
LOS rate: -0.001678 deg/s,
cmd heading: 321.945092 deg,
new cmd heading: 321.943145 deg.
2025-06-11T20:47:59.609Z,1749674879.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250771
2025-06-11T20:47:59.607Z,1749674879.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618968 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:47:59.861Z,1749674879.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502601
2025-06-11T20:48:00.026Z,1749674880.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:00.029Z,1749674880.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:48:00.031Z,1749674880.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 374.228760 m,
bearing: 330.853548 deg,
approach rate: -0.561870 m/s,
LOS rate: -0.002968 deg/s,
cmd heading: 321.943152 deg,
new cmd heading: 321.939370 deg.
2025-06-11T20:48:00.034Z,1749674880.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618902 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:48:00.113Z,1749674880.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755283
2025-06-11T20:48:00.365Z,1749674880.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006630
2025-06-11T20:48:00.423Z,1749674880.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:48:00.430Z,1749674880.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 374.025665 m,
bearing: 330.852388 deg,
approach rate: -0.514331 m/s,
LOS rate: -0.002937 deg/s,
cmd heading: 321.939382 deg,
new cmd heading: 321.935902 deg.
2025-06-11T20:48:00.431Z,1749674880.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618842 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:48:00.444Z,1749674880.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:48:00.617Z,1749674880.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258554
2025-06-11T20:48:00.797Z,1749674880.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:48:00.799Z,1749674880.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 373.808899 m,
bearing: 330.851126 deg,
approach rate: -0.580465 m/s,
LOS rate: -0.003383 deg/s,
cmd heading: 321.935912 deg,
new cmd heading: 321.932122 deg.
2025-06-11T20:48:00.801Z,1749674880.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618775 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:48:00.873Z,1749674880.873 [DAT](INFO): DAT read: Rx Time:20:48:02.0860
2025-06-11T20:48:00.873Z,1749674880.873 [DAT](INFO): Rx dataTimestamp_ set to:1749674880.872728
2025-06-11T20:48:00.874Z,1749674880.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515801
2025-06-11T20:48:01.121Z,1749674881.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762576
2025-06-11T20:48:01.293Z,1749674881.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.81 m.
2025-06-11T20:48:01.298Z,1749674881.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 395.809448 m,
nav range: 373.552277 m,
bearing: 330.849513 deg,
approach rate: -0.516727 m/s,
LOS rate: -0.003249 deg/s,
cmd heading: 321.932115 deg,
new cmd heading: 321.927274 deg.
2025-06-11T20:48:01.299Z,1749674881.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618691 target range: 395.809448 and range: 399.30 m.
2025-06-11T20:48:01.386Z,1749674881.386 [DAT](INFO): DAT read: 20:48:02.0860 LVL= 24656, 26193, 21570, 31923, AGC= 68, IDX= 409, 0.46, 1.066,-0.491, 0.741, 0.212, PHS= 0.942,-0.655, 0.527, RAW= 135.5, -11.3, CAL= 141.2, -21.8, ROT= 8.8, 21.8
2025-06-11T20:48:01.387Z,1749674881.387 [DAT](INFO): got valid direction response:
20:48:02.0860 LVL= 24656, 26193, 21570, 31923, AGC= 68, IDX= 409, 0.46, 1.066,-0.491, 0.741, 0.212, PHS= 0.942,-0.655, 0.527, RAW= 135.5, -11.3, CAL= 141.2, -21.8, ROT= 8.8, 21.8
2025-06-11T20:48:01.388Z,1749674881.388 [DAT](INFO): DAT read: Bearing 8.8, 21.8 (Local)
2025-06-11T20:48:01.388Z,1749674881.388 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.8, 21.8 (Local)
2025-06-11T20:48:01.390Z,1749674881.390 [DAT](INFO): DAT read: Range 10 to 50 : 397.0 m (Round-trip 529.4 ms) speed 0.4 m/s
2025-06-11T20:48:01.390Z,1749674881.390 [DAT](INFO): DAT read: user:477>
2025-06-11T20:48:01.391Z,1749674881.391 [DAT](INFO): DAT read: Tx time:20:48:03.2024
2025-06-11T20:48:01.391Z,1749674881.391 [DAT](INFO): Ping request sent.
2025-06-11T20:48:01.400Z,1749674881.400 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:01.400Z,1749674881.400 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:01.401Z,1749674881.401 [DAT](INFO): direction in FSK: [0.917556,0.142045,-0.371368]
2025-06-11T20:48:01.401Z,1749674881.401 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:01.402Z,1749674881.402 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:01.410Z,1749674881.410 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:01.410Z,1749674881.410 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:01.625Z,1749674881.625 [DAT](INFO): DAT read: TxSync time:20:48:03.2016
2025-06-11T20:48:01.641Z,1749674881.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 397.000000 m,
deltaT: 4.031980 s,
deltaX: -2.299988 m,
approachRate: -0.570436 m/s,
rangeRepo size: 4
2025-06-11T20:48:01.643Z,1749674881.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 393.528717 m,
bearing: 332.237849 deg,
lat: 36.906345 deg,
lon: -122.115241 deg,
deltaT: 4.031980 s,
deltaX: -2.280731 m,
approachRate: -0.565660 m/s,
posRepo size: 4
2025-06-11T20:48:01.643Z,1749674881.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.53 m.
2025-06-11T20:48:01.656Z,1749674881.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 393.528717 m,
nav range: 373.220734 m,
bearing: 330.890127 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003249 deg/s,
cmd heading: 321.927279 deg,
new cmd heading: 321.923944 deg.
2025-06-11T20:48:01.657Z,1749674881.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618633 target range: 393.528717 and range: 397.00 m.
2025-06-11T20:48:02.096Z,1749674882.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:02.099Z,1749674882.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.53 m.
2025-06-11T20:48:02.101Z,1749674882.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 393.528717 m,
nav range: 372.968445 m,
bearing: 330.887911 deg,
approach rate: -0.545026 m/s,
LOS rate: -0.004791 deg/s,
cmd heading: 321.923946 deg,
new cmd heading: 321.917293 deg.
2025-06-11T20:48:02.102Z,1749674882.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618516 target range: 393.528717 and range: 397.00 m.
2025-06-11T20:48:02.129Z,1749674882.129 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:02.129Z,1749674882.129 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:02.129Z,1749674882.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:02.381Z,1749674882.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989415
2025-06-11T20:48:02.495Z,1749674882.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.53 m.
2025-06-11T20:48:02.502Z,1749674882.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 393.528717 m,
nav range: 372.766663 m,
bearing: 330.886095 deg,
approach rate: -0.509272 m/s,
LOS rate: -0.004585 deg/s,
cmd heading: 321.917279 deg,
new cmd heading: 321.911829 deg.
2025-06-11T20:48:02.505Z,1749674882.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618422 target range: 393.528717 and range: 397.00 m.
2025-06-11T20:48:02.633Z,1749674882.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241688
2025-06-11T20:48:02.885Z,1749674882.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493265
2025-06-11T20:48:02.996Z,1749674882.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.53 m.
2025-06-11T20:48:02.999Z,1749674882.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 393.528717 m,
nav range: 372.524048 m,
bearing: 330.883840 deg,
approach rate: -0.487972 m/s,
LOS rate: -0.004538 deg/s,
cmd heading: 321.911843 deg,
new cmd heading: 321.905074 deg.
2025-06-11T20:48:03.004Z,1749674883.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618303 target range: 393.528717 and range: 397.00 m.
2025-06-11T20:48:03.138Z,1749674883.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746216
2025-06-11T20:48:03.334Z,1749674883.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.53 m.
2025-06-11T20:48:03.337Z,1749674883.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 393.528717 m,
nav range: 372.332214 m,
bearing: 330.882228 deg,
approach rate: -0.561151 m/s,
LOS rate: -0.004719 deg/s,
cmd heading: 321.905067 deg,
new cmd heading: 321.900227 deg.
2025-06-11T20:48:03.338Z,1749674883.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618219 target range: 393.528717 and range: 397.00 m.
2025-06-11T20:48:03.390Z,1749674883.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997797
2025-06-11T20:48:03.641Z,1749674883.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249155
2025-06-11T20:48:03.718Z,1749674883.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.53 m.
2025-06-11T20:48:03.720Z,1749674883.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 393.528717 m,
nav range: 372.142487 m,
bearing: 330.880511 deg,
approach rate: -0.494276 m/s,
LOS rate: -0.004474 deg/s,
cmd heading: 321.900231 deg,
new cmd heading: 321.895079 deg.
2025-06-11T20:48:03.721Z,1749674883.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618129 target range: 393.528717 and range: 397.00 m.
2025-06-11T20:48:03.893Z,1749674883.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501320
2025-06-11T20:48:04.149Z,1749674884.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757197
2025-06-11T20:48:04.170Z,1749674884.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:04.177Z,1749674884.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.53 m.
2025-06-11T20:48:04.179Z,1749674884.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 393.528717 m,
nav range: 371.929657 m,
bearing: 330.878209 deg,
approach rate: -0.463717 m/s,
LOS rate: -0.005019 deg/s,
cmd heading: 321.895068 deg,
new cmd heading: 321.888157 deg.
2025-06-11T20:48:04.188Z,1749674884.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618008 target range: 393.528717 and range: 397.00 m.
2025-06-11T20:48:04.400Z,1749674884.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008569
2025-06-11T20:48:04.530Z,1749674884.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.53 m.
2025-06-11T20:48:04.533Z,1749674884.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 393.528717 m,
nav range: 371.751343 m,
bearing: 330.876205 deg,
approach rate: -0.504379 m/s,
LOS rate: -0.005671 deg/s,
cmd heading: 321.888156 deg,
new cmd heading: 321.882141 deg.
2025-06-11T20:48:04.534Z,1749674884.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617903 target range: 393.528717 and range: 397.00 m.
2025-06-11T20:48:04.654Z,1749674884.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262284
2025-06-11T20:48:04.905Z,1749674884.905 [DAT](INFO): DAT read: Rx Time:20:48:06.1334
2025-06-11T20:48:04.905Z,1749674884.905 [DAT](INFO): Rx dataTimestamp_ set to:1749674884.905058
2025-06-11T20:48:04.906Z,1749674884.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514320
2025-06-11T20:48:05.015Z,1749674885.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.53 m.
2025-06-11T20:48:05.022Z,1749674885.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 393.528717 m,
nav range: 371.558044 m,
bearing: 330.873968 deg,
approach rate: -0.398484 m/s,
LOS rate: -0.004615 deg/s,
cmd heading: 321.882145 deg,
new cmd heading: 321.875429 deg.
2025-06-11T20:48:05.023Z,1749674885.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617786 target range: 393.528717 and range: 397.00 m.
2025-06-11T20:48:05.157Z,1749674885.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765101
2025-06-11T20:48:05.415Z,1749674885.415 [DAT](INFO): DAT read: 20:48:06.1334 LVL= 21328, 23121, 26018, 31475, AGC= 69, IDX= 415,-0.08, 1.884, 0.498, 1.679, 1.194, PHS= 0.778,-0.649, 0.482, RAW= 138.7, -9.4, CAL= 145.1, -19.8, ROT= 4.9, 19.8
2025-06-11T20:48:05.417Z,1749674885.417 [DAT](INFO): got valid direction response:
20:48:06.1334 LVL= 21328, 23121, 26018, 31475, AGC= 69, IDX= 415,-0.08, 1.884, 0.498, 1.679, 1.194, PHS= 0.778,-0.649, 0.482, RAW= 138.7, -9.4, CAL= 145.1, -19.8, ROT= 4.9, 19.8
2025-06-11T20:48:05.418Z,1749674885.418 [DAT](INFO): DAT read: Bearing 4.9, 19.8 (Local)
2025-06-11T20:48:05.418Z,1749674885.418 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.9, 19.8 (Local)
2025-06-11T20:48:05.419Z,1749674885.419 [DAT](INFO): DAT read: Range 10 to 50 : 395.1 m (Round-trip 526.8 ms) speed 0.4 m/s
2025-06-11T20:48:05.428Z,1749674885.428 [DAT](INFO): DAT read: user:478>
2025-06-11T20:48:05.429Z,1749674885.429 [DAT](INFO): DAT read: Tx time:20:48:07.2525
2025-06-11T20:48:05.430Z,1749674885.430 [DAT](INFO): Ping request sent.
2025-06-11T20:48:05.430Z,1749674885.430 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:05.430Z,1749674885.430 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:05.431Z,1749674885.431 [DAT](INFO): direction in FSK: [0.937442,0.080367,-0.338738]
2025-06-11T20:48:05.431Z,1749674885.431 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:05.431Z,1749674885.431 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:05.435Z,1749674885.435 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:05.435Z,1749674885.435 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:05.459Z,1749674885.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 395.100006 m,
deltaT: 4.036069 s,
deltaX: -1.899994 m,
approachRate: -0.470754 m/s,
rangeRepo size: 4
2025-06-11T20:48:05.469Z,1749674885.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 391.643066 m,
bearing: 329.372711 deg,
lat: 36.906339 deg,
lon: -122.115292 deg,
deltaT: 4.036069 s,
deltaX: -1.885651 m,
approachRate: -0.467200 m/s,
posRepo size: 4
2025-06-11T20:48:05.470Z,1749674885.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:05.482Z,1749674885.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 372.962677 m,
bearing: 330.215147 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004615 deg/s,
cmd heading: 321.875424 deg,
new cmd heading: 321.869289 deg.
2025-06-11T20:48:05.482Z,1749674885.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617679 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:05.661Z,1749674885.661 [DAT](INFO): DAT read: TxSync time:20:48:07.2517
2025-06-11T20:48:05.800Z,1749674885.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:05.803Z,1749674885.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 372.782776 m,
bearing: 330.213429 deg,
approach rate: -0.532821 m/s,
LOS rate: -0.005091 deg/s,
cmd heading: 321.869277 deg,
new cmd heading: 321.864120 deg.
2025-06-11T20:48:05.808Z,1749674885.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617589 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:06.188Z,1749674886.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:06.190Z,1749674886.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:06.194Z,1749674886.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 372.589417 m,
bearing: 330.212724 deg,
approach rate: -0.490406 m/s,
LOS rate: -0.001787 deg/s,
cmd heading: 321.864113 deg,
new cmd heading: 321.861999 deg.
2025-06-11T20:48:06.195Z,1749674886.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617552 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:06.417Z,1749674886.417 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:06.417Z,1749674886.417 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:06.417Z,1749674886.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:06.569Z,1749674886.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:06.571Z,1749674886.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 372.409180 m,
bearing: 330.212173 deg,
approach rate: -0.476237 m/s,
LOS rate: -0.001459 deg/s,
cmd heading: 321.862010 deg,
new cmd heading: 321.860354 deg.
2025-06-11T20:48:06.572Z,1749674886.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617523 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:06.669Z,1749674886.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239244
2025-06-11T20:48:06.922Z,1749674886.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492007
2025-06-11T20:48:07.043Z,1749674887.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:07.051Z,1749674887.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 372.213562 m,
bearing: 330.211632 deg,
approach rate: -0.412069 m/s,
LOS rate: -0.001139 deg/s,
cmd heading: 321.860343 deg,
new cmd heading: 321.858720 deg.
2025-06-11T20:48:07.056Z,1749674887.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617495 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:07.173Z,1749674887.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743179
2025-06-11T20:48:07.425Z,1749674887.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995203
2025-06-11T20:48:07.430Z,1749674887.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:07.437Z,1749674887.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 372.001862 m,
bearing: 330.212437 deg,
approach rate: -0.547722 m/s,
LOS rate: 0.002084 deg/s,
cmd heading: 321.858731 deg,
new cmd heading: 321.861147 deg.
2025-06-11T20:48:07.438Z,1749674887.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617537 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:07.679Z,1749674887.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248951
2025-06-11T20:48:07.782Z,1749674887.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:07.784Z,1749674887.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 371.833130 m,
bearing: 330.213119 deg,
approach rate: -0.479723 m/s,
LOS rate: 0.001941 deg/s,
cmd heading: 321.861135 deg,
new cmd heading: 321.863183 deg.
2025-06-11T20:48:07.785Z,1749674887.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617572 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:07.930Z,1749674887.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500021
2025-06-11T20:48:08.181Z,1749674888.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751175
2025-06-11T20:48:08.226Z,1749674888.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:08.228Z,1749674888.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:08.231Z,1749674888.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 371.616577 m,
bearing: 330.213898 deg,
approach rate: -0.485466 m/s,
LOS rate: 0.001747 deg/s,
cmd heading: 321.863184 deg,
new cmd heading: 321.865522 deg.
2025-06-11T20:48:08.231Z,1749674888.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617613 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:08.433Z,1749674888.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003189
2025-06-11T20:48:08.599Z,1749674888.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:08.602Z,1749674888.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 371.441620 m,
bearing: 330.214573 deg,
approach rate: -0.470808 m/s,
LOS rate: 0.001818 deg/s,
cmd heading: 321.865534 deg,
new cmd heading: 321.867561 deg.
2025-06-11T20:48:08.603Z,1749674888.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617649 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:08.686Z,1749674888.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255905
2025-06-11T20:48:08.937Z,1749674888.937 [DAT](INFO): DAT read: Rx Time:20:48:10.1809
2025-06-11T20:48:08.938Z,1749674888.938 [DAT](INFO): Rx dataTimestamp_ set to:1749674888.937368
2025-06-11T20:48:08.939Z,1749674888.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508876
2025-06-11T20:48:09.087Z,1749674889.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.64 m.
2025-06-11T20:48:09.094Z,1749674889.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 391.643066 m,
nav range: 371.206604 m,
bearing: 330.215481 deg,
approach rate: -0.481480 m/s,
LOS rate: 0.001862 deg/s,
cmd heading: 321.867556 deg,
new cmd heading: 321.870282 deg.
2025-06-11T20:48:09.095Z,1749674889.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617696 target range: 391.643066 and range: 395.10 m.
2025-06-11T20:48:09.190Z,1749674889.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760724
2025-06-11T20:48:09.447Z,1749674889.447 [DAT](INFO): DAT read: 20:48:10.1809 LVL= 30640, 32753, 27634, 32755, AGC= 72, IDX= 420, 0.41,-2.972, 1.982, 3.004, 2.587, PHS= 0.813,-0.558, 0.414, RAW= 133.6, -11.0, CAL= 139.0, -21.8, ROT= 11.0, 21.8
2025-06-11T20:48:09.452Z,1749674889.452 [DAT](INFO): got valid direction response:
20:48:10.1809 LVL= 30640, 32753, 27634, 32755, AGC= 72, IDX= 420, 0.41,-2.972, 1.982, 3.004, 2.587, PHS= 0.813,-0.558, 0.414, RAW= 133.6, -11.0, CAL= 139.0, -21.8, ROT= 11.0, 21.8
2025-06-11T20:48:09.453Z,1749674889.453 [DAT](INFO): DAT read: Bearing 11.0, 21.8 (Local)
2025-06-11T20:48:09.453Z,1749674889.453 [DAT](INFO): Local bearing/azimuth received:
Bearing 11.0, 21.8 (Local)
2025-06-11T20:48:09.455Z,1749674889.455 [DAT](INFO): DAT read: Range 10 to 50 : 393.2 m (Round-trip 524.3 ms) speed 0.3 m/s
2025-06-11T20:48:09.456Z,1749674889.456 [DAT](INFO): DAT read: user:479>
2025-06-11T20:48:09.457Z,1749674889.457 [DAT](INFO): DAT read: Tx time:20:48:11.3025
2025-06-11T20:48:09.457Z,1749674889.457 [DAT](INFO): Ping request sent.
2025-06-11T20:48:09.457Z,1749674889.457 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:09.457Z,1749674889.457 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:09.458Z,1749674889.458 [DAT](INFO): direction in FSK: [0.911427,0.177163,-0.371368]
2025-06-11T20:48:09.459Z,1749674889.459 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:09.459Z,1749674889.459 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:09.463Z,1749674889.463 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:09.463Z,1749674889.463 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:09.488Z,1749674889.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 393.200012 m,
deltaT: 4.031575 s,
deltaX: -1.899994 m,
approachRate: -0.471278 m/s,
rangeRepo size: 4
2025-06-11T20:48:09.490Z,1749674889.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 389.760681 m,
bearing: 333.784616 deg,
lat: 36.906380 deg,
lon: -122.115161 deg,
deltaT: 4.031575 s,
deltaX: -1.882385 m,
approachRate: -0.466911 m/s,
posRepo size: 4
2025-06-11T20:48:09.491Z,1749674889.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:09.498Z,1749674889.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 369.439575 m,
bearing: 332.144374 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001862 deg/s,
cmd heading: 321.870288 deg,
new cmd heading: 321.872499 deg.
2025-06-11T20:48:09.499Z,1749674889.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617735 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:09.693Z,1749674889.693 [DAT](INFO): DAT read: TxSync time:20:48:11.3017
2025-06-11T20:48:09.842Z,1749674889.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:09.847Z,1749674889.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 369.250458 m,
bearing: 332.146664 deg,
approach rate: -0.527114 m/s,
LOS rate: 0.006385 deg/s,
cmd heading: 321.872501 deg,
new cmd heading: 321.879374 deg.
2025-06-11T20:48:09.849Z,1749674889.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617855 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:10.252Z,1749674890.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:10.254Z,1749674890.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:10.257Z,1749674890.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 369.031036 m,
bearing: 332.149484 deg,
approach rate: -0.532812 m/s,
LOS rate: 0.006851 deg/s,
cmd heading: 321.879386 deg,
new cmd heading: 321.887850 deg.
2025-06-11T20:48:10.258Z,1749674890.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618003 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:10.449Z,1749674890.449 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:10.449Z,1749674890.449 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:10.449Z,1749674890.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:10.626Z,1749674890.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:10.629Z,1749674890.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 368.842621 m,
bearing: 332.151946 deg,
approach rate: -0.506736 m/s,
LOS rate: 0.006624 deg/s,
cmd heading: 321.887855 deg,
new cmd heading: 321.895244 deg.
2025-06-11T20:48:10.629Z,1749674890.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618132 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:10.701Z,1749674890.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243901
2025-06-11T20:48:10.953Z,1749674890.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495954
2025-06-11T20:48:11.082Z,1749674891.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:11.103Z,1749674891.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 368.636902 m,
bearing: 332.154620 deg,
approach rate: -0.457198 m/s,
LOS rate: 0.005947 deg/s,
cmd heading: 321.895232 deg,
new cmd heading: 321.903260 deg.
2025-06-11T20:48:11.109Z,1749674891.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618272 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:11.205Z,1749674891.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748425
2025-06-11T20:48:11.454Z,1749674891.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:11.457Z,1749674891.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999986
2025-06-11T20:48:11.473Z,1749674891.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 368.421051 m,
bearing: 332.156284 deg,
approach rate: -0.570872 m/s,
LOS rate: 0.004404 deg/s,
cmd heading: 321.903264 deg,
new cmd heading: 321.908259 deg.
2025-06-11T20:48:11.474Z,1749674891.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618359 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:11.709Z,1749674891.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251863
2025-06-11T20:48:11.839Z,1749674891.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:11.842Z,1749674891.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 368.223450 m,
bearing: 332.157755 deg,
approach rate: -0.512412 m/s,
LOS rate: 0.003816 deg/s,
cmd heading: 321.908264 deg,
new cmd heading: 321.912679 deg.
2025-06-11T20:48:11.843Z,1749674891.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618436 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:11.961Z,1749674891.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504002
2025-06-11T20:48:12.213Z,1749674892.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755736
2025-06-11T20:48:12.254Z,1749674892.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:12.277Z,1749674892.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:12.279Z,1749674892.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 368.010284 m,
bearing: 332.158404 deg,
approach rate: -0.487362 m/s,
LOS rate: 0.001484 deg/s,
cmd heading: 321.912690 deg,
new cmd heading: 321.914637 deg.
2025-06-11T20:48:12.285Z,1749674892.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618470 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:12.468Z,1749674892.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010642
2025-06-11T20:48:12.649Z,1749674892.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:12.651Z,1749674892.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 367.809387 m,
bearing: 332.158990 deg,
approach rate: -0.540302 m/s,
LOS rate: 0.001576 deg/s,
cmd heading: 321.914629 deg,
new cmd heading: 321.916388 deg.
2025-06-11T20:48:12.652Z,1749674892.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618501 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:12.722Z,1749674892.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265071
2025-06-11T20:48:12.973Z,1749674892.973 [DAT](INFO): DAT read: Rx Time:20:48:14.2279
2025-06-11T20:48:12.973Z,1749674892.973 [DAT](INFO): Rx dataTimestamp_ set to:1749674892.973063
2025-06-11T20:48:12.974Z,1749674892.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516976
2025-06-11T20:48:13.150Z,1749674893.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.76 m.
2025-06-11T20:48:13.161Z,1749674893.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 389.760681 m,
nav range: 367.580383 m,
bearing: 332.159658 deg,
approach rate: -0.456649 m/s,
LOS rate: 0.001334 deg/s,
cmd heading: 321.916378 deg,
new cmd heading: 321.918385 deg.
2025-06-11T20:48:13.162Z,1749674893.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618536 target range: 389.760681 and range: 393.20 m.
2025-06-11T20:48:13.228Z,1749674893.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770759
2025-06-11T20:48:13.483Z,1749674893.483 [DAT](INFO): DAT read: 20:48:14.2279 LVL= 23680, 26705, 23586, 29027, AGC= 72, IDX= 406, 0.03, 0.881,-0.658, 0.611, 0.104, PHS= 0.865,-0.715, 0.504, RAW= 137.4, -9.2, CAL= 143.6, -19.9, ROT= 6.4, 19.9
2025-06-11T20:48:13.484Z,1749674893.484 [DAT](INFO): got valid direction response:
20:48:14.2279 LVL= 23680, 26705, 23586, 29027, AGC= 72, IDX= 406, 0.03, 0.881,-0.658, 0.611, 0.104, PHS= 0.865,-0.715, 0.504, RAW= 137.4, -9.2, CAL= 143.6, -19.9, ROT= 6.4, 19.9
2025-06-11T20:48:13.485Z,1749674893.485 [DAT](INFO): DAT read: Bearing 6.4, 19.9 (Local)
2025-06-11T20:48:13.485Z,1749674893.485 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.4, 19.9 (Local)
2025-06-11T20:48:13.487Z,1749674893.487 [DAT](INFO): DAT read: Range 10 to 50 : 390.9 m (Round-trip 521.2 ms) speed 0.4 m/s
2025-06-11T20:48:13.488Z,1749674893.488 [DAT](INFO): DAT read: user:480>
2025-06-11T20:48:13.489Z,1749674893.489 [DAT](INFO): DAT read: Tx time:20:48:15.3525
2025-06-11T20:48:13.489Z,1749674893.489 [DAT](INFO): Ping request sent.
2025-06-11T20:48:13.489Z,1749674893.489 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:13.489Z,1749674893.489 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:13.490Z,1749674893.490 [DAT](INFO): direction in FSK: [0.934428,0.104813,-0.340380]
2025-06-11T20:48:13.490Z,1749674893.490 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:13.491Z,1749674893.491 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:13.499Z,1749674893.499 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:13.499Z,1749674893.499 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:13.566Z,1749674893.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 390.899994 m,
deltaT: 4.035903 s,
deltaX: -2.300018 m,
approachRate: -0.569889 m/s,
rangeRepo size: 4
2025-06-11T20:48:13.572Z,1749674893.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 387.483582 m,
bearing: 329.902472 deg,
lat: 36.906339 deg,
lon: -122.115292 deg,
deltaT: 4.035903 s,
deltaX: -2.277100 m,
approachRate: -0.564211 m/s,
posRepo size: 4
2025-06-11T20:48:13.573Z,1749674893.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:13.584Z,1749674893.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 368.932007 m,
bearing: 330.220444 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001334 deg/s,
cmd heading: 321.918372 deg,
new cmd heading: 321.920035 deg.
2025-06-11T20:48:13.586Z,1749674893.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618565 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:13.729Z,1749674893.729 [DAT](INFO): DAT read: TxSync time:20:48:15.3517
2025-06-11T20:48:13.891Z,1749674893.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:13.898Z,1749674893.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 368.753479 m,
bearing: 330.219012 deg,
approach rate: -0.547648 m/s,
LOS rate: -0.004396 deg/s,
cmd heading: 321.920039 deg,
new cmd heading: 321.915740 deg.
2025-06-11T20:48:13.899Z,1749674893.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618490 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:14.307Z,1749674894.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:14.310Z,1749674894.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:14.313Z,1749674894.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 368.533478 m,
bearing: 330.216257 deg,
approach rate: -0.526023 m/s,
LOS rate: -0.006591 deg/s,
cmd heading: 321.915749 deg,
new cmd heading: 321.907480 deg.
2025-06-11T20:48:14.314Z,1749674894.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618345 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:14.485Z,1749674894.485 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:14.485Z,1749674894.485 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:14.485Z,1749674894.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:14.689Z,1749674894.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:14.691Z,1749674894.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 368.337402 m,
bearing: 330.213869 deg,
approach rate: -0.517506 m/s,
LOS rate: -0.006306 deg/s,
cmd heading: 321.907471 deg,
new cmd heading: 321.900303 deg.
2025-06-11T20:48:14.692Z,1749674894.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618220 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:14.738Z,1749674894.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248455
2025-06-11T20:48:14.989Z,1749674894.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499841
2025-06-11T20:48:15.112Z,1749674895.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:15.122Z,1749674895.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 368.125793 m,
bearing: 330.211365 deg,
approach rate: -0.501817 m/s,
LOS rate: -0.005939 deg/s,
cmd heading: 321.900313 deg,
new cmd heading: 321.892800 deg.
2025-06-11T20:48:15.142Z,1749674895.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618089 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:15.242Z,1749674895.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753401
2025-06-11T20:48:15.493Z,1749674895.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003955
2025-06-11T20:48:15.560Z,1749674895.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:15.563Z,1749674895.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 367.897247 m,
bearing: 330.208396 deg,
approach rate: -0.512925 m/s,
LOS rate: -0.006669 deg/s,
cmd heading: 321.892800 deg,
new cmd heading: 321.883885 deg.
2025-06-11T20:48:15.568Z,1749674895.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617934 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:15.745Z,1749674895.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255898
2025-06-11T20:48:15.906Z,1749674895.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:15.910Z,1749674895.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 367.699951 m,
bearing: 330.205792 deg,
approach rate: -0.562642 m/s,
LOS rate: -0.007430 deg/s,
cmd heading: 321.883893 deg,
new cmd heading: 321.876077 deg.
2025-06-11T20:48:15.911Z,1749674895.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617797 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:15.998Z,1749674895.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509020
2025-06-11T20:48:16.249Z,1749674896.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759897
2025-06-11T20:48:16.339Z,1749674896.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:16.341Z,1749674896.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:16.343Z,1749674896.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 367.470184 m,
bearing: 330.203117 deg,
approach rate: -0.528899 m/s,
LOS rate: -0.006161 deg/s,
cmd heading: 321.876080 deg,
new cmd heading: 321.868050 deg.
2025-06-11T20:48:16.345Z,1749674896.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617657 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:16.501Z,1749674896.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011795
2025-06-11T20:48:16.717Z,1749674896.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:16.719Z,1749674896.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 367.270569 m,
bearing: 330.200763 deg,
approach rate: -0.531260 m/s,
LOS rate: -0.006269 deg/s,
cmd heading: 321.868047 deg,
new cmd heading: 321.860981 deg.
2025-06-11T20:48:16.720Z,1749674896.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617534 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:16.754Z,1749674896.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264700
2025-06-11T20:48:17.005Z,1749674897.005 [DAT](INFO): DAT read: Rx Time:20:48:18.2751
2025-06-11T20:48:17.005Z,1749674897.005 [DAT](INFO): Rx dataTimestamp_ set to:1749674897.005130
2025-06-11T20:48:17.006Z,1749674897.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517040
2025-06-11T20:48:17.179Z,1749674897.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.48 m.
2025-06-11T20:48:17.195Z,1749674897.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 387.483582 m,
nav range: 367.051514 m,
bearing: 330.198138 deg,
approach rate: -0.475560 m/s,
LOS rate: -0.005701 deg/s,
cmd heading: 321.860971 deg,
new cmd heading: 321.853094 deg.
2025-06-11T20:48:17.201Z,1749674897.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617396 target range: 387.483582 and range: 390.90 m.
2025-06-11T20:48:17.258Z,1749674897.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768622
2025-06-11T20:48:17.515Z,1749674897.515 [DAT](INFO): DAT read: 20:48:18.2751 LVL= 18128, 21617, 16930, 27283, AGC= 70, IDX= 410, 0.15,-0.625,-1.938,-0.884,-1.319, PHS= 0.783,-0.571, 0.433, RAW= 135.6, -10.6, CAL= 141.4, -21.3, ROT= 8.6, 21.3
2025-06-11T20:48:17.516Z,1749674897.516 [DAT](INFO): got valid direction response:
20:48:18.2751 LVL= 18128, 21617, 16930, 27283, AGC= 70, IDX= 410, 0.15,-0.625,-1.938,-0.884,-1.319, PHS= 0.783,-0.571, 0.433, RAW= 135.6, -10.6, CAL= 141.4, -21.3, ROT= 8.6, 21.3
2025-06-11T20:48:17.517Z,1749674897.517 [DAT](INFO): DAT read: Bearing 8.6, 21.3 (Local)
2025-06-11T20:48:17.518Z,1749674897.518 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.6, 21.3 (Local)
2025-06-11T20:48:17.519Z,1749674897.519 [DAT](INFO): DAT read: Range 10 to 50 : 388.8 m (Round-trip 518.5 ms) speed 0.3 m/s
2025-06-11T20:48:17.521Z,1749674897.521 [DAT](INFO): DAT read: user:481>
2025-06-11T20:48:17.522Z,1749674897.522 [DAT](INFO): DAT read: Tx time:20:48:19.4025
2025-06-11T20:48:17.522Z,1749674897.522 [DAT](INFO): Ping request sent.
2025-06-11T20:48:17.522Z,1749674897.522 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:17.522Z,1749674897.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:17.523Z,1749674897.523 [DAT](INFO): direction in FSK: [0.921216,0.139321,-0.363251]
2025-06-11T20:48:17.524Z,1749674897.524 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:17.524Z,1749674897.524 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:17.527Z,1749674897.527 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:17.527Z,1749674897.527 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:17.661Z,1749674897.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 388.799988 m,
deltaT: 4.032300 s,
deltaX: -2.100006 m,
approachRate: -0.520796 m/s,
rangeRepo size: 4
2025-06-11T20:48:17.663Z,1749674897.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 385.400635 m,
bearing: 331.781661 deg,
lat: 36.906362 deg,
lon: -122.115178 deg,
deltaT: 4.032300 s,
deltaX: -2.082947 m,
approachRate: -0.516565 m/s,
posRepo size: 4
2025-06-11T20:48:17.663Z,1749674897.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:17.670Z,1749674897.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 364.160431 m,
bearing: 331.782695 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005701 deg/s,
cmd heading: 321.853103 deg,
new cmd heading: 321.844923 deg.
2025-06-11T20:48:17.671Z,1749674897.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617254 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:17.761Z,1749674897.761 [DAT](INFO): DAT read: TxSync time:20:48:19.4017
2025-06-11T20:48:17.990Z,1749674897.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:17.994Z,1749674897.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 363.972168 m,
bearing: 331.781456 deg,
approach rate: -0.562528 m/s,
LOS rate: -0.003703 deg/s,
cmd heading: 321.844934 deg,
new cmd heading: 321.841216 deg.
2025-06-11T20:48:17.995Z,1749674897.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617189 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:18.406Z,1749674898.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:18.409Z,1749674898.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:18.412Z,1749674898.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 363.751587 m,
bearing: 331.780230 deg,
approach rate: -0.526338 m/s,
LOS rate: -0.002928 deg/s,
cmd heading: 321.841218 deg,
new cmd heading: 321.837538 deg.
2025-06-11T20:48:18.413Z,1749674898.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617125 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:18.517Z,1749674898.517 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:18.517Z,1749674898.517 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:18.517Z,1749674898.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:18.769Z,1749674898.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246766
2025-06-11T20:48:18.799Z,1749674898.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:18.806Z,1749674898.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 363.553467 m,
bearing: 331.779070 deg,
approach rate: -0.508051 m/s,
LOS rate: -0.002976 deg/s,
cmd heading: 321.837530 deg,
new cmd heading: 321.834049 deg.
2025-06-11T20:48:18.807Z,1749674898.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617064 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:19.021Z,1749674899.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498633
2025-06-11T20:48:19.238Z,1749674899.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:19.242Z,1749674899.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 363.313080 m,
bearing: 331.777661 deg,
approach rate: -0.547406 m/s,
LOS rate: -0.003210 deg/s,
cmd heading: 321.834060 deg,
new cmd heading: 321.829831 deg.
2025-06-11T20:48:19.243Z,1749674899.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616990 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:19.274Z,1749674899.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751525
2025-06-11T20:48:19.525Z,1749674899.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002660
2025-06-11T20:48:19.623Z,1749674899.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:19.634Z,1749674899.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 363.118195 m,
bearing: 331.777575 deg,
approach rate: -0.506449 m/s,
LOS rate: -0.000224 deg/s,
cmd heading: 321.829826 deg,
new cmd heading: 321.829567 deg.
2025-06-11T20:48:19.635Z,1749674899.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616986 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:19.778Z,1749674899.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256130
2025-06-11T20:48:19.990Z,1749674899.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:19.993Z,1749674899.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 362.924316 m,
bearing: 331.777500 deg,
approach rate: -0.529119 m/s,
LOS rate: -0.000207 deg/s,
cmd heading: 321.829580 deg,
new cmd heading: 321.829353 deg.
2025-06-11T20:48:19.993Z,1749674899.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616982 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:20.030Z,1749674900.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507482
2025-06-11T20:48:20.281Z,1749674900.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758666
2025-06-11T20:48:20.429Z,1749674900.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:20.431Z,1749674900.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:20.438Z,1749674900.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 362.711029 m,
bearing: 331.776832 deg,
approach rate: -0.483313 m/s,
LOS rate: -0.001513 deg/s,
cmd heading: 321.829361 deg,
new cmd heading: 321.827358 deg.
2025-06-11T20:48:20.439Z,1749674900.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616947 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:20.534Z,1749674900.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011786
2025-06-11T20:48:20.785Z,1749674900.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262843
2025-06-11T20:48:20.806Z,1749674900.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:20.810Z,1749674900.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 362.510254 m,
bearing: 331.776230 deg,
approach rate: -0.534678 m/s,
LOS rate: -0.001606 deg/s,
cmd heading: 321.827367 deg,
new cmd heading: 321.825558 deg.
2025-06-11T20:48:20.811Z,1749674900.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616916 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:21.038Z,1749674901.038 [DAT](INFO): DAT read: Rx Time:20:48:22.3225
2025-06-11T20:48:21.038Z,1749674901.038 [DAT](INFO): Rx dataTimestamp_ set to:1749674901.037706
2025-06-11T20:48:21.039Z,1749674901.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516473
2025-06-11T20:48:21.279Z,1749674901.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:21.282Z,1749674901.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 362.278198 m,
bearing: 331.775532 deg,
approach rate: -0.490544 m/s,
LOS rate: -0.001475 deg/s,
cmd heading: 321.825564 deg,
new cmd heading: 321.823470 deg.
2025-06-11T20:48:21.283Z,1749674901.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616879 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:21.289Z,1749674901.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766808
2025-06-11T20:48:21.547Z,1749674901.547 [DAT](INFO): DAT read: 20:48:22.3225 LVL= 25952, 27937, 26098, 32755, AGC= 71, IDX= 414,-0.26, 0.631,-0.820, 0.328,-0.145, PHS= 0.864,-0.628, 0.470, RAW= 135.2, -10.6, CAL= 141.0, -21.3, ROT= 9.0, 21.3
2025-06-11T20:48:21.548Z,1749674901.548 [DAT](INFO): got valid direction response:
20:48:22.3225 LVL= 25952, 27937, 26098, 32755, AGC= 71, IDX= 414,-0.26, 0.631,-0.820, 0.328,-0.145, PHS= 0.864,-0.628, 0.470, RAW= 135.2, -10.6, CAL= 141.0, -21.3, ROT= 9.0, 21.3
2025-06-11T20:48:21.549Z,1749674901.549 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:48:21.549Z,1749674901.549 [DAT](INFO): Received a bad header
2025-06-11T20:48:21.560Z,1749674901.560 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:48:21.561Z,1749674901.561 [DAT](INFO): direction in FSK: [0.920221,0.145749,-0.363251]
2025-06-11T20:48:21.564Z,1749674901.564 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:21.564Z,1749674901.564 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:21.564Z,1749674901.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:21.699Z,1749674901.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:21.706Z,1749674901.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 362.074829 m,
bearing: 331.775193 deg,
approach rate: -0.484816 m/s,
LOS rate: -0.000810 deg/s,
cmd heading: 321.823460 deg,
new cmd heading: 321.822441 deg.
2025-06-11T20:48:21.707Z,1749674901.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616861 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:21.793Z,1749674901.793 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:21.793Z,1749674901.793 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:21.793Z,1749674901.793 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:22.018Z,1749674902.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:22.020Z,1749674902.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 361.919067 m,
bearing: 331.774943 deg,
approach rate: -0.488925 m/s,
LOS rate: -0.000786 deg/s,
cmd heading: 321.822449 deg,
new cmd heading: 321.821698 deg.
2025-06-11T20:48:22.021Z,1749674902.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616848 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:22.045Z,1749674902.045 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:22.045Z,1749674902.045 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:22.045Z,1749674902.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:22.298Z,1749674902.298 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:22.298Z,1749674902.298 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:22.298Z,1749674902.298 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:22.444Z,1749674902.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:22.446Z,1749674902.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:22.453Z,1749674902.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 361.711945 m,
bearing: 331.775791 deg,
approach rate: -0.483181 m/s,
LOS rate: 0.001980 deg/s,
cmd heading: 321.821711 deg,
new cmd heading: 321.824258 deg.
2025-06-11T20:48:22.454Z,1749674902.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616893 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:22.549Z,1749674902.549 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:22.549Z,1749674902.549 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:22.550Z,1749674902.550 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:22.801Z,1749674902.801 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:22.801Z,1749674902.801 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:22.801Z,1749674902.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:22.849Z,1749674902.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:22.851Z,1749674902.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 361.505402 m,
bearing: 331.776673 deg,
approach rate: -0.512987 m/s,
LOS rate: 0.002192 deg/s,
cmd heading: 321.824252 deg,
new cmd heading: 321.826900 deg.
2025-06-11T20:48:22.857Z,1749674902.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616939 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:23.056Z,1749674903.056 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:23.056Z,1749674903.056 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:23.056Z,1749674903.056 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:23.295Z,1749674903.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:23.302Z,1749674903.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 361.286713 m,
bearing: 331.777676 deg,
approach rate: -0.490046 m/s,
LOS rate: 0.002248 deg/s,
cmd heading: 321.826902 deg,
new cmd heading: 321.829912 deg.
2025-06-11T20:48:23.303Z,1749674903.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616992 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:23.305Z,1749674903.305 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:23.305Z,1749674903.305 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:23.305Z,1749674903.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:23.557Z,1749674903.557 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:23.557Z,1749674903.557 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:23.557Z,1749674903.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:23.674Z,1749674903.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:23.677Z,1749674903.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 361.098511 m,
bearing: 331.778095 deg,
approach rate: -0.496114 m/s,
LOS rate: 0.001105 deg/s,
cmd heading: 321.829908 deg,
new cmd heading: 321.831166 deg.
2025-06-11T20:48:23.678Z,1749674903.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617013 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:23.809Z,1749674903.809 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:23.809Z,1749674903.809 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:23.809Z,1749674903.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:24.033Z,1749674904.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:24.037Z,1749674904.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 360.929016 m,
bearing: 331.778509 deg,
approach rate: -0.472556 m/s,
LOS rate: 0.001154 deg/s,
cmd heading: 321.831164 deg,
new cmd heading: 321.832407 deg.
2025-06-11T20:48:24.038Z,1749674904.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617035 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:24.061Z,1749674904.061 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:24.061Z,1749674904.061 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:24.061Z,1749674904.061 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:24.314Z,1749674904.314 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:24.314Z,1749674904.314 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:24.314Z,1749674904.314 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:24.466Z,1749674904.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:24.468Z,1749674904.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:24.471Z,1749674904.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 360.719025 m,
bearing: 331.779531 deg,
approach rate: -0.483048 m/s,
LOS rate: 0.002353 deg/s,
cmd heading: 321.832394 deg,
new cmd heading: 321.835463 deg.
2025-06-11T20:48:24.472Z,1749674904.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617088 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:24.567Z,1749674904.567 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:24.568Z,1749674904.568 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:24.568Z,1749674904.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:24.820Z,1749674904.820 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:24.821Z,1749674904.821 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:24.821Z,1749674904.821 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:24.935Z,1749674904.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:24.939Z,1749674904.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 360.496613 m,
bearing: 331.780626 deg,
approach rate: -0.476640 m/s,
LOS rate: 0.002348 deg/s,
cmd heading: 321.835454 deg,
new cmd heading: 321.838741 deg.
2025-06-11T20:48:24.941Z,1749674904.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617146 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:25.073Z,1749674905.073 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:25.073Z,1749674905.073 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:25.073Z,1749674905.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:25.292Z,1749674905.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:25.310Z,1749674905.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 360.340485 m,
bearing: 331.781349 deg,
approach rate: -0.443042 m/s,
LOS rate: 0.002051 deg/s,
cmd heading: 321.838732 deg,
new cmd heading: 321.840900 deg.
2025-06-11T20:48:25.316Z,1749674905.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617183 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:25.325Z,1749674905.325 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:25.325Z,1749674905.325 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:25.325Z,1749674905.325 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:25.576Z,1749674905.576 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:25.577Z,1749674905.577 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:25.577Z,1749674905.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:25.672Z,1749674905.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:25.674Z,1749674905.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 360.136993 m,
bearing: 331.782061 deg,
approach rate: -0.528907 m/s,
LOS rate: 0.001854 deg/s,
cmd heading: 321.840891 deg,
new cmd heading: 321.843030 deg.
2025-06-11T20:48:25.675Z,1749674905.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617220 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:25.829Z,1749674905.829 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:25.829Z,1749674905.829 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:25.829Z,1749674905.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:26.053Z,1749674906.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:26.056Z,1749674906.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 359.952698 m,
bearing: 331.782615 deg,
approach rate: -0.483115 m/s,
LOS rate: 0.001451 deg/s,
cmd heading: 321.843022 deg,
new cmd heading: 321.844683 deg.
2025-06-11T20:48:26.057Z,1749674906.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617249 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:26.081Z,1749674906.081 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:26.081Z,1749674906.081 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:26.081Z,1749674906.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:26.335Z,1749674906.335 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:26.335Z,1749674906.335 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:26.335Z,1749674906.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:26.497Z,1749674906.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:26.499Z,1749674906.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:26.506Z,1749674906.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 359.732086 m,
bearing: 331.783220 deg,
approach rate: -0.494330 m/s,
LOS rate: 0.001356 deg/s,
cmd heading: 321.844688 deg,
new cmd heading: 321.846504 deg.
2025-06-11T20:48:26.507Z,1749674906.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617281 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:26.586Z,1749674906.586 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:26.586Z,1749674906.586 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:26.586Z,1749674906.586 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:26.837Z,1749674906.837 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:26.838Z,1749674906.838 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:26.838Z,1749674906.838 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:26.883Z,1749674906.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:26.898Z,1749674906.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 359.534363 m,
bearing: 331.783648 deg,
approach rate: -0.515322 m/s,
LOS rate: 0.001116 deg/s,
cmd heading: 321.846491 deg,
new cmd heading: 321.847776 deg.
2025-06-11T20:48:26.899Z,1749674906.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617303 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:27.089Z,1749674907.089 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:27.089Z,1749674907.089 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:27.089Z,1749674907.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:27.265Z,1749674907.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:27.268Z,1749674907.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 359.344421 m,
bearing: 331.783977 deg,
approach rate: -0.496811 m/s,
LOS rate: 0.000862 deg/s,
cmd heading: 321.847775 deg,
new cmd heading: 321.848764 deg.
2025-06-11T20:48:27.269Z,1749674907.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617321 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:27.343Z,1749674907.343 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:27.343Z,1749674907.343 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:27.343Z,1749674907.343 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:48:27.592Z,1749674907.592 [DAT](INFO): Reached modem response timeout
2025-06-11T20:48:27.593Z,1749674907.593 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:48:27.593Z,1749674907.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:27.755Z,1749674907.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:27.758Z,1749674907.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 359.092682 m,
bearing: 331.784743 deg,
approach rate: -0.513745 m/s,
LOS rate: 0.001563 deg/s,
cmd heading: 321.848759 deg,
new cmd heading: 321.851057 deg.
2025-06-11T20:48:27.759Z,1749674907.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617361 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:27.845Z,1749674907.845 [DAT](INFO): Reached modem response timeout
2025-06-11T20:48:27.846Z,1749674907.846 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:48:27.846Z,1749674907.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:28.097Z,1749674908.097 [DAT](INFO): Reached modem response timeout
2025-06-11T20:48:28.097Z,1749674908.097 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:48:28.097Z,1749674908.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:28.145Z,1749674908.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:28.147Z,1749674908.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 358.894745 m,
bearing: 331.785356 deg,
approach rate: -0.508255 m/s,
LOS rate: 0.001576 deg/s,
cmd heading: 321.851054 deg,
new cmd heading: 321.852895 deg.
2025-06-11T20:48:28.149Z,1749674908.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617393 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:28.351Z,1749674908.351 [DAT](INFO): Reached modem response timeout
2025-06-11T20:48:28.352Z,1749674908.352 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:48:28.353Z,1749674908.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:28.601Z,1749674908.601 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:48:28.601Z,1749674908.601 [DAT](INFO): response not received
2025-06-11T20:48:28.602Z,1749674908.602 [DAT](INFO): DAT read: user:483>
2025-06-11T20:48:28.602Z,1749674908.602 [DAT](INFO): DAT read: Tx time:20:48:30.3527
2025-06-11T20:48:28.603Z,1749674908.603 [DAT](INFO): Ping request sent.
2025-06-11T20:48:28.603Z,1749674908.603 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:28.603Z,1749674908.603 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:28.604Z,1749674908.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-06-11T20:48:28.608Z,1749674908.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:28.610Z,1749674908.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:28.625Z,1749674908.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 358.667908 m,
bearing: 331.785701 deg,
approach rate: -0.487675 m/s,
LOS rate: 0.000741 deg/s,
cmd heading: 321.852884 deg,
new cmd heading: 321.853918 deg.
2025-06-11T20:48:28.626Z,1749674908.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617411 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:28.855Z,1749674908.855 [DAT](INFO): DAT read: TxSync time:20:48:30.3519
2025-06-11T20:48:28.856Z,1749674908.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253282
2025-06-11T20:48:28.984Z,1749674908.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:28.986Z,1749674908.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 358.462860 m,
bearing: 331.786089 deg,
approach rate: -0.548890 m/s,
LOS rate: 0.001039 deg/s,
cmd heading: 321.853923 deg,
new cmd heading: 321.855087 deg.
2025-06-11T20:48:28.987Z,1749674908.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617431 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:29.109Z,1749674909.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506127
2025-06-11T20:48:29.364Z,1749674909.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760365
2025-06-11T20:48:29.433Z,1749674909.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:29.436Z,1749674909.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 358.222260 m,
bearing: 331.785450 deg,
approach rate: -0.534995 m/s,
LOS rate: -0.001420 deg/s,
cmd heading: 321.855097 deg,
new cmd heading: 321.853182 deg.
2025-06-11T20:48:29.437Z,1749674909.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617398 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:29.613Z,1749674909.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010085
2025-06-11T20:48:29.820Z,1749674909.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:29.823Z,1749674909.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 358.025970 m,
bearing: 331.785026 deg,
approach rate: -0.512888 m/s,
LOS rate: -0.001110 deg/s,
cmd heading: 321.853185 deg,
new cmd heading: 321.851911 deg.
2025-06-11T20:48:29.828Z,1749674909.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617375 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:29.865Z,1749674909.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262108
2025-06-11T20:48:30.117Z,1749674910.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513827
2025-06-11T20:48:30.203Z,1749674910.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:30.211Z,1749674910.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 357.822815 m,
bearing: 331.784713 deg,
approach rate: -0.526147 m/s,
LOS rate: -0.000810 deg/s,
cmd heading: 321.851901 deg,
new cmd heading: 321.850962 deg.
2025-06-11T20:48:30.217Z,1749674910.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617359 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:30.373Z,1749674910.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769262
2025-06-11T20:48:30.572Z,1749674910.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:48:30.621Z,1749674910.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018194
2025-06-11T20:48:30.623Z,1749674910.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:30.626Z,1749674910.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:30.628Z,1749674910.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 357.588745 m,
bearing: 331.784650 deg,
approach rate: -0.552720 m/s,
LOS rate: -0.000150 deg/s,
cmd heading: 321.850972 deg,
new cmd heading: 321.850781 deg.
2025-06-11T20:48:30.629Z,1749674910.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617356 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:30.873Z,1749674910.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269869
2025-06-11T20:48:30.993Z,1749674910.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:30.996Z,1749674910.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 357.395844 m,
bearing: 331.784671 deg,
approach rate: -0.524313 m/s,
LOS rate: 0.000059 deg/s,
cmd heading: 321.850781 deg,
new cmd heading: 321.850846 deg.
2025-06-11T20:48:30.997Z,1749674910.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617357 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:31.125Z,1749674911.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521856
2025-06-11T20:48:31.381Z,1749674911.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776594
2025-06-11T20:48:31.465Z,1749674911.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:31.467Z,1749674911.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 357.150970 m,
bearing: 331.786305 deg,
approach rate: -0.519874 m/s,
LOS rate: 0.003472 deg/s,
cmd heading: 321.850835 deg,
new cmd heading: 321.855741 deg.
2025-06-11T20:48:31.472Z,1749674911.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617443 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:31.576Z,1749674911.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:48:31.629Z,1749674911.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025819
2025-06-11T20:48:31.802Z,1749674911.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:31.805Z,1749674911.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 356.977142 m,
bearing: 331.787705 deg,
approach rate: -0.514376 m/s,
LOS rate: 0.004143 deg/s,
cmd heading: 321.855753 deg,
new cmd heading: 321.859953 deg.
2025-06-11T20:48:31.806Z,1749674911.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617516 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:31.885Z,1749674911.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280764
2025-06-11T20:48:32.133Z,1749674912.133 [DAT](INFO): DAT read: Rx Time:20:48:33.2653
2025-06-11T20:48:32.133Z,1749674912.133 [DAT](INFO): Rx dataTimestamp_ set to:1749674912.133086
2025-06-11T20:48:32.134Z,1749674912.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531060
2025-06-11T20:48:32.223Z,1749674912.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:32.229Z,1749674912.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 356.766846 m,
bearing: 331.789466 deg,
approach rate: -0.500529 m/s,
LOS rate: 0.004194 deg/s,
cmd heading: 321.859960 deg,
new cmd heading: 321.865247 deg.
2025-06-11T20:48:32.230Z,1749674912.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617608 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:32.387Z,1749674912.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783827
2025-06-11T20:48:32.628Z,1749674912.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:32.635Z,1749674912.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.40 m.
2025-06-11T20:48:32.644Z,1749674912.644 [DAT](INFO): DAT read: 20:48:33.2653 LVL= 22912, 28929, 19442, 27987, AGC= 74, IDX= 387,-0.02, 1.403,-0.002, 1.151, 0.686, PHS= 0.805,-0.641, 0.462, RAW= 136.9, -9.6, CAL= 143.0, -20.4, ROT= 7.0, 20.4
2025-06-11T20:48:32.645Z,1749674912.645 [DAT](INFO): got valid direction response:
20:48:33.2653 LVL= 22912, 28929, 19442, 27987, AGC= 74, IDX= 387,-0.02, 1.403,-0.002, 1.151, 0.686, PHS= 0.805,-0.641, 0.462, RAW= 136.9, -9.6, CAL= 143.0, -20.4, ROT= 7.0, 20.4
2025-06-11T20:48:32.646Z,1749674912.646 [DAT](INFO): DAT read: Bearing 7.0, 20.4 (Local)
2025-06-11T20:48:32.646Z,1749674912.646 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.0, 20.4 (Local)
2025-06-11T20:48:32.648Z,1749674912.648 [DAT](INFO): DAT read: Range 10 to 50 : 381.3 m (Round-trip 508.4 ms) speed 0.4 m/s
2025-06-11T20:48:32.649Z,1749674912.649 [DAT](INFO): DAT read: user:484>
2025-06-11T20:48:32.650Z,1749674912.650 [DAT](INFO): DAT read: Tx time:20:48:34.3527
2025-06-11T20:48:32.650Z,1749674912.650 [DAT](INFO): Ping request sent.
2025-06-11T20:48:32.650Z,1749674912.650 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:32.651Z,1749674912.651 [DAT](INFO): DAT read: TxSync time:20:48:34.3519
2025-06-11T20:48:32.651Z,1749674912.651 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:32.666Z,1749674912.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 385.400635 m,
nav range: 356.559906 m,
bearing: 331.788996 deg,
approach rate: -0.502194 m/s,
LOS rate: -0.001141 deg/s,
cmd heading: 321.865233 deg,
new cmd heading: 321.863823 deg.
2025-06-11T20:48:32.666Z,1749674912.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617583 target range: 385.400635 and range: 388.80 m.
2025-06-11T20:48:32.672Z,1749674912.672 [DAT](INFO): direction in FSK: [0.930296,0.114226,-0.348572]
2025-06-11T20:48:32.673Z,1749674912.673 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:32.673Z,1749674912.673 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:32.685Z,1749674912.685 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:32.685Z,1749674912.685 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:33.017Z,1749674913.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 381.299988 m,
deltaT: 15.128210 s,
deltaX: -7.500000 m,
approachRate: -0.495763 m/s,
rangeRepo size: 4
2025-06-11T20:48:33.019Z,1749674913.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 377.970795 m,
bearing: 329.285926 deg,
lat: 36.906329 deg,
lon: -122.115312 deg,
deltaT: 15.128210 s,
deltaX: -7.429840 m,
approachRate: -0.491125 m/s,
posRepo size: 4
2025-06-11T20:48:33.020Z,1749674913.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:33.022Z,1749674913.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 358.955811 m,
bearing: 329.841176 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001141 deg/s,
cmd heading: 321.863813 deg,
new cmd heading: 321.862507 deg.
2025-06-11T20:48:33.023Z,1749674913.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617560 target range: 377.970795 and range: 381.30 m.
2025-06-11T20:48:33.510Z,1749674913.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:33.513Z,1749674913.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 358.712036 m,
bearing: 329.839447 deg,
approach rate: -0.493121 m/s,
LOS rate: -0.003501 deg/s,
cmd heading: 321.862501 deg,
new cmd heading: 321.857310 deg.
2025-06-11T20:48:33.514Z,1749674913.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617470 target range: 377.970795 and range: 381.30 m.
2025-06-11T20:48:33.839Z,1749674913.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:33.846Z,1749674913.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 358.558838 m,
bearing: 329.838280 deg,
approach rate: -0.465637 m/s,
LOS rate: -0.003547 deg/s,
cmd heading: 321.857310 deg,
new cmd heading: 321.853809 deg.
2025-06-11T20:48:33.847Z,1749674913.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617409 target range: 377.970795 and range: 381.30 m.
2025-06-11T20:48:34.226Z,1749674914.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:34.229Z,1749674914.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 358.361755 m,
bearing: 329.836631 deg,
approach rate: -0.509360 m/s,
LOS rate: -0.004265 deg/s,
cmd heading: 321.853813 deg,
new cmd heading: 321.848863 deg.
2025-06-11T20:48:34.230Z,1749674914.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617322 target range: 377.970795 and range: 381.30 m.
2025-06-11T20:48:34.657Z,1749674914.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:34.659Z,1749674914.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:34.666Z,1749674914.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 358.149994 m,
bearing: 329.834543 deg,
approach rate: -0.488982 m/s,
LOS rate: -0.004824 deg/s,
cmd heading: 321.848868 deg,
new cmd heading: 321.842601 deg.
2025-06-11T20:48:34.667Z,1749674914.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617213 target range: 377.970795 and range: 381.30 m.
2025-06-11T20:48:34.905Z,1749674914.905 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:34.906Z,1749674914.906 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:34.906Z,1749674914.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:35.039Z,1749674915.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:35.042Z,1749674915.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 357.947388 m,
bearing: 329.832402 deg,
approach rate: -0.533215 m/s,
LOS rate: -0.005639 deg/s,
cmd heading: 321.842612 deg,
new cmd heading: 321.836184 deg.
2025-06-11T20:48:35.043Z,1749674915.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617101 target range: 377.970795 and range: 381.30 m.
2025-06-11T20:48:35.157Z,1749674915.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506935
2025-06-11T20:48:35.411Z,1749674915.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760803
2025-06-11T20:48:35.518Z,1749674915.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:35.522Z,1749674915.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 357.712799 m,
bearing: 329.828979 deg,
approach rate: -0.489989 m/s,
LOS rate: -0.007155 deg/s,
cmd heading: 321.836191 deg,
new cmd heading: 321.825914 deg.
2025-06-11T20:48:35.523Z,1749674915.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616922 target range: 377.970795 and range: 381.30 m.
2025-06-11T20:48:35.661Z,1749674915.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010787
2025-06-11T20:48:35.913Z,1749674915.913 [DAT](INFO): DAT read: Rx Time:20:48:37.2626
2025-06-11T20:48:35.914Z,1749674915.914 [DAT](INFO): Rx dataTimestamp_ set to:1749674915.913599
2025-06-11T20:48:35.915Z,1749674915.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264753
2025-06-11T20:48:35.977Z,1749674915.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:35.979Z,1749674915.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 357.488190 m,
bearing: 329.825567 deg,
approach rate: -0.490039 m/s,
LOS rate: -0.007449 deg/s,
cmd heading: 321.825919 deg,
new cmd heading: 321.815676 deg.
2025-06-11T20:48:35.992Z,1749674915.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616743 target range: 377.970795 and range: 381.30 m.
2025-06-11T20:48:36.165Z,1749674916.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514764
2025-06-11T20:48:36.279Z,1749674916.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:36.282Z,1749674916.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 357.339539 m,
bearing: 329.823245 deg,
approach rate: -0.491183 m/s,
LOS rate: -0.007674 deg/s,
cmd heading: 321.815674 deg,
new cmd heading: 321.808706 deg.
2025-06-11T20:48:36.283Z,1749674916.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616621 target range: 377.970795 and range: 381.30 m.
2025-06-11T20:48:36.418Z,1749674916.418 [DAT](INFO): DAT read: Range 10 to 50 : 379.3 m (Round-trip 505.8 ms) speed 0.3 m/s
2025-06-11T20:48:36.419Z,1749674916.419 [DAT](INFO): DAT read: user:485>
2025-06-11T20:48:36.419Z,1749674916.419 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:48:36.420Z,1749674916.420 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:36.420Z,1749674916.420 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:36.420Z,1749674916.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:36.669Z,1749674916.669 [DAT](INFO): DAT read: Tx time:20:48:38.3527
2025-06-11T20:48:36.669Z,1749674916.669 [DAT](INFO): Ping request sent.
2025-06-11T20:48:36.669Z,1749674916.669 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:36.670Z,1749674916.670 [DAT](INFO): DAT read: TxSync time:20:48:38.3519
2025-06-11T20:48:36.670Z,1749674916.670 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:36.671Z,1749674916.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001619
2025-06-11T20:48:36.741Z,1749674916.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:36.743Z,1749674916.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 379.299988 m,
deltaT: 3.779786 s,
deltaX: -2.000000 m,
approachRate: -0.529130 m/s,
rangeRepo size: 4
2025-06-11T20:48:36.748Z,1749674916.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:36.751Z,1749674916.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 357.131897 m,
bearing: 329.818577 deg,
approach rate: -0.447835 m/s,
LOS rate: -0.010074 deg/s,
cmd heading: 321.808707 deg,
new cmd heading: 321.794695 deg.
2025-06-11T20:48:36.757Z,1749674916.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616377 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:36.921Z,1749674916.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251777
2025-06-11T20:48:37.075Z,1749674917.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:37.078Z,1749674917.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 356.979523 m,
bearing: 329.815173 deg,
approach rate: -0.458640 m/s,
LOS rate: -0.010250 deg/s,
cmd heading: 321.794691 deg,
new cmd heading: 321.784475 deg.
2025-06-11T20:48:37.079Z,1749674917.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616199 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:37.174Z,1749674917.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503878
2025-06-11T20:48:37.428Z,1749674917.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757788
2025-06-11T20:48:37.562Z,1749674917.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:37.565Z,1749674917.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 356.730286 m,
bearing: 329.812894 deg,
approach rate: -0.511374 m/s,
LOS rate: -0.004680 deg/s,
cmd heading: 321.784473 deg,
new cmd heading: 321.777631 deg.
2025-06-11T20:48:37.566Z,1749674917.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616079 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:37.677Z,1749674917.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007816
2025-06-11T20:48:37.886Z,1749674917.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:37.889Z,1749674917.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 356.565155 m,
bearing: 329.811460 deg,
approach rate: -0.510793 m/s,
LOS rate: -0.004439 deg/s,
cmd heading: 321.777643 deg,
new cmd heading: 321.773338 deg.
2025-06-11T20:48:37.890Z,1749674917.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616004 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:37.930Z,1749674917.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260134
2025-06-11T20:48:38.181Z,1749674918.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511310
2025-06-11T20:48:38.284Z,1749674918.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:38.287Z,1749674918.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 356.361603 m,
bearing: 329.809718 deg,
approach rate: -0.511329 m/s,
LOS rate: -0.004376 deg/s,
cmd heading: 321.773326 deg,
new cmd heading: 321.768100 deg.
2025-06-11T20:48:38.288Z,1749674918.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615913 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:38.433Z,1749674918.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763259
2025-06-11T20:48:38.685Z,1749674918.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015355
2025-06-11T20:48:38.715Z,1749674918.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:38.717Z,1749674918.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 356.146240 m,
bearing: 329.807891 deg,
approach rate: -0.499897 m/s,
LOS rate: -0.004245 deg/s,
cmd heading: 321.768108 deg,
new cmd heading: 321.762621 deg.
2025-06-11T20:48:38.718Z,1749674918.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615817 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:38.938Z,1749674918.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268063
2025-06-11T20:48:39.093Z,1749674919.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:39.095Z,1749674919.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:39.097Z,1749674919.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 355.956635 m,
bearing: 329.806343 deg,
approach rate: -0.498964 m/s,
LOS rate: -0.004075 deg/s,
cmd heading: 321.762617 deg,
new cmd heading: 321.757971 deg.
2025-06-11T20:48:39.098Z,1749674919.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615736 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:39.189Z,1749674919.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519684
2025-06-11T20:48:39.441Z,1749674919.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771789
2025-06-11T20:48:39.589Z,1749674919.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:39.591Z,1749674919.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 355.712677 m,
bearing: 329.805621 deg,
approach rate: -0.493703 m/s,
LOS rate: -0.001462 deg/s,
cmd heading: 321.757972 deg,
new cmd heading: 321.755805 deg.
2025-06-11T20:48:39.597Z,1749674919.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615698 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:39.694Z,1749674919.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024234
2025-06-11T20:48:39.915Z,1749674919.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:39.919Z,1749674919.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 355.538239 m,
bearing: 329.805107 deg,
approach rate: -0.535508 m/s,
LOS rate: -0.001578 deg/s,
cmd heading: 321.755814 deg,
new cmd heading: 321.754272 deg.
2025-06-11T20:48:39.921Z,1749674919.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615672 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:39.947Z,1749674919.947 [DAT](INFO): DAT read: Rx Time:20:48:41.2600
2025-06-11T20:48:39.947Z,1749674919.947 [DAT](INFO): Rx dataTimestamp_ set to:1749674919.946974
2025-06-11T20:48:39.948Z,1749674919.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278777
2025-06-11T20:48:40.197Z,1749674920.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527482
2025-06-11T20:48:40.309Z,1749674920.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.97 m.
2025-06-11T20:48:40.311Z,1749674920.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 377.970795 m,
nav range: 355.336884 m,
bearing: 329.804517 deg,
approach rate: -0.510895 m/s,
LOS rate: -0.001499 deg/s,
cmd heading: 321.754284 deg,
new cmd heading: 321.752511 deg.
2025-06-11T20:48:40.313Z,1749674920.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615641 target range: 377.970795 and range: 379.30 m.
2025-06-11T20:48:40.463Z,1749674920.463 [DAT](INFO): DAT read: 20:48:41.2600 LVL= 23616, 29201, 22738, 32755, AGC= 72, IDX= 413,-0.28, 0.232,-1.085,-0.023,-0.422, PHS= 0.742,-0.616, 0.396, RAW= 135.8, -8.6, CAL= 141.8, -19.7, ROT= 8.2, 19.7
2025-06-11T20:48:40.464Z,1749674920.464 [DAT](INFO): got valid direction response:
20:48:41.2600 LVL= 23616, 29201, 22738, 32755, AGC= 72, IDX= 413,-0.28, 0.232,-1.085,-0.023,-0.422, PHS= 0.742,-0.616, 0.396, RAW= 135.8, -8.6, CAL= 141.8, -19.7, ROT= 8.2, 19.7
2025-06-11T20:48:40.467Z,1749674920.467 [DAT](INFO): DAT read: Bearing 8.2, 19.7 (Local)
2025-06-11T20:48:40.472Z,1749674920.472 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.2, 19.7 (Local)
2025-06-11T20:48:40.473Z,1749674920.473 [DAT](INFO): DAT read: Range 10 to 50 : 377.4 m (Round-trip 503.2 ms) speed 0.4 m/s
2025-06-11T20:48:40.474Z,1749674920.474 [DAT](INFO): DAT read: user:486>
2025-06-11T20:48:40.475Z,1749674920.475 [DAT](INFO): DAT read: Tx time:20:48:42.3527
2025-06-11T20:48:40.475Z,1749674920.475 [DAT](INFO): Ping request sent.
2025-06-11T20:48:40.475Z,1749674920.475 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:40.480Z,1749674920.480 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:40.481Z,1749674920.481 [DAT](INFO): direction in FSK: [0.931845,0.134281,-0.337095]
2025-06-11T20:48:40.482Z,1749674920.482 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:40.482Z,1749674920.482 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:40.539Z,1749674920.539 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:40.557Z,1749674920.557 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:40.701Z,1749674920.701 [DAT](INFO): DAT read: TxSync time:20:48:42.3519
2025-06-11T20:48:40.792Z,1749674920.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 377.399994 m,
deltaT: 4.033485 s,
deltaX: -1.899994 m,
approachRate: -0.471055 m/s,
rangeRepo size: 4
2025-06-11T20:48:40.794Z,1749674920.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 374.107758 m,
bearing: 331.701522 deg,
lat: 36.906362 deg,
lon: -122.115192 deg,
deltaT: 7.813271 s,
deltaX: -3.863037 m,
approachRate: -0.494420 m/s,
posRepo size: 4
2025-06-11T20:48:40.795Z,1749674920.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:40.801Z,1749674920.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 353.099609 m,
bearing: 331.593838 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001499 deg/s,
cmd heading: 321.752508 deg,
new cmd heading: 321.750374 deg.
2025-06-11T20:48:40.802Z,1749674920.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615603 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:41.110Z,1749674921.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:41.129Z,1749674921.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:41.136Z,1749674921.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 352.923431 m,
bearing: 331.594053 deg,
approach rate: -0.535632 m/s,
LOS rate: 0.000655 deg/s,
cmd heading: 321.750377 deg,
new cmd heading: 321.751023 deg.
2025-06-11T20:48:41.137Z,1749674921.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615615 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:41.206Z,1749674921.206 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:41.206Z,1749674921.206 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:41.206Z,1749674921.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:41.457Z,1749674921.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981360
2025-06-11T20:48:41.601Z,1749674921.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:41.604Z,1749674921.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 352.679901 m,
bearing: 331.595276 deg,
approach rate: -0.497860 m/s,
LOS rate: 0.002502 deg/s,
cmd heading: 321.751033 deg,
new cmd heading: 321.754704 deg.
2025-06-11T20:48:41.605Z,1749674921.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615679 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:41.710Z,1749674921.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233911
2025-06-11T20:48:41.924Z,1749674921.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:41.945Z,1749674921.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 352.521393 m,
bearing: 331.596120 deg,
approach rate: -0.491372 m/s,
LOS rate: 0.002618 deg/s,
cmd heading: 321.754694 deg,
new cmd heading: 321.757228 deg.
2025-06-11T20:48:41.946Z,1749674921.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615723 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:41.961Z,1749674921.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485479
2025-06-11T20:48:42.213Z,1749674922.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737363
2025-06-11T20:48:42.325Z,1749674922.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:42.328Z,1749674922.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 352.319427 m,
bearing: 331.597158 deg,
approach rate: -0.502754 m/s,
LOS rate: 0.002585 deg/s,
cmd heading: 321.757234 deg,
new cmd heading: 321.760350 deg.
2025-06-11T20:48:42.329Z,1749674922.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615777 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:42.465Z,1749674922.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989748
2025-06-11T20:48:42.717Z,1749674922.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241501
2025-06-11T20:48:42.761Z,1749674922.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:42.764Z,1749674922.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 352.107178 m,
bearing: 331.599146 deg,
approach rate: -0.487130 m/s,
LOS rate: 0.004565 deg/s,
cmd heading: 321.760349 deg,
new cmd heading: 321.766316 deg.
2025-06-11T20:48:42.765Z,1749674922.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615881 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:42.969Z,1749674922.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493954
2025-06-11T20:48:43.146Z,1749674923.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:43.149Z,1749674923.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:43.151Z,1749674923.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 351.926331 m,
bearing: 331.600803 deg,
approach rate: -0.466595 m/s,
LOS rate: 0.004277 deg/s,
cmd heading: 321.766305 deg,
new cmd heading: 321.771279 deg.
2025-06-11T20:48:43.156Z,1749674923.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615968 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:43.225Z,1749674923.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749301
2025-06-11T20:48:43.473Z,1749674923.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997416
2025-06-11T20:48:43.631Z,1749674923.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:43.634Z,1749674923.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 351.683411 m,
bearing: 331.601962 deg,
approach rate: -0.503330 m/s,
LOS rate: 0.002402 deg/s,
cmd heading: 321.771277 deg,
new cmd heading: 321.774755 deg.
2025-06-11T20:48:43.635Z,1749674923.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616029 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:43.725Z,1749674923.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249521
2025-06-11T20:48:43.962Z,1749674923.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:43.965Z,1749674923.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 351.522064 m,
bearing: 331.602681 deg,
approach rate: -0.487751 m/s,
LOS rate: 0.002176 deg/s,
cmd heading: 321.774747 deg,
new cmd heading: 321.776907 deg.
2025-06-11T20:48:43.966Z,1749674923.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616066 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:43.977Z,1749674923.977 [DAT](INFO): DAT read: Rx Time:20:48:45.2574
2025-06-11T20:48:43.978Z,1749674923.978 [DAT](INFO): Rx dataTimestamp_ set to:1749674923.977407
2025-06-11T20:48:43.978Z,1749674923.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502875
2025-06-11T20:48:44.229Z,1749674924.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753476
2025-06-11T20:48:44.348Z,1749674924.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.11 m.
2025-06-11T20:48:44.351Z,1749674924.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 374.107758 m,
nav range: 351.333740 m,
bearing: 331.603468 deg,
approach rate: -0.488383 m/s,
LOS rate: 0.002041 deg/s,
cmd heading: 321.776905 deg,
new cmd heading: 321.779266 deg.
2025-06-11T20:48:44.351Z,1749674924.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616107 target range: 374.107758 and range: 377.40 m.
2025-06-11T20:48:44.487Z,1749674924.487 [DAT](INFO): DAT read: 20:48:45.2574 LVL= 30320, 26577, 23906, 32755, AGC= 72, IDX= 416, 0.37,-0.474,-1.984,-0.722,-1.188, PHS= 0.802,-0.749, 0.463, RAW= 138.0, -7.4, CAL= 144.0, -17.6, ROT= 6.0, 17.6
2025-06-11T20:48:44.488Z,1749674924.488 [DAT](INFO): got valid direction response:
20:48:45.2574 LVL= 30320, 26577, 23906, 32755, AGC= 72, IDX= 416, 0.37,-0.474,-1.984,-0.722,-1.188, PHS= 0.802,-0.749, 0.463, RAW= 138.0, -7.4, CAL= 144.0, -17.6, ROT= 6.0, 17.6
2025-06-11T20:48:44.489Z,1749674924.489 [DAT](INFO): DAT read: Bearing 6.0, 17.6 (Local)
2025-06-11T20:48:44.490Z,1749674924.490 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.0, 17.6 (Local)
2025-06-11T20:48:44.491Z,1749674924.491 [DAT](INFO): DAT read: Range 10 to 50 : 375.3 m (Round-trip 500.4 ms) speed 0.4 m/s
2025-06-11T20:48:44.492Z,1749674924.492 [DAT](INFO): DAT read: user:487>
2025-06-11T20:48:44.493Z,1749674924.493 [DAT](INFO): DAT read: Tx time:20:48:46.3528
2025-06-11T20:48:44.493Z,1749674924.493 [DAT](INFO): Ping request sent.
2025-06-11T20:48:44.493Z,1749674924.493 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:44.493Z,1749674924.493 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:44.494Z,1749674924.494 [DAT](INFO): direction in FSK: [0.947969,0.099636,-0.302370]
2025-06-11T20:48:44.495Z,1749674924.495 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:44.495Z,1749674924.495 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:44.502Z,1749674924.502 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:44.503Z,1749674924.503 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:44.733Z,1749674924.733 [DAT](INFO): DAT read: TxSync time:20:48:46.3520
2025-06-11T20:48:44.838Z,1749674924.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 375.299988 m,
deltaT: 4.030278 s,
deltaX: -2.100006 m,
approachRate: -0.521057 m/s,
rangeRepo size: 4
2025-06-11T20:48:44.844Z,1749674924.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 372.022156 m,
bearing: 329.968366 deg,
lat: 36.906349 deg,
lon: -122.115312 deg,
deltaT: 4.030278 s,
deltaX: -2.085602 m,
approachRate: -0.517483 m/s,
posRepo size: 4
2025-06-11T20:48:44.845Z,1749674924.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:44.852Z,1749674924.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 355.073151 m,
bearing: 329.986854 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002041 deg/s,
cmd heading: 321.779255 deg,
new cmd heading: 321.782253 deg.
2025-06-11T20:48:44.853Z,1749674924.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616160 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:45.187Z,1749674925.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:45.190Z,1749674925.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:45.198Z,1749674925.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 354.879333 m,
bearing: 329.986725 deg,
approach rate: -0.550000 m/s,
LOS rate: -0.000367 deg/s,
cmd heading: 321.782260 deg,
new cmd heading: 321.781872 deg.
2025-06-11T20:48:45.199Z,1749674925.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616153 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:45.237Z,1749674925.237 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:45.237Z,1749674925.237 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:45.238Z,1749674925.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:45.489Z,1749674925.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995899
2025-06-11T20:48:45.661Z,1749674925.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:45.664Z,1749674925.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 354.650848 m,
bearing: 329.987396 deg,
approach rate: -0.484704 m/s,
LOS rate: 0.001423 deg/s,
cmd heading: 321.781878 deg,
new cmd heading: 321.783890 deg.
2025-06-11T20:48:45.665Z,1749674925.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616189 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:45.742Z,1749674925.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248789
2025-06-11T20:48:45.994Z,1749674925.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500414
2025-06-11T20:48:46.033Z,1749674926.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:46.035Z,1749674926.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 354.471100 m,
bearing: 329.987924 deg,
approach rate: -0.483686 m/s,
LOS rate: 0.001422 deg/s,
cmd heading: 321.783899 deg,
new cmd heading: 321.785484 deg.
2025-06-11T20:48:46.037Z,1749674926.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616216 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:46.245Z,1749674926.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751851
2025-06-11T20:48:46.404Z,1749674926.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:46.407Z,1749674926.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 354.290924 m,
bearing: 329.988483 deg,
approach rate: -0.485357 m/s,
LOS rate: 0.001508 deg/s,
cmd heading: 321.785484 deg,
new cmd heading: 321.787163 deg.
2025-06-11T20:48:46.408Z,1749674926.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616245 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:46.497Z,1749674926.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003849
2025-06-11T20:48:46.749Z,1749674926.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255614
2025-06-11T20:48:46.842Z,1749674926.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:46.845Z,1749674926.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 354.076233 m,
bearing: 329.988959 deg,
approach rate: -0.490329 m/s,
LOS rate: 0.001087 deg/s,
cmd heading: 321.787151 deg,
new cmd heading: 321.788579 deg.
2025-06-11T20:48:46.846Z,1749674926.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616270 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:47.001Z,1749674927.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507722
2025-06-11T20:48:47.214Z,1749674927.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:47.216Z,1749674927.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:47.219Z,1749674927.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 353.898132 m,
bearing: 329.989404 deg,
approach rate: -0.476131 m/s,
LOS rate: 0.001191 deg/s,
cmd heading: 321.788571 deg,
new cmd heading: 321.789908 deg.
2025-06-11T20:48:47.220Z,1749674927.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616293 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:47.254Z,1749674927.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760235
2025-06-11T20:48:47.515Z,1749674927.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022127
2025-06-11T20:48:47.696Z,1749674927.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:47.699Z,1749674927.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 353.660767 m,
bearing: 329.989479 deg,
approach rate: -0.498985 m/s,
LOS rate: 0.000158 deg/s,
cmd heading: 321.789910 deg,
new cmd heading: 321.790136 deg.
2025-06-11T20:48:47.699Z,1749674927.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616297 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:47.762Z,1749674927.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268978
2025-06-11T20:48:48.008Z,1749674928.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:48.010Z,1749674928.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 353.492950 m,
bearing: 329.989586 deg,
approach rate: -0.531244 m/s,
LOS rate: 0.000337 deg/s,
cmd heading: 321.790129 deg,
new cmd heading: 321.790448 deg.
2025-06-11T20:48:48.011Z,1749674928.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616303 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:48.022Z,1749674928.022 [DAT](INFO): DAT read: Rx Time:20:48:49.2545
2025-06-11T20:48:48.022Z,1749674928.022 [DAT](INFO): Rx dataTimestamp_ set to:1749674928.021757
2025-06-11T20:48:48.023Z,1749674928.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529470
2025-06-11T20:48:48.273Z,1749674928.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779572
2025-06-11T20:48:48.462Z,1749674928.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.02 m.
2025-06-11T20:48:48.465Z,1749674928.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 372.022156 m,
nav range: 353.263611 m,
bearing: 329.989787 deg,
approach rate: -0.504229 m/s,
LOS rate: 0.000443 deg/s,
cmd heading: 321.790456 deg,
new cmd heading: 321.791061 deg.
2025-06-11T20:48:48.466Z,1749674928.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616313 target range: 372.022156 and range: 375.30 m.
2025-06-11T20:48:48.531Z,1749674928.531 [DAT](INFO): DAT read: 20:48:49.2545 LVL= 16608, 26097, 16658, 27779, AGC= 70, IDX= 420, 0.04, 1.607, 0.256, 1.367, 0.977, PHS= 0.719,-0.674, 0.387, RAW= 136.8, -6.9, CAL= 142.7, -17.4, ROT= 7.3, 17.4
2025-06-11T20:48:48.532Z,1749674928.532 [DAT](INFO): got valid direction response:
20:48:49.2545 LVL= 16608, 26097, 16658, 27779, AGC= 70, IDX= 420, 0.04, 1.607, 0.256, 1.367, 0.977, PHS= 0.719,-0.674, 0.387, RAW= 136.8, -6.9, CAL= 142.7, -17.4, ROT= 7.3, 17.4
2025-06-11T20:48:48.533Z,1749674928.533 [DAT](INFO): DAT read: Bearing 7.3, 17.4 (Local)
2025-06-11T20:48:48.534Z,1749674928.534 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.3, 17.4 (Local)
2025-06-11T20:48:48.535Z,1749674928.535 [DAT](INFO): DAT read: Range 10 to 50 : 373.2 m (Round-trip 497.6 ms) speed 0.0 m/s
2025-06-11T20:48:48.541Z,1749674928.541 [DAT](INFO): DAT read: user:488>
2025-06-11T20:48:48.542Z,1749674928.542 [DAT](INFO): DAT read: Tx time:20:48:50.3528
2025-06-11T20:48:48.542Z,1749674928.542 [DAT](INFO): Ping request sent.
2025-06-11T20:48:48.542Z,1749674928.542 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:48.543Z,1749674928.543 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:48.544Z,1749674928.544 [DAT](INFO): direction in FSK: [0.946506,0.121250,-0.299041]
2025-06-11T20:48:48.544Z,1749674928.544 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:48.545Z,1749674928.545 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:48.548Z,1749674928.548 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:48.548Z,1749674928.548 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:48.777Z,1749674928.777 [DAT](INFO): DAT read: TxSync time:20:48:50.3520
2025-06-11T20:48:48.896Z,1749674928.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 373.200012 m,
deltaT: 4.044319 s,
deltaX: -2.099976 m,
approachRate: -0.519241 m/s,
rangeRepo size: 4
2025-06-11T20:48:48.898Z,1749674928.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 369.942352 m,
bearing: 330.086763 deg,
lat: 36.906349 deg,
lon: -122.115302 deg,
deltaT: 4.044319 s,
deltaX: -2.079803 m,
approachRate: -0.514253 m/s,
posRepo size: 4
2025-06-11T20:48:48.899Z,1749674928.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:48.906Z,1749674928.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 352.610321 m,
bearing: 330.114526 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000443 deg/s,
cmd heading: 321.791058 deg,
new cmd heading: 321.791628 deg.
2025-06-11T20:48:48.907Z,1749674928.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616323 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:49.218Z,1749674929.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:49.220Z,1749674929.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:49.223Z,1749674929.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 352.434692 m,
bearing: 330.114588 deg,
approach rate: -0.533623 m/s,
LOS rate: 0.000189 deg/s,
cmd heading: 321.791631 deg,
new cmd heading: 321.791818 deg.
2025-06-11T20:48:49.224Z,1749674929.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616327 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:49.282Z,1749674929.282 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:49.282Z,1749674929.282 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:49.282Z,1749674929.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:49.533Z,1749674929.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990316
2025-06-11T20:48:49.687Z,1749674929.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:49.693Z,1749674929.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 352.199432 m,
bearing: 330.114680 deg,
approach rate: -0.504700 m/s,
LOS rate: 0.000197 deg/s,
cmd heading: 321.791823 deg,
new cmd heading: 321.792098 deg.
2025-06-11T20:48:49.694Z,1749674929.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616332 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:49.785Z,1749674929.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242857
2025-06-11T20:48:50.037Z,1749674930.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494327
2025-06-11T20:48:50.051Z,1749674930.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:50.054Z,1749674930.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 352.011078 m,
bearing: 330.113910 deg,
approach rate: -0.516300 m/s,
LOS rate: -0.002112 deg/s,
cmd heading: 321.792096 deg,
new cmd heading: 321.789784 deg.
2025-06-11T20:48:50.055Z,1749674930.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616291 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:50.289Z,1749674930.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746790
2025-06-11T20:48:50.467Z,1749674930.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:50.469Z,1749674930.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 351.807495 m,
bearing: 330.113076 deg,
approach rate: -0.490308 m/s,
LOS rate: -0.002008 deg/s,
cmd heading: 321.789773 deg,
new cmd heading: 321.787272 deg.
2025-06-11T20:48:50.470Z,1749674930.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616247 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:50.541Z,1749674930.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998457
2025-06-11T20:48:50.793Z,1749674930.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250243
2025-06-11T20:48:50.869Z,1749674930.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:50.872Z,1749674930.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 351.596313 m,
bearing: 330.110889 deg,
approach rate: -0.524551 m/s,
LOS rate: -0.005436 deg/s,
cmd heading: 321.787260 deg,
new cmd heading: 321.780695 deg.
2025-06-11T20:48:50.873Z,1749674930.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616133 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:51.045Z,1749674931.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502308
2025-06-11T20:48:51.254Z,1749674931.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:51.260Z,1749674931.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:51.263Z,1749674931.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 351.408966 m,
bearing: 330.108924 deg,
approach rate: -0.484312 m/s,
LOS rate: -0.005082 deg/s,
cmd heading: 321.780703 deg,
new cmd heading: 321.774806 deg.
2025-06-11T20:48:51.267Z,1749674931.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616030 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:51.297Z,1749674931.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754473
2025-06-11T20:48:51.549Z,1749674931.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006233
2025-06-11T20:48:51.710Z,1749674931.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:51.713Z,1749674931.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 351.172577 m,
bearing: 330.106442 deg,
approach rate: -0.520620 m/s,
LOS rate: -0.005471 deg/s,
cmd heading: 321.774802 deg,
new cmd heading: 321.767350 deg.
2025-06-11T20:48:51.714Z,1749674931.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615900 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:51.802Z,1749674931.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259024
2025-06-11T20:48:52.053Z,1749674932.053 [DAT](INFO): DAT read: Rx Time:20:48:53.2520
2025-06-11T20:48:52.053Z,1749674932.053 [DAT](INFO): Rx dataTimestamp_ set to:1749674932.053065
2025-06-11T20:48:52.054Z,1749674932.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511395
2025-06-11T20:48:52.075Z,1749674932.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:52.078Z,1749674932.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 350.983521 m,
bearing: 330.104003 deg,
approach rate: -0.518028 m/s,
LOS rate: -0.006688 deg/s,
cmd heading: 321.767343 deg,
new cmd heading: 321.760021 deg.
2025-06-11T20:48:52.079Z,1749674932.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615772 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:52.308Z,1749674932.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765445
2025-06-11T20:48:52.471Z,1749674932.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.94 m.
2025-06-11T20:48:52.474Z,1749674932.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 369.942352 m,
nav range: 350.779877 m,
bearing: 330.101357 deg,
approach rate: -0.514048 m/s,
LOS rate: -0.006682 deg/s,
cmd heading: 321.760021 deg,
new cmd heading: 321.752080 deg.
2025-06-11T20:48:52.475Z,1749674932.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615633 target range: 369.942352 and range: 373.20 m.
2025-06-11T20:48:52.566Z,1749674932.566 [DAT](INFO): DAT read: 20:48:53.2520 LVL= 27440, 26801, 24562, 32755, AGC= 68, IDX= 410,-0.35, 0.423,-1.087, 0.179,-0.277, PHS= 0.787,-0.763, 0.452, RAW= 138.2, -6.8, CAL= 144.1, -16.9, ROT= 5.9, 16.9
2025-06-11T20:48:52.567Z,1749674932.567 [DAT](INFO): got valid direction response:
20:48:53.2520 LVL= 27440, 26801, 24562, 32755, AGC= 68, IDX= 410,-0.35, 0.423,-1.087, 0.179,-0.277, PHS= 0.787,-0.763, 0.452, RAW= 138.2, -6.8, CAL= 144.1, -16.9, ROT= 5.9, 16.9
2025-06-11T20:48:52.569Z,1749674932.569 [DAT](INFO): DAT read: Bearing 5.9, 16.9 (Local)
2025-06-11T20:48:52.569Z,1749674932.569 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.9, 16.9 (Local)
2025-06-11T20:48:52.570Z,1749674932.570 [DAT](INFO): DAT read: Range 10 to 50 : 371.3 m (Round-trip 495.1 ms) speed -0.1 m/s
2025-06-11T20:48:52.571Z,1749674932.571 [DAT](INFO): DAT read: user:489>
2025-06-11T20:48:52.577Z,1749674932.577 [DAT](INFO): DAT read: Tx time:20:48:54.3528
2025-06-11T20:48:52.577Z,1749674932.577 [DAT](INFO): Ping request sent.
2025-06-11T20:48:52.577Z,1749674932.577 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:52.577Z,1749674932.577 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:52.578Z,1749674932.578 [DAT](INFO): direction in FSK: [0.951745,0.098353,-0.290702]
2025-06-11T20:48:52.579Z,1749674932.579 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:52.579Z,1749674932.579 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:52.582Z,1749674932.582 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:52.582Z,1749674932.582 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:52.813Z,1749674932.813 [DAT](INFO): DAT read: TxSync time:20:48:54.3520
2025-06-11T20:48:52.995Z,1749674932.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 371.299988 m,
deltaT: 4.033952 s,
deltaX: -1.900024 m,
approachRate: -0.471008 m/s,
rangeRepo size: 4
2025-06-11T20:48:53.001Z,1749674933.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 368.058594 m,
bearing: 329.303330 deg,
lat: 36.906346 deg,
lon: -122.115313 deg,
deltaT: 4.033952 s,
deltaX: -1.883759 m,
approachRate: -0.466976 m/s,
posRepo size: 4
2025-06-11T20:48:53.002Z,1749674933.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:53.017Z,1749674933.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 350.750397 m,
bearing: 329.927402 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006682 deg/s,
cmd heading: 321.752071 deg,
new cmd heading: 321.741583 deg.
2025-06-11T20:48:53.018Z,1749674933.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615450 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:53.295Z,1749674933.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:53.297Z,1749674933.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:53.300Z,1749674933.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 350.586639 m,
bearing: 329.924819 deg,
approach rate: -0.540280 m/s,
LOS rate: -0.008525 deg/s,
cmd heading: 321.741580 deg,
new cmd heading: 321.733828 deg.
2025-06-11T20:48:53.301Z,1749674933.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615314 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:53.316Z,1749674933.316 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:53.317Z,1749674933.317 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:53.317Z,1749674933.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:53.569Z,1749674933.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991736
2025-06-11T20:48:53.821Z,1749674933.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243785
2025-06-11T20:48:53.835Z,1749674933.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:53.838Z,1749674933.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 350.314758 m,
bearing: 329.919583 deg,
approach rate: -0.505930 m/s,
LOS rate: -0.009750 deg/s,
cmd heading: 321.733821 deg,
new cmd heading: 321.718102 deg.
2025-06-11T20:48:53.839Z,1749674933.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615040 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:54.073Z,1749674934.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495758
2025-06-11T20:48:54.120Z,1749674934.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:54.123Z,1749674934.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 350.170563 m,
bearing: 329.916739 deg,
approach rate: -0.505772 m/s,
LOS rate: -0.009979 deg/s,
cmd heading: 321.718111 deg,
new cmd heading: 321.709576 deg.
2025-06-11T20:48:54.124Z,1749674934.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614892 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:54.328Z,1749674934.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750582
2025-06-11T20:48:54.519Z,1749674934.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:54.542Z,1749674934.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 349.968781 m,
bearing: 329.912607 deg,
approach rate: -0.505183 m/s,
LOS rate: -0.010352 deg/s,
cmd heading: 321.709587 deg,
new cmd heading: 321.697182 deg.
2025-06-11T20:48:54.543Z,1749674934.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614675 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:54.577Z,1749674934.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000220
2025-06-11T20:48:54.829Z,1749674934.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251777
2025-06-11T20:48:54.970Z,1749674934.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:54.977Z,1749674934.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 349.749939 m,
bearing: 329.908118 deg,
approach rate: -0.485888 m/s,
LOS rate: -0.009973 deg/s,
cmd heading: 321.697183 deg,
new cmd heading: 321.683708 deg.
2025-06-11T20:48:54.978Z,1749674934.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614440 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:55.082Z,1749674935.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504516
2025-06-11T20:48:55.333Z,1749674935.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755805
2025-06-11T20:48:55.337Z,1749674935.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:55.339Z,1749674935.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:55.342Z,1749674935.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 349.553833 m,
bearing: 329.903964 deg,
approach rate: -0.531016 m/s,
LOS rate: -0.011253 deg/s,
cmd heading: 321.683714 deg,
new cmd heading: 321.671247 deg.
2025-06-11T20:48:55.343Z,1749674935.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614223 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:55.585Z,1749674935.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007644
2025-06-11T20:48:55.826Z,1749674935.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:55.833Z,1749674935.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 349.321106 m,
bearing: 329.899599 deg,
approach rate: -0.477962 m/s,
LOS rate: -0.008971 deg/s,
cmd heading: 321.671256 deg,
new cmd heading: 321.658152 deg.
2025-06-11T20:48:55.834Z,1749674935.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613994 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:55.837Z,1749674935.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259833
2025-06-11T20:48:56.089Z,1749674936.089 [DAT](INFO): DAT read: Rx Time:20:48:57.2495
2025-06-11T20:48:56.090Z,1749674936.090 [DAT](INFO): Rx dataTimestamp_ set to:1749674936.089943
2025-06-11T20:48:56.091Z,1749674936.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514085
2025-06-11T20:48:56.180Z,1749674936.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:56.183Z,1749674936.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 349.125854 m,
bearing: 329.895872 deg,
approach rate: -0.550872 m/s,
LOS rate: -0.010521 deg/s,
cmd heading: 321.658142 deg,
new cmd heading: 321.646955 deg.
2025-06-11T20:48:56.184Z,1749674936.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613799 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:56.341Z,1749674936.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763877
2025-06-11T20:48:56.545Z,1749674936.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.06 m.
2025-06-11T20:48:56.564Z,1749674936.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 368.058594 m,
nav range: 348.940277 m,
bearing: 329.892304 deg,
approach rate: -0.508724 m/s,
LOS rate: -0.009786 deg/s,
cmd heading: 321.646968 deg,
new cmd heading: 321.636258 deg.
2025-06-11T20:48:56.565Z,1749674936.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613612 target range: 368.058594 and range: 371.30 m.
2025-06-11T20:48:56.599Z,1749674936.599 [DAT](INFO): DAT read: 20:48:57.2495 LVL= 25776, 30417, 22690, 32755, AGC= 72, IDX= 399, 0.21,-1.243,-2.652,-1.410,-1.848, PHS= 0.693,-0.757, 0.435, RAW= 140.4, -5.6, CAL= 146.1, -15.1, ROT= 3.9, 15.1
2025-06-11T20:48:56.600Z,1749674936.600 [DAT](INFO): got valid direction response:
20:48:57.2495 LVL= 25776, 30417, 22690, 32755, AGC= 72, IDX= 399, 0.21,-1.243,-2.652,-1.410,-1.848, PHS= 0.693,-0.757, 0.435, RAW= 140.4, -5.6, CAL= 146.1, -15.1, ROT= 3.9, 15.1
2025-06-11T20:48:56.601Z,1749674936.601 [DAT](INFO): DAT read: Bearing 3.9, 15.1 (Local)
2025-06-11T20:48:56.601Z,1749674936.601 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.9, 15.1 (Local)
2025-06-11T20:48:56.603Z,1749674936.603 [DAT](INFO): DAT read: Range 10 to 50 : 369.3 m (Round-trip 492.5 ms) speed 0.4 m/s
2025-06-11T20:48:56.604Z,1749674936.604 [DAT](INFO): DAT read: user:490>
2025-06-11T20:48:56.605Z,1749674936.605 [DAT](INFO): DAT read: Tx time:20:48:58.3528
2025-06-11T20:48:56.605Z,1749674936.605 [DAT](INFO): Ping request sent.
2025-06-11T20:48:56.605Z,1749674936.605 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:48:56.605Z,1749674936.605 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:48:56.606Z,1749674936.606 [DAT](INFO): direction in FSK: [0.963237,0.065667,-0.260505]
2025-06-11T20:48:56.607Z,1749674936.607 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:56.607Z,1749674936.607 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:56.663Z,1749674936.663 [DAT](INFO): publishing transmit ping time
2025-06-11T20:48:56.663Z,1749674936.663 [DAT](INFO): publishing direction and range info
2025-06-11T20:48:56.845Z,1749674936.845 [DAT](INFO): DAT read: TxSync time:20:48:58.3520
2025-06-11T20:48:57.012Z,1749674937.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 369.299988 m,
deltaT: 4.033747 s,
deltaX: -2.000000 m,
approachRate: -0.495817 m/s,
rangeRepo size: 4
2025-06-11T20:48:57.014Z,1749674937.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 366.076874 m,
bearing: 328.619913 deg,
lat: 36.906346 deg,
lon: -122.115313 deg,
deltaT: 4.033747 s,
deltaX: -1.981720 m,
approachRate: -0.491285 m/s,
posRepo size: 4
2025-06-11T20:48:57.015Z,1749674937.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.08 m.
2025-06-11T20:48:57.022Z,1749674937.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.076874 m,
nav range: 348.713593 m,
bearing: 329.889457 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009786 deg/s,
cmd heading: 321.636258 deg,
new cmd heading: 321.622694 deg.
2025-06-11T20:48:57.023Z,1749674937.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613375 target range: 366.076874 and range: 369.30 m.
2025-06-11T20:48:57.363Z,1749674937.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:57.366Z,1749674937.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.08 m.
2025-06-11T20:48:57.373Z,1749674937.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.076874 m,
nav range: 348.532196 m,
bearing: 329.887307 deg,
approach rate: -0.505976 m/s,
LOS rate: -0.006001 deg/s,
cmd heading: 321.622707 deg,
new cmd heading: 321.616253 deg.
2025-06-11T20:48:57.374Z,1749674937.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613263 target range: 366.076874 and range: 369.30 m.
2025-06-11T20:48:57.600Z,1749674937.600 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:48:57.601Z,1749674937.601 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:48:57.601Z,1749674937.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:48:57.806Z,1749674937.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.08 m.
2025-06-11T20:48:57.808Z,1749674937.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.076874 m,
nav range: 348.299652 m,
bearing: 329.884665 deg,
approach rate: -0.528695 m/s,
LOS rate: -0.006010 deg/s,
cmd heading: 321.616259 deg,
new cmd heading: 321.608329 deg.
2025-06-11T20:48:57.809Z,1749674937.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613124 target range: 366.076874 and range: 369.30 m.
2025-06-11T20:48:57.853Z,1749674937.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247879
2025-06-11T20:48:58.105Z,1749674938.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499662
2025-06-11T20:48:58.317Z,1749674938.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.08 m.
2025-06-11T20:48:58.321Z,1749674938.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.076874 m,
nav range: 348.035858 m,
bearing: 329.882711 deg,
approach rate: -0.515559 m/s,
LOS rate: -0.003822 deg/s,
cmd heading: 321.608336 deg,
new cmd heading: 321.602470 deg.
2025-06-11T20:48:58.322Z,1749674938.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613022 target range: 366.076874 and range: 369.30 m.
2025-06-11T20:48:58.358Z,1749674938.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752754
2025-06-11T20:48:58.609Z,1749674938.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003778
2025-06-11T20:48:58.672Z,1749674938.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.08 m.
2025-06-11T20:48:58.675Z,1749674938.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.076874 m,
nav range: 347.853363 m,
bearing: 329.881390 deg,
approach rate: -0.514842 m/s,
LOS rate: -0.003728 deg/s,
cmd heading: 321.602462 deg,
new cmd heading: 321.598498 deg.
2025-06-11T20:48:58.675Z,1749674938.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612953 target range: 366.076874 and range: 369.30 m.
2025-06-11T20:48:58.862Z,1749674938.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256664
2025-06-11T20:48:59.079Z,1749674939.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.08 m.
2025-06-11T20:48:59.082Z,1749674939.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.076874 m,
nav range: 347.647736 m,
bearing: 329.881099 deg,
approach rate: -0.505174 m/s,
LOS rate: -0.000715 deg/s,
cmd heading: 321.598501 deg,
new cmd heading: 321.597627 deg.
2025-06-11T20:48:59.083Z,1749674939.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612937 target range: 366.076874 and range: 369.30 m.
2025-06-11T20:48:59.114Z,1749674939.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508565
2025-06-11T20:48:59.365Z,1749674939.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759723
2025-06-11T20:48:59.465Z,1749674939.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:48:59.467Z,1749674939.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.08 m.
2025-06-11T20:48:59.471Z,1749674939.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.076874 m,
nav range: 347.451447 m,
bearing: 329.880845 deg,
approach rate: -0.505204 m/s,
LOS rate: -0.000655 deg/s,
cmd heading: 321.597627 deg,
new cmd heading: 321.596863 deg.
2025-06-11T20:48:59.472Z,1749674939.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612924 target range: 366.076874 and range: 369.30 m.
2025-06-11T20:48:59.617Z,1749674939.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011809
2025-06-11T20:48:59.869Z,1749674939.869 [DAT](INFO): DAT read: Rx Time:20:49:01.2467
2025-06-11T20:48:59.869Z,1749674939.869 [DAT](INFO): Rx dataTimestamp_ set to:1749674939.869114
2025-06-11T20:48:59.870Z,1749674939.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264936
2025-06-11T20:48:59.914Z,1749674939.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.08 m.
2025-06-11T20:48:59.931Z,1749674939.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.076874 m,
nav range: 347.227692 m,
bearing: 329.880575 deg,
approach rate: -0.500736 m/s,
LOS rate: -0.000605 deg/s,
cmd heading: 321.596862 deg,
new cmd heading: 321.596051 deg.
2025-06-11T20:48:59.937Z,1749674939.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612910 target range: 366.076874 and range: 369.30 m.
2025-06-11T20:49:00.121Z,1749674940.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515773
2025-06-11T20:49:00.270Z,1749674940.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.08 m.
2025-06-11T20:49:00.272Z,1749674940.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 366.076874 m,
nav range: 347.045807 m,
bearing: 329.880348 deg,
approach rate: -0.511752 m/s,
LOS rate: -0.000639 deg/s,
cmd heading: 321.596042 deg,
new cmd heading: 321.595361 deg.
2025-06-11T20:49:00.273Z,1749674940.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612898 target range: 366.076874 and range: 369.30 m.
2025-06-11T20:49:00.376Z,1749674940.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770504
2025-06-11T20:49:00.635Z,1749674940.635 [DAT](INFO): DAT read: 20:49:01.2467 LVL= 23472, 21153, 20882, 29859, AGC= 70, IDX= 418, 0.30,-1.103,-2.456,-1.265,-1.695, PHS= 0.680,-0.714, 0.427, RAW= 140.2, -6.2, CAL= 146.1, -15.8, ROT= 3.9, 15.8
2025-06-11T20:49:00.650Z,1749674940.650 [DAT](INFO): got valid direction response:
20:49:01.2467 LVL= 23472, 21153, 20882, 29859, AGC= 70, IDX= 418, 0.30,-1.103,-2.456,-1.265,-1.695, PHS= 0.680,-0.714, 0.427, RAW= 140.2, -6.2, CAL= 146.1, -15.8, ROT= 3.9, 15.8
2025-06-11T20:49:00.655Z,1749674940.655 [DAT](INFO): DAT read: Bearing 3.9, 15.8 (Local)
2025-06-11T20:49:00.656Z,1749674940.656 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.9, 15.8 (Local)
2025-06-11T20:49:00.659Z,1749674940.659 [DAT](INFO): DAT read: Range 10 to 50 : 367.2 m (Round-trip 489.7 ms) speed 0.6 m/s
2025-06-11T20:49:00.664Z,1749674940.664 [DAT](INFO): DAT read: user:491>
2025-06-11T20:49:00.666Z,1749674940.666 [DAT](INFO): DAT read: Tx time:20:49:02.3529
2025-06-11T20:49:00.666Z,1749674940.666 [DAT](INFO): Ping request sent.
2025-06-11T20:49:00.667Z,1749674940.667 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:00.692Z,1749674940.692 [DAT](INFO): DAT read: TxSync time:20:49:02.3521
2025-06-11T20:49:00.693Z,1749674940.693 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:00.694Z,1749674940.694 [DAT](INFO): direction in FSK: [0.959990,0.065446,-0.272280]
2025-06-11T20:49:00.694Z,1749674940.694 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:00.694Z,1749674940.694 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:00.706Z,1749674940.706 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:00.706Z,1749674940.706 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:00.763Z,1749674940.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 367.200012 m,
deltaT: 4.032155 s,
deltaX: -2.099976 m,
approachRate: -0.520807 m/s,
rangeRepo size: 4
2025-06-11T20:49:00.772Z,1749674940.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 363.997589 m,
bearing: 327.243939 deg,
lat: 36.906336 deg,
lon: -122.115349 deg,
deltaT: 4.032155 s,
deltaX: -2.079285 m,
approachRate: -0.515676 m/s,
posRepo size: 4
2025-06-11T20:49:00.773Z,1749674940.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:00.775Z,1749674940.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 347.406464 m,
bearing: 329.331036 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000639 deg/s,
cmd heading: 321.595359 deg,
new cmd heading: 321.594415 deg.
2025-06-11T20:49:00.786Z,1749674940.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612881 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:01.246Z,1749674941.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:01.257Z,1749674941.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 347.169678 m,
bearing: 329.332167 deg,
approach rate: -0.489387 m/s,
LOS rate: 0.002338 deg/s,
cmd heading: 321.594403 deg,
new cmd heading: 321.597797 deg.
2025-06-11T20:49:01.258Z,1749674941.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612940 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:01.539Z,1749674941.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:01.557Z,1749674941.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:01.560Z,1749674941.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 347.018463 m,
bearing: 329.332960 deg,
approach rate: -0.485347 m/s,
LOS rate: 0.002547 deg/s,
cmd heading: 321.597791 deg,
new cmd heading: 321.600171 deg.
2025-06-11T20:49:01.561Z,1749674941.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612982 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:01.633Z,1749674941.633 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:01.634Z,1749674941.634 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:01.634Z,1749674941.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:01.720Z,1749674941.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:49:01.885Z,1749674941.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218407
2025-06-11T20:49:01.992Z,1749674941.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:01.995Z,1749674941.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 346.801300 m,
bearing: 329.333030 deg,
approach rate: -0.499797 m/s,
LOS rate: 0.000162 deg/s,
cmd heading: 321.600167 deg,
new cmd heading: 321.600378 deg.
2025-06-11T20:49:01.996Z,1749674941.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612986 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:02.137Z,1749674942.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470679
2025-06-11T20:49:02.355Z,1749674942.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:02.358Z,1749674942.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 346.626465 m,
bearing: 329.333080 deg,
approach rate: -0.481674 m/s,
LOS rate: 0.000138 deg/s,
cmd heading: 321.600386 deg,
new cmd heading: 321.600536 deg.
2025-06-11T20:49:02.359Z,1749674942.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612988 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:02.398Z,1749674942.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731169
2025-06-11T20:49:02.649Z,1749674942.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982387
2025-06-11T20:49:02.724Z,1749674942.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:49:02.761Z,1749674942.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:02.764Z,1749674942.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 346.430786 m,
bearing: 329.333151 deg,
approach rate: -0.481771 m/s,
LOS rate: 0.000173 deg/s,
cmd heading: 321.600550 deg,
new cmd heading: 321.600761 deg.
2025-06-11T20:49:02.765Z,1749674942.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612992 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:02.902Z,1749674942.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235146
2025-06-11T20:49:03.153Z,1749674943.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486572
2025-06-11T20:49:03.190Z,1749674943.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:03.193Z,1749674943.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 346.229004 m,
bearing: 329.332879 deg,
approach rate: -0.470324 m/s,
LOS rate: -0.000634 deg/s,
cmd heading: 321.600768 deg,
new cmd heading: 321.599952 deg.
2025-06-11T20:49:03.194Z,1749674943.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612978 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:03.405Z,1749674943.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738419
2025-06-11T20:49:03.559Z,1749674943.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:03.561Z,1749674943.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:03.563Z,1749674943.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 346.054657 m,
bearing: 329.332670 deg,
approach rate: -0.470119 m/s,
LOS rate: -0.000563 deg/s,
cmd heading: 321.599949 deg,
new cmd heading: 321.599322 deg.
2025-06-11T20:49:03.565Z,1749674943.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612967 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:03.657Z,1749674943.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990666
2025-06-11T20:49:03.909Z,1749674943.909 [DAT](INFO): DAT read: Rx Time:20:49:05.2442
2025-06-11T20:49:03.909Z,1749674943.909 [DAT](INFO): Rx dataTimestamp_ set to:1749674943.909080
2025-06-11T20:49:03.910Z,1749674943.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243582
2025-06-11T20:49:04.005Z,1749674944.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:04.007Z,1749674944.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 345.847168 m,
bearing: 329.331553 deg,
approach rate: -0.467530 m/s,
LOS rate: -0.002519 deg/s,
cmd heading: 321.599320 deg,
new cmd heading: 321.595967 deg.
2025-06-11T20:49:04.009Z,1749674944.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612908 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:04.161Z,1749674944.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494344
2025-06-11T20:49:04.386Z,1749674944.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.00 m.
2025-06-11T20:49:04.410Z,1749674944.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 363.997589 m,
nav range: 345.677673 m,
bearing: 329.330665 deg,
approach rate: -0.466594 m/s,
LOS rate: -0.002444 deg/s,
cmd heading: 321.595960 deg,
new cmd heading: 321.593297 deg.
2025-06-11T20:49:04.437Z,1749674944.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612862 target range: 363.997589 and range: 367.20 m.
2025-06-11T20:49:04.456Z,1749674944.456 [DAT](INFO): DAT read: 20:49:05.2442 LVL= 26608, 25889, 24130, 32755, AGC= 70, IDX= 408, 0.32, 0.415,-1.087, 0.177,-0.239, PHS= 0.742,-0.802, 0.413, RAW= 138.3, -5.1, CAL= 144.0, -14.9, ROT= 6.0, 14.9
2025-06-11T20:49:04.457Z,1749674944.457 [DAT](INFO): got valid direction response:
20:49:05.2442 LVL= 26608, 25889, 24130, 32755, AGC= 70, IDX= 408, 0.32, 0.415,-1.087, 0.177,-0.239, PHS= 0.742,-0.802, 0.413, RAW= 138.3, -5.1, CAL= 144.0, -14.9, ROT= 6.0, 14.9
2025-06-11T20:49:04.458Z,1749674944.458 [DAT](INFO): DAT read: Bearing 6.0, 14.9 (Local)
2025-06-11T20:49:04.459Z,1749674944.459 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.0, 14.9 (Local)
2025-06-11T20:49:04.468Z,1749674944.468 [DAT](INFO): DAT read: Range 10 to 50 : 365.4 m (Round-trip 487.2 ms) speed 0.4 m/s
2025-06-11T20:49:04.469Z,1749674944.469 [DAT](INFO): DAT read: user:492>
2025-06-11T20:49:04.470Z,1749674944.470 [DAT](INFO): DAT read: Tx time:20:49:06.3529
2025-06-11T20:49:04.470Z,1749674944.470 [DAT](INFO): Ping request sent.
2025-06-11T20:49:04.470Z,1749674944.470 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:04.471Z,1749674944.471 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:04.476Z,1749674944.476 [DAT](INFO): direction in FSK: [0.961082,0.101014,-0.257133]
2025-06-11T20:49:04.478Z,1749674944.478 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:04.478Z,1749674944.478 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:04.486Z,1749674944.486 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:04.486Z,1749674944.486 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:04.666Z,1749674944.666 [DAT](INFO): DAT read: TxSync time:20:49:06.3521
2025-06-11T20:49:04.781Z,1749674944.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 365.399994 m,
deltaT: 3.789748 s,
deltaX: -1.800018 m,
approachRate: -0.474970 m/s,
rangeRepo size: 4
2025-06-11T20:49:04.783Z,1749674944.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 362.210510 m,
bearing: 328.660907 deg,
lat: 36.906336 deg,
lon: -122.115404 deg,
deltaT: 3.789748 s,
deltaX: -1.787079 m,
approachRate: -0.471556 m/s,
posRepo size: 4
2025-06-11T20:49:04.784Z,1749674944.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.21 m.
2025-06-11T20:49:04.787Z,1749674944.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 362.210510 m,
nav range: 348.026337 m,
bearing: 328.631901 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002444 deg/s,
cmd heading: 321.593310 deg,
new cmd heading: 321.590284 deg.
2025-06-11T20:49:04.788Z,1749674944.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612809 target range: 362.210510 and range: 365.40 m.
2025-06-11T20:49:05.219Z,1749674945.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.21 m.
2025-06-11T20:49:05.238Z,1749674945.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 362.210510 m,
nav range: 347.816345 m,
bearing: 328.629806 deg,
approach rate: -0.479086 m/s,
LOS rate: -0.004784 deg/s,
cmd heading: 321.590277 deg,
new cmd heading: 321.583987 deg.
2025-06-11T20:49:05.239Z,1749674945.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612700 target range: 362.210510 and range: 365.40 m.
2025-06-11T20:49:05.579Z,1749674945.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:05.582Z,1749674945.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.21 m.
2025-06-11T20:49:05.585Z,1749674945.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 362.210510 m,
nav range: 347.644562 m,
bearing: 328.628152 deg,
approach rate: -0.473520 m/s,
LOS rate: -0.004560 deg/s,
cmd heading: 321.583994 deg,
new cmd heading: 321.579031 deg.
2025-06-11T20:49:05.586Z,1749674945.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612613 target range: 362.210510 and range: 365.40 m.
2025-06-11T20:49:05.673Z,1749674945.673 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:05.673Z,1749674945.673 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:05.673Z,1749674945.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:05.925Z,1749674945.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454834
2025-06-11T20:49:06.022Z,1749674946.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.21 m.
2025-06-11T20:49:06.030Z,1749674946.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 362.210510 m,
nav range: 347.444489 m,
bearing: 328.624882 deg,
approach rate: -0.454006 m/s,
LOS rate: -0.007426 deg/s,
cmd heading: 321.579021 deg,
new cmd heading: 321.569203 deg.
2025-06-11T20:49:06.031Z,1749674946.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612442 target range: 362.210510 and range: 365.40 m.
2025-06-11T20:49:06.177Z,1749674946.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706426
2025-06-11T20:49:06.407Z,1749674946.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.21 m.
2025-06-11T20:49:06.410Z,1749674946.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 362.210510 m,
nav range: 347.252045 m,
bearing: 328.621732 deg,
approach rate: -0.500339 m/s,
LOS rate: -0.008193 deg/s,
cmd heading: 321.569213 deg,
new cmd heading: 321.559759 deg.
2025-06-11T20:49:06.411Z,1749674946.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612277 target range: 362.210510 and range: 365.40 m.
2025-06-11T20:49:06.430Z,1749674946.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959325
2025-06-11T20:49:06.681Z,1749674946.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210444
2025-06-11T20:49:06.794Z,1749674946.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.21 m.
2025-06-11T20:49:06.797Z,1749674946.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 362.210510 m,
nav range: 347.068390 m,
bearing: 328.618638 deg,
approach rate: -0.475104 m/s,
LOS rate: -0.008007 deg/s,
cmd heading: 321.559760 deg,
new cmd heading: 321.550474 deg.
2025-06-11T20:49:06.797Z,1749674946.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612114 target range: 362.210510 and range: 365.40 m.
2025-06-11T20:49:06.937Z,1749674946.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466041
2025-06-11T20:49:07.185Z,1749674947.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714454
2025-06-11T20:49:07.227Z,1749674947.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.21 m.
2025-06-11T20:49:07.230Z,1749674947.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 362.210510 m,
nav range: 346.859497 m,
bearing: 328.614830 deg,
approach rate: -0.481609 m/s,
LOS rate: -0.008787 deg/s,
cmd heading: 321.550471 deg,
new cmd heading: 321.539038 deg.
2025-06-11T20:49:07.231Z,1749674947.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611915 target range: 362.210510 and range: 365.40 m.
2025-06-11T20:49:07.440Z,1749674947.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969724
2025-06-11T20:49:07.599Z,1749674947.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:07.602Z,1749674947.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.21 m.
2025-06-11T20:49:07.605Z,1749674947.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 362.210510 m,
nav range: 346.679413 m,
bearing: 328.611537 deg,
approach rate: -0.481244 m/s,
LOS rate: -0.008805 deg/s,
cmd heading: 321.539051 deg,
new cmd heading: 321.529167 deg.
2025-06-11T20:49:07.605Z,1749674947.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611742 target range: 362.210510 and range: 365.40 m.
2025-06-11T20:49:07.689Z,1749674947.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218622
2025-06-11T20:49:07.943Z,1749674947.943 [DAT](INFO): DAT read: Rx Time:20:49:09.2416
2025-06-11T20:49:07.944Z,1749674947.944 [DAT](INFO): Rx dataTimestamp_ set to:1749674947.943761
2025-06-11T20:49:07.945Z,1749674947.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474602
2025-06-11T20:49:08.035Z,1749674948.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.21 m.
2025-06-11T20:49:08.038Z,1749674948.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 362.210510 m,
nav range: 346.465698 m,
bearing: 328.607161 deg,
approach rate: -0.493001 m/s,
LOS rate: -0.010099 deg/s,
cmd heading: 321.529161 deg,
new cmd heading: 321.516028 deg.
2025-06-11T20:49:08.039Z,1749674948.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611513 target range: 362.210510 and range: 365.40 m.
2025-06-11T20:49:08.193Z,1749674948.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722669
2025-06-11T20:49:08.459Z,1749674948.459 [DAT](INFO): DAT read: 20:49:09.2416 LVL= 24528, 26385, 21106, 30931, AGC= 71, IDX= 415,-0.35, 2.715, 1.266, 2.505, 2.109, PHS= 0.694,-0.796, 0.394, RAW= 139.0, -4.3, CAL= 144.5, -13.9, ROT= 5.5, 13.9
2025-06-11T20:49:08.460Z,1749674948.460 [DAT](INFO): got valid direction response:
20:49:09.2416 LVL= 24528, 26385, 21106, 30931, AGC= 71, IDX= 415,-0.35, 2.715, 1.266, 2.505, 2.109, PHS= 0.694,-0.796, 0.394, RAW= 139.0, -4.3, CAL= 144.5, -13.9, ROT= 5.5, 13.9
2025-06-11T20:49:08.461Z,1749674948.461 [DAT](INFO): DAT read: Bearing 5.5, 13.9 (Local)
2025-06-11T20:49:08.462Z,1749674948.462 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.5, 13.9 (Local)
2025-06-11T20:49:08.463Z,1749674948.463 [DAT](INFO): DAT read: Range 10 to 50 : 363.4 m (Round-trip 484.6 ms) speed 0.4 m/s
2025-06-11T20:49:08.464Z,1749674948.464 [DAT](INFO): DAT read: user:493>
2025-06-11T20:49:08.465Z,1749674948.465 [DAT](INFO): DAT read: Tx time:20:49:10.3544
2025-06-11T20:49:08.465Z,1749674948.465 [DAT](INFO): Ping request sent.
2025-06-11T20:49:08.465Z,1749674948.465 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:08.465Z,1749674948.465 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:08.466Z,1749674948.466 [DAT](INFO): direction in FSK: [0.966247,0.093039,-0.240228]
2025-06-11T20:49:08.467Z,1749674948.467 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:08.467Z,1749674948.467 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:08.479Z,1749674948.479 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:08.479Z,1749674948.479 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:08.496Z,1749674948.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 363.399994 m,
deltaT: 4.030073 s,
deltaX: -2.000000 m,
approachRate: -0.496269 m/s,
rangeRepo size: 4
2025-06-11T20:49:08.498Z,1749674948.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 360.226593 m,
bearing: 327.993537 deg,
lat: 36.906336 deg,
lon: -122.115407 deg,
deltaT: 4.030073 s,
deltaX: -1.983917 m,
approachRate: -0.492278 m/s,
posRepo size: 4
2025-06-11T20:49:08.499Z,1749674948.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:08.551Z,1749674948.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 346.367462 m,
bearing: 328.570035 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010099 deg/s,
cmd heading: 321.516019 deg,
new cmd heading: 321.502076 deg.
2025-06-11T20:49:08.557Z,1749674948.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611270 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:08.697Z,1749674948.697 [DAT](INFO): DAT read: TxSync time:20:49:10.3537
2025-06-11T20:49:08.858Z,1749674948.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:08.865Z,1749674948.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 346.184204 m,
bearing: 328.566256 deg,
approach rate: -0.504628 m/s,
LOS rate: -0.010411 deg/s,
cmd heading: 321.502086 deg,
new cmd heading: 321.490743 deg.
2025-06-11T20:49:08.866Z,1749674948.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611072 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:09.279Z,1749674949.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:09.282Z,1749674949.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 345.971985 m,
bearing: 328.561668 deg,
approach rate: -0.504398 m/s,
LOS rate: -0.010911 deg/s,
cmd heading: 321.490748 deg,
new cmd heading: 321.476975 deg.
2025-06-11T20:49:09.283Z,1749674949.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610832 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:09.673Z,1749674949.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:09.698Z,1749674949.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:09.705Z,1749674949.705 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:09.705Z,1749674949.705 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:09.705Z,1749674949.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:09.717Z,1749674949.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 345.774139 m,
bearing: 328.557386 deg,
approach rate: -0.473488 m/s,
LOS rate: -0.010255 deg/s,
cmd heading: 321.476978 deg,
new cmd heading: 321.464123 deg.
2025-06-11T20:49:09.718Z,1749674949.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610607 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:09.960Z,1749674949.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494043
2025-06-11T20:49:10.075Z,1749674950.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:10.078Z,1749674950.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 345.566010 m,
bearing: 328.553120 deg,
approach rate: -0.550857 m/s,
LOS rate: -0.011298 deg/s,
cmd heading: 321.464110 deg,
new cmd heading: 321.451304 deg.
2025-06-11T20:49:10.079Z,1749674950.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610384 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:10.209Z,1749674950.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743617
2025-06-11T20:49:10.446Z,1749674950.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:10.449Z,1749674950.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 345.376251 m,
bearing: 328.549162 deg,
approach rate: -0.511142 m/s,
LOS rate: -0.010667 deg/s,
cmd heading: 321.451297 deg,
new cmd heading: 321.439416 deg.
2025-06-11T20:49:10.450Z,1749674950.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610176 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:10.461Z,1749674950.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996068
2025-06-11T20:49:10.713Z,1749674950.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247711
2025-06-11T20:49:10.874Z,1749674950.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:10.881Z,1749674950.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 345.167847 m,
bearing: 328.544713 deg,
approach rate: -0.486833 m/s,
LOS rate: -0.010399 deg/s,
cmd heading: 321.439412 deg,
new cmd heading: 321.426058 deg.
2025-06-11T20:49:10.882Z,1749674950.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609943 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:10.968Z,1749674950.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501930
2025-06-11T20:49:11.217Z,1749674951.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751816
2025-06-11T20:49:11.302Z,1749674951.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:11.309Z,1749674951.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 344.951965 m,
bearing: 328.540221 deg,
approach rate: -0.505049 m/s,
LOS rate: -0.010516 deg/s,
cmd heading: 321.426052 deg,
new cmd heading: 321.412568 deg.
2025-06-11T20:49:11.310Z,1749674951.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609707 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:11.469Z,1749674951.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003836
2025-06-11T20:49:11.672Z,1749674951.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:11.675Z,1749674951.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 344.755249 m,
bearing: 328.536094 deg,
approach rate: -0.531575 m/s,
LOS rate: -0.011157 deg/s,
cmd heading: 321.412556 deg,
new cmd heading: 321.400169 deg.
2025-06-11T20:49:11.676Z,1749674951.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609491 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:11.722Z,1749674951.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257260
2025-06-11T20:49:11.975Z,1749674951.975 [DAT](INFO): DAT read: Rx Time:20:49:13.2406
2025-06-11T20:49:11.976Z,1749674951.976 [DAT](INFO): Rx dataTimestamp_ set to:1749674951.975230
2025-06-11T20:49:11.978Z,1749674951.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512656
2025-06-11T20:49:12.088Z,1749674952.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:12.090Z,1749674952.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:12.093Z,1749674952.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 344.540558 m,
bearing: 328.532536 deg,
approach rate: -0.513085 m/s,
LOS rate: -0.008509 deg/s,
cmd heading: 321.400179 deg,
new cmd heading: 321.389498 deg.
2025-06-11T20:49:12.094Z,1749674952.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609305 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:12.225Z,1749674952.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759712
2025-06-11T20:49:12.469Z,1749674952.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.23 m.
2025-06-11T20:49:12.471Z,1749674952.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 360.226593 m,
nav range: 344.345459 m,
bearing: 328.529364 deg,
approach rate: -0.515441 m/s,
LOS rate: -0.008384 deg/s,
cmd heading: 321.389497 deg,
new cmd heading: 321.379977 deg.
2025-06-11T20:49:12.472Z,1749674952.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609139 target range: 360.226593 and range: 363.40 m.
2025-06-11T20:49:12.483Z,1749674952.483 [DAT](INFO): DAT read: 20:49:13.2406 LVL= 27184, 32753, 26386, 32755, AGC= 67, IDX= 419,-0.49,-2.137, 2.863,-2.276,-2.743, PHS= 0.695,-0.630, 0.464, RAW= 140.6, -8.7, CAL= 147.1, -18.4, ROT= 2.9, 18.4
2025-06-11T20:49:12.484Z,1749674952.484 [DAT](INFO): got valid direction response:
20:49:13.2406 LVL= 27184, 32753, 26386, 32755, AGC= 67, IDX= 419,-0.49,-2.137, 2.863,-2.276,-2.743, PHS= 0.695,-0.630, 0.464, RAW= 140.6, -8.7, CAL= 147.1, -18.4, ROT= 2.9, 18.4
2025-06-11T20:49:12.485Z,1749674952.485 [DAT](INFO): DAT read: Bearing 2.9, 18.4 (Local)
2025-06-11T20:49:12.485Z,1749674952.485 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.9, 18.4 (Local)
2025-06-11T20:49:12.487Z,1749674952.487 [DAT](INFO): DAT read: Range 10 to 50 : 361.4 m (Round-trip 481.9 ms) speed 0.4 m/s
2025-06-11T20:49:12.488Z,1749674952.488 [DAT](INFO): DAT read: user:494>
2025-06-11T20:49:12.489Z,1749674952.489 [DAT](INFO): DAT read: Tx time:20:49:14.3545
2025-06-11T20:49:12.489Z,1749674952.489 [DAT](INFO): Ping request sent.
2025-06-11T20:49:12.489Z,1749674952.489 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:12.489Z,1749674952.489 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:12.490Z,1749674952.490 [DAT](INFO): direction in FSK: [0.947661,0.048006,-0.315649]
2025-06-11T20:49:12.491Z,1749674952.491 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:12.491Z,1749674952.491 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:12.518Z,1749674952.518 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:12.518Z,1749674952.518 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:12.730Z,1749674952.730 [DAT](INFO): DAT read: TxSync time:20:49:14.3538
2025-06-11T20:49:12.894Z,1749674952.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 361.399994 m,
deltaT: 4.031986 s,
deltaX: -2.000000 m,
approachRate: -0.496033 m/s,
rangeRepo size: 4
2025-06-11T20:49:12.900Z,1749674952.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 358.243561 m,
bearing: 326.150445 deg,
lat: 36.906336 deg,
lon: -122.115454 deg,
deltaT: 4.031986 s,
deltaX: -1.983032 m,
approachRate: -0.491825 m/s,
posRepo size: 4
2025-06-11T20:49:12.901Z,1749674952.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.24 m.
2025-06-11T20:49:12.903Z,1749674952.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.243561 m,
nav range: 346.358429 m,
bearing: 327.931021 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008384 deg/s,
cmd heading: 321.379989 deg,
new cmd heading: 321.369318 deg.
2025-06-11T20:49:12.905Z,1749674952.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608953 target range: 358.243561 and range: 361.40 m.
2025-06-11T20:49:13.297Z,1749674953.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.24 m.
2025-06-11T20:49:13.299Z,1749674953.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.243561 m,
nav range: 346.143860 m,
bearing: 327.927789 deg,
approach rate: -0.531554 m/s,
LOS rate: -0.008011 deg/s,
cmd heading: 321.369307 deg,
new cmd heading: 321.359605 deg.
2025-06-11T20:49:13.300Z,1749674953.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608783 target range: 358.243561 and range: 361.40 m.
2025-06-11T20:49:13.694Z,1749674953.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.24 m.
2025-06-11T20:49:13.697Z,1749674953.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.243561 m,
nav range: 345.942291 m,
bearing: 327.924830 deg,
approach rate: -0.507350 m/s,
LOS rate: -0.007453 deg/s,
cmd heading: 321.359608 deg,
new cmd heading: 321.350725 deg.
2025-06-11T20:49:13.698Z,1749674953.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608628 target range: 358.243561 and range: 361.40 m.
2025-06-11T20:49:14.110Z,1749674954.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:14.112Z,1749674954.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.24 m.
2025-06-11T20:49:14.115Z,1749674954.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.243561 m,
nav range: 345.732727 m,
bearing: 327.922212 deg,
approach rate: -0.501691 m/s,
LOS rate: -0.006271 deg/s,
cmd heading: 321.350729 deg,
new cmd heading: 321.342871 deg.
2025-06-11T20:49:14.116Z,1749674954.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608491 target range: 358.243561 and range: 361.40 m.
2025-06-11T20:49:14.245Z,1749674954.245 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:14.245Z,1749674954.245 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:14.245Z,1749674954.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:14.497Z,1749674954.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007900
2025-06-11T20:49:14.504Z,1749674954.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.24 m.
2025-06-11T20:49:14.507Z,1749674954.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.243561 m,
nav range: 345.545654 m,
bearing: 327.919859 deg,
approach rate: -0.476512 m/s,
LOS rate: -0.005997 deg/s,
cmd heading: 321.342861 deg,
new cmd heading: 321.335798 deg.
2025-06-11T20:49:14.508Z,1749674954.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608367 target range: 358.243561 and range: 361.40 m.
2025-06-11T20:49:14.749Z,1749674954.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259840
2025-06-11T20:49:14.902Z,1749674954.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.24 m.
2025-06-11T20:49:14.905Z,1749674954.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.243561 m,
nav range: 345.335785 m,
bearing: 327.917189 deg,
approach rate: -0.527713 m/s,
LOS rate: -0.006719 deg/s,
cmd heading: 321.335784 deg,
new cmd heading: 321.327769 deg.
2025-06-11T20:49:14.906Z,1749674954.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608228 target range: 358.243561 and range: 361.40 m.
2025-06-11T20:49:15.005Z,1749674955.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515649
2025-06-11T20:49:15.253Z,1749674955.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763759
2025-06-11T20:49:15.358Z,1749674955.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.24 m.
2025-06-11T20:49:15.365Z,1749674955.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.243561 m,
nav range: 345.185394 m,
bearing: 327.914126 deg,
approach rate: -0.330052 m/s,
LOS rate: -0.006726 deg/s,
cmd heading: 321.327779 deg,
new cmd heading: 321.318586 deg.
2025-06-11T20:49:15.365Z,1749674955.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608067 target range: 358.243561 and range: 361.40 m.
2025-06-11T20:49:15.505Z,1749674955.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015671
2025-06-11T20:49:15.707Z,1749674955.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.24 m.
2025-06-11T20:49:15.710Z,1749674955.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.243561 m,
nav range: 345.056061 m,
bearing: 327.911473 deg,
approach rate: -0.369905 m/s,
LOS rate: -0.007591 deg/s,
cmd heading: 321.318572 deg,
new cmd heading: 321.310610 deg.
2025-06-11T20:49:15.711Z,1749674955.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607928 target range: 358.243561 and range: 361.40 m.
2025-06-11T20:49:15.757Z,1749674955.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267945
2025-06-11T20:49:16.013Z,1749674956.013 [DAT](INFO): DAT read: Rx Time:20:49:17.2378
2025-06-11T20:49:16.014Z,1749674956.014 [DAT](INFO): Rx dataTimestamp_ set to:1749674956.013032
2025-06-11T20:49:16.017Z,1749674956.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526523
2025-06-11T20:49:16.168Z,1749674956.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:16.170Z,1749674956.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.24 m.
2025-06-11T20:49:16.177Z,1749674956.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 358.243561 m,
nav range: 344.839172 m,
bearing: 327.910305 deg,
approach rate: -0.468868 m/s,
LOS rate: -0.002525 deg/s,
cmd heading: 321.310622 deg,
new cmd heading: 321.307118 deg.
2025-06-11T20:49:16.178Z,1749674956.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607867 target range: 358.243561 and range: 361.40 m.
2025-06-11T20:49:16.262Z,1749674956.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772362
2025-06-11T20:49:16.519Z,1749674956.519 [DAT](INFO): DAT read: 20:49:17.2378 LVL= 23120, 30593, 20194, 32755, AGC= 69, IDX= 406, 0.30, 2.642, 1.173, 2.439, 2.062, PHS= 0.668,-0.842, 0.373, RAW= 139.4, -2.9, CAL= 144.6, -12.3, ROT= 5.4, 12.3
2025-06-11T20:49:16.520Z,1749674956.520 [DAT](INFO): got valid direction response:
20:49:17.2378 LVL= 23120, 30593, 20194, 32755, AGC= 69, IDX= 406, 0.30, 2.642, 1.173, 2.439, 2.062, PHS= 0.668,-0.842, 0.373, RAW= 139.4, -2.9, CAL= 144.6, -12.3, ROT= 5.4, 12.3
2025-06-11T20:49:16.521Z,1749674956.521 [DAT](INFO): DAT read: Bearing 5.4, 12.3 (Local)
2025-06-11T20:49:16.522Z,1749674956.522 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.4, 12.3 (Local)
2025-06-11T20:49:16.523Z,1749674956.523 [DAT](INFO): DAT read: Range 10 to 50 : 359.3 m (Round-trip 479.1 ms) speed 0.4 m/s
2025-06-11T20:49:16.524Z,1749674956.524 [DAT](INFO): DAT read: user:495>
2025-06-11T20:49:16.525Z,1749674956.525 [DAT](INFO): DAT read: Tx time:20:49:18.3530
2025-06-11T20:49:16.525Z,1749674956.525 [DAT](INFO): Ping request sent.
2025-06-11T20:49:16.525Z,1749674956.525 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:16.525Z,1749674956.525 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:16.526Z,1749674956.526 [DAT](INFO): direction in FSK: [0.972709,0.091948,-0.213030]
2025-06-11T20:49:16.527Z,1749674956.527 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:16.527Z,1749674956.527 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:16.554Z,1749674956.554 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:16.555Z,1749674956.555 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:16.621Z,1749674956.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 359.299988 m,
deltaT: 4.036262 s,
deltaX: -2.100006 m,
approachRate: -0.520285 m/s,
rangeRepo size: 4
2025-06-11T20:49:16.623Z,1749674956.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 356.157227 m,
bearing: 328.058112 deg,
lat: 36.906338 deg,
lon: -122.115465 deg,
deltaT: 4.036262 s,
deltaX: -2.086334 m,
approachRate: -0.516898 m/s,
posRepo size: 4
2025-06-11T20:49:16.634Z,1749674956.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:16.641Z,1749674956.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 345.272675 m,
bearing: 327.795131 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002525 deg/s,
cmd heading: 321.307125 deg,
new cmd heading: 321.303710 deg.
2025-06-11T20:49:16.642Z,1749674956.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607808 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:16.765Z,1749674956.765 [DAT](INFO): DAT read: TxSync time:20:49:18.3522
2025-06-11T20:49:17.142Z,1749674957.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:17.145Z,1749674957.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 345.009033 m,
bearing: 327.794410 deg,
approach rate: -0.505217 m/s,
LOS rate: -0.001383 deg/s,
cmd heading: 321.303710 deg,
new cmd heading: 321.301544 deg.
2025-06-11T20:49:17.146Z,1749674957.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607770 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:17.555Z,1749674957.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:17.559Z,1749674957.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 344.809967 m,
bearing: 327.793861 deg,
approach rate: -0.482351 m/s,
LOS rate: -0.001330 deg/s,
cmd heading: 321.301552 deg,
new cmd heading: 321.299905 deg.
2025-06-11T20:49:17.566Z,1749674957.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607741 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:17.947Z,1749674957.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:17.951Z,1749674957.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 344.622925 m,
bearing: 327.793249 deg,
approach rate: -0.477810 m/s,
LOS rate: -0.001566 deg/s,
cmd heading: 321.299912 deg,
new cmd heading: 321.298074 deg.
2025-06-11T20:49:17.952Z,1749674957.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607709 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:18.371Z,1749674958.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:18.374Z,1749674958.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:18.376Z,1749674958.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 344.418640 m,
bearing: 327.793039 deg,
approach rate: -0.478369 m/s,
LOS rate: -0.000491 deg/s,
cmd heading: 321.298082 deg,
new cmd heading: 321.297452 deg.
2025-06-11T20:49:18.377Z,1749674958.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607698 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:18.529Z,1749674958.529 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:18.529Z,1749674958.529 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:18.529Z,1749674958.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:18.757Z,1749674958.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:18.760Z,1749674958.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 344.235626 m,
bearing: 327.792813 deg,
approach rate: -0.476761 m/s,
LOS rate: -0.000589 deg/s,
cmd heading: 321.297453 deg,
new cmd heading: 321.296776 deg.
2025-06-11T20:49:18.761Z,1749674958.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607687 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:18.781Z,1749674958.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255868
2025-06-11T20:49:19.033Z,1749674959.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507578
2025-06-11T20:49:19.178Z,1749674959.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:19.201Z,1749674959.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 344.034821 m,
bearing: 327.792795 deg,
approach rate: -0.477243 m/s,
LOS rate: -0.000042 deg/s,
cmd heading: 321.296770 deg,
new cmd heading: 321.296717 deg.
2025-06-11T20:49:19.202Z,1749674959.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607686 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:19.285Z,1749674959.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760116
2025-06-11T20:49:19.538Z,1749674959.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012788
2025-06-11T20:49:19.557Z,1749674959.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:19.559Z,1749674959.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 343.853882 m,
bearing: 327.792791 deg,
approach rate: -0.478019 m/s,
LOS rate: -0.000012 deg/s,
cmd heading: 321.296716 deg,
new cmd heading: 321.296702 deg.
2025-06-11T20:49:19.561Z,1749674959.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607685 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:19.789Z,1749674959.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263643
2025-06-11T20:49:19.965Z,1749674959.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:19.984Z,1749674959.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 343.658752 m,
bearing: 327.792925 deg,
approach rate: -0.477529 m/s,
LOS rate: 0.000327 deg/s,
cmd heading: 321.296688 deg,
new cmd heading: 321.297090 deg.
2025-06-11T20:49:19.985Z,1749674959.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607692 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:20.042Z,1749674960.042 [DAT](INFO): DAT read: Rx Time:20:49:21.2337
2025-06-11T20:49:20.043Z,1749674960.043 [DAT](INFO): Rx dataTimestamp_ set to:1749674960.042469
2025-06-11T20:49:20.044Z,1749674960.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518449
2025-06-11T20:49:20.293Z,1749674960.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767559
2025-06-11T20:49:20.443Z,1749674960.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:20.450Z,1749674960.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.16 m.
2025-06-11T20:49:20.457Z,1749674960.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 356.157227 m,
nav range: 343.432739 m,
bearing: 327.791812 deg,
approach rate: -0.466730 m/s,
LOS rate: -0.002299 deg/s,
cmd heading: 321.297098 deg,
new cmd heading: 321.293759 deg.
2025-06-11T20:49:20.457Z,1749674960.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607634 target range: 356.157227 and range: 359.30 m.
2025-06-11T20:49:20.551Z,1749674960.551 [DAT](INFO): DAT read: 20:49:21.2337 LVL= 27200, 32753, 23714, 32755, AGC= 73, IDX= 412, 0.21,-1.319,-2.777,-1.598,-2.011, PHS= 0.780,-0.720, 0.410, RAW= 136.3, -7.0, CAL= 142.1, -17.6, ROT= 7.9, 17.6
2025-06-11T20:49:20.554Z,1749674960.554 [DAT](INFO): got valid direction response:
20:49:21.2337 LVL= 27200, 32753, 23714, 32755, AGC= 73, IDX= 412, 0.21,-1.319,-2.777,-1.598,-2.011, PHS= 0.780,-0.720, 0.410, RAW= 136.3, -7.0, CAL= 142.1, -17.6, ROT= 7.9, 17.6
2025-06-11T20:49:20.555Z,1749674960.555 [DAT](INFO): DAT read: Bearing 7.9, 17.6 (Local)
2025-06-11T20:49:20.557Z,1749674960.557 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.9, 17.6 (Local)
2025-06-11T20:49:20.559Z,1749674960.559 [DAT](INFO): DAT read: Range 10 to 50 : 357.4 m (Round-trip 476.6 ms) speed 0.3 m/s
2025-06-11T20:49:20.561Z,1749674960.561 [DAT](INFO): DAT read: user:496>
2025-06-11T20:49:20.562Z,1749674960.562 [DAT](INFO): DAT read: Tx time:20:49:22.3530
2025-06-11T20:49:20.562Z,1749674960.562 [DAT](INFO): Ping request sent.
2025-06-11T20:49:20.562Z,1749674960.562 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:20.562Z,1749674960.562 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:20.563Z,1749674960.563 [DAT](INFO): direction in FSK: [0.944144,0.131011,-0.302370]
2025-06-11T20:49:20.568Z,1749674960.568 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:20.569Z,1749674960.569 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:20.574Z,1749674960.574 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:20.575Z,1749674960.575 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:20.770Z,1749674960.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 357.399994 m,
deltaT: 4.031747 s,
deltaX: -1.899994 m,
approachRate: -0.471258 m/s,
rangeRepo size: 4
2025-06-11T20:49:20.772Z,1749674960.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 354.278687 m,
bearing: 330.556680 deg,
lat: 36.906339 deg,
lon: -122.115454 deg,
deltaT: 4.031747 s,
deltaX: -1.878540 m,
approachRate: -0.465937 m/s,
posRepo size: 4
2025-06-11T20:49:20.773Z,1749674960.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:20.775Z,1749674960.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 342.921722 m,
bearing: 327.936871 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002299 deg/s,
cmd heading: 321.293765 deg,
new cmd heading: 321.291561 deg.
2025-06-11T20:49:20.777Z,1749674960.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607595 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:20.798Z,1749674960.798 [DAT](INFO): DAT read: TxSync time:20:49:22.3522
2025-06-11T20:49:21.200Z,1749674961.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:21.202Z,1749674961.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 342.727570 m,
bearing: 327.935585 deg,
approach rate: -0.451157 m/s,
LOS rate: -0.002989 deg/s,
cmd heading: 321.291552 deg,
new cmd heading: 321.287694 deg.
2025-06-11T20:49:21.203Z,1749674961.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607528 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:21.573Z,1749674961.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:21.577Z,1749674961.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 342.559998 m,
bearing: 327.934576 deg,
approach rate: -0.448140 m/s,
LOS rate: -0.002701 deg/s,
cmd heading: 321.287700 deg,
new cmd heading: 321.284670 deg.
2025-06-11T20:49:21.578Z,1749674961.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607475 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:21.995Z,1749674961.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:21.999Z,1749674961.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 342.371155 m,
bearing: 327.933437 deg,
approach rate: -0.447555 m/s,
LOS rate: -0.002700 deg/s,
cmd heading: 321.284667 deg,
new cmd heading: 321.281249 deg.
2025-06-11T20:49:22.000Z,1749674962.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607416 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:22.411Z,1749674962.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:22.415Z,1749674962.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 342.165558 m,
bearing: 327.931322 deg,
approach rate: -0.494220 m/s,
LOS rate: -0.005089 deg/s,
cmd heading: 321.281252 deg,
new cmd heading: 321.274901 deg.
2025-06-11T20:49:22.416Z,1749674962.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607305 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:22.779Z,1749674962.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:22.782Z,1749674962.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:22.785Z,1749674962.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 341.982605 m,
bearing: 327.929418 deg,
approach rate: -0.494004 m/s,
LOS rate: -0.005143 deg/s,
cmd heading: 321.274914 deg,
new cmd heading: 321.269200 deg.
2025-06-11T20:49:22.786Z,1749674962.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607205 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:22.826Z,1749674962.826 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:22.826Z,1749674962.826 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:22.826Z,1749674962.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:23.077Z,1749674963.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514667
2025-06-11T20:49:23.259Z,1749674963.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:23.262Z,1749674963.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 341.746582 m,
bearing: 327.925389 deg,
approach rate: -0.494471 m/s,
LOS rate: -0.008446 deg/s,
cmd heading: 321.269204 deg,
new cmd heading: 321.257109 deg.
2025-06-11T20:49:23.263Z,1749674963.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606994 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:23.329Z,1749674963.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767063
2025-06-11T20:49:23.581Z,1749674963.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018921
2025-06-11T20:49:23.593Z,1749674963.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:23.595Z,1749674963.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 341.581360 m,
bearing: 327.922495 deg,
approach rate: -0.495468 m/s,
LOS rate: -0.008682 deg/s,
cmd heading: 321.257101 deg,
new cmd heading: 321.248415 deg.
2025-06-11T20:49:23.599Z,1749674963.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606843 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:23.835Z,1749674963.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272820
2025-06-11T20:49:23.993Z,1749674963.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:23.995Z,1749674963.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 341.383514 m,
bearing: 327.918981 deg,
approach rate: -0.494290 m/s,
LOS rate: -0.008784 deg/s,
cmd heading: 321.248413 deg,
new cmd heading: 321.237864 deg.
2025-06-11T20:49:23.997Z,1749674963.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606658 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:24.086Z,1749674964.086 [DAT](INFO): DAT read: Rx Time:20:49:25.2313
2025-06-11T20:49:24.086Z,1749674964.086 [DAT](INFO): Rx dataTimestamp_ set to:1749674964.085864
2025-06-11T20:49:24.087Z,1749674964.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525033
2025-06-11T20:49:24.338Z,1749674964.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776170
2025-06-11T20:49:24.470Z,1749674964.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.28 m.
2025-06-11T20:49:24.473Z,1749674964.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 354.278687 m,
nav range: 341.147583 m,
bearing: 327.913315 deg,
approach rate: -0.494553 m/s,
LOS rate: -0.011887 deg/s,
cmd heading: 321.237867 deg,
new cmd heading: 321.220855 deg.
2025-06-11T20:49:24.474Z,1749674964.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606361 target range: 354.278687 and range: 357.40 m.
2025-06-11T20:49:24.598Z,1749674964.598 [DAT](INFO): DAT read: 20:49:25.2313 LVL= 32752, 25297, 30962, 32755, AGC= 72, IDX= 419,-0.13, 1.964, 0.618, 1.694, 1.301, PHS= 0.751,-0.636, 0.390, RAW= 135.5, -8.1, CAL= 141.3, -19.3, ROT= 8.7, 19.3
2025-06-11T20:49:24.599Z,1749674964.599 [DAT](INFO): got valid direction response:
20:49:25.2313 LVL= 32752, 25297, 30962, 32755, AGC= 72, IDX= 419,-0.13, 1.964, 0.618, 1.694, 1.301, PHS= 0.751,-0.636, 0.390, RAW= 135.5, -8.1, CAL= 141.3, -19.3, ROT= 8.7, 19.3
2025-06-11T20:49:24.600Z,1749674964.600 [DAT](INFO): DAT read: Bearing 8.7, 19.3 (Local)
2025-06-11T20:49:24.601Z,1749674964.601 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.7, 19.3 (Local)
2025-06-11T20:49:24.602Z,1749674964.602 [DAT](INFO): DAT read: Range 10 to 50 : 355.5 m (Round-trip 474.1 ms) speed 0.1 m/s
2025-06-11T20:49:24.603Z,1749674964.603 [DAT](INFO): DAT read: user:497>
2025-06-11T20:49:24.607Z,1749674964.607 [DAT](INFO): DAT read: Tx time:20:49:26.3531
2025-06-11T20:49:24.607Z,1749674964.607 [DAT](INFO): Ping request sent.
2025-06-11T20:49:24.607Z,1749674964.607 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:24.608Z,1749674964.608 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:24.609Z,1749674964.609 [DAT](INFO): direction in FSK: [0.932941,0.142760,-0.330514]
2025-06-11T20:49:24.609Z,1749674964.609 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:24.609Z,1749674964.609 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:24.613Z,1749674964.613 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:24.613Z,1749674964.613 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:24.841Z,1749674964.841 [DAT](INFO): DAT read: TxSync time:20:49:26.3523
2025-06-11T20:49:24.861Z,1749674964.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 355.500000 m,
deltaT: 4.044322 s,
deltaX: -1.899994 m,
approachRate: -0.469793 m/s,
rangeRepo size: 4
2025-06-11T20:49:24.863Z,1749674964.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 352.394257 m,
bearing: 331.814828 deg,
lat: 36.906365 deg,
lon: -122.115454 deg,
deltaT: 4.044322 s,
deltaX: -1.884430 m,
approachRate: -0.465945 m/s,
posRepo size: 4
2025-06-11T20:49:24.863Z,1749674964.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:24.870Z,1749674964.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 343.378632 m,
bearing: 328.160858 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011887 deg/s,
cmd heading: 321.220846 deg,
new cmd heading: 321.207077 deg.
2025-06-11T20:49:24.871Z,1749674964.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606121 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:25.259Z,1749674965.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:25.261Z,1749674965.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:25.265Z,1749674965.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 343.166199 m,
bearing: 328.156254 deg,
approach rate: -0.523881 m/s,
LOS rate: -0.011361 deg/s,
cmd heading: 321.207076 deg,
new cmd heading: 321.193256 deg.
2025-06-11T20:49:25.266Z,1749674965.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605880 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:25.345Z,1749674965.345 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:25.345Z,1749674965.345 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:25.346Z,1749674965.346 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:25.597Z,1749674965.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989507
2025-06-11T20:49:25.630Z,1749674965.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:25.633Z,1749674965.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 342.983368 m,
bearing: 328.152287 deg,
approach rate: -0.495644 m/s,
LOS rate: -0.010761 deg/s,
cmd heading: 321.193252 deg,
new cmd heading: 321.181344 deg.
2025-06-11T20:49:25.634Z,1749674965.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605672 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:25.853Z,1749674965.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245696
2025-06-11T20:49:26.020Z,1749674966.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:26.023Z,1749674966.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 342.790649 m,
bearing: 328.148041 deg,
approach rate: -0.494708 m/s,
LOS rate: -0.010906 deg/s,
cmd heading: 321.181340 deg,
new cmd heading: 321.168595 deg.
2025-06-11T20:49:26.024Z,1749674966.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605449 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:26.102Z,1749674966.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494372
2025-06-11T20:49:26.353Z,1749674966.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745503
2025-06-11T20:49:26.451Z,1749674966.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:26.454Z,1749674966.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 342.579834 m,
bearing: 328.142043 deg,
approach rate: -0.489299 m/s,
LOS rate: -0.013928 deg/s,
cmd heading: 321.168581 deg,
new cmd heading: 321.150578 deg.
2025-06-11T20:49:26.455Z,1749674966.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605135 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:26.606Z,1749674966.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997894
2025-06-11T20:49:26.826Z,1749674966.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:26.829Z,1749674966.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 342.396454 m,
bearing: 328.136789 deg,
approach rate: -0.488905 m/s,
LOS rate: -0.014016 deg/s,
cmd heading: 321.150577 deg,
new cmd heading: 321.134805 deg.
2025-06-11T20:49:26.830Z,1749674966.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604860 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:26.866Z,1749674966.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258489
2025-06-11T20:49:27.117Z,1749674967.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509477
2025-06-11T20:49:27.277Z,1749674967.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:27.279Z,1749674967.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:27.299Z,1749674967.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 342.174377 m,
bearing: 328.130894 deg,
approach rate: -0.489720 m/s,
LOS rate: -0.013007 deg/s,
cmd heading: 321.134813 deg,
new cmd heading: 321.117118 deg.
2025-06-11T20:49:27.305Z,1749674967.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604551 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:27.370Z,1749674967.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762586
2025-06-11T20:49:27.621Z,1749674967.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013691
2025-06-11T20:49:27.634Z,1749674967.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:27.637Z,1749674967.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 342.000946 m,
bearing: 328.126274 deg,
approach rate: -0.489271 m/s,
LOS rate: -0.013042 deg/s,
cmd heading: 321.117109 deg,
new cmd heading: 321.103240 deg.
2025-06-11T20:49:27.638Z,1749674967.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604309 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:27.873Z,1749674967.873 [DAT](INFO): DAT read: Rx Time:20:49:29.2287
2025-06-11T20:49:27.873Z,1749674967.873 [DAT](INFO): Rx dataTimestamp_ set to:1749674967.873150
2025-06-11T20:49:27.874Z,1749674967.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266717
2025-06-11T20:49:28.041Z,1749674968.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:28.044Z,1749674968.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 341.801086 m,
bearing: 328.120919 deg,
approach rate: -0.490170 m/s,
LOS rate: -0.013139 deg/s,
cmd heading: 321.103230 deg,
new cmd heading: 321.087158 deg.
2025-06-11T20:49:28.045Z,1749674968.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604028 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:28.125Z,1749674968.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517684
2025-06-11T20:49:28.381Z,1749674968.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772821
2025-06-11T20:49:28.489Z,1749674968.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.39 m.
2025-06-11T20:49:28.491Z,1749674968.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 352.394257 m,
nav range: 341.580261 m,
bearing: 328.114765 deg,
approach rate: -0.493879 m/s,
LOS rate: -0.013774 deg/s,
cmd heading: 321.087166 deg,
new cmd heading: 321.068690 deg.
2025-06-11T20:49:28.492Z,1749674968.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603706 target range: 352.394257 and range: 355.50 m.
2025-06-11T20:49:28.639Z,1749674968.639 [DAT](INFO): DAT read: 20:49:29.2287 LVL= 26064, 32641, 26498, 32755, AGC= 70, IDX= 408,-0.27, 1.656, 0.207, 1.413, 0.966, PHS= 0.777,-0.712, 0.443, RAW= 137.7, -7.6, CAL= 143.7, -17.9, ROT= 6.3, 17.9
2025-06-11T20:49:28.640Z,1749674968.640 [DAT](INFO): got valid direction response:
20:49:29.2287 LVL= 26064, 32641, 26498, 32755, AGC= 70, IDX= 408,-0.27, 1.656, 0.207, 1.413, 0.966, PHS= 0.777,-0.712, 0.443, RAW= 137.7, -7.6, CAL= 143.7, -17.9, ROT= 6.3, 17.9
2025-06-11T20:49:28.641Z,1749674968.641 [DAT](INFO): DAT read: Bearing 6.3, 17.9 (Local)
2025-06-11T20:49:28.642Z,1749674968.642 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.3, 17.9 (Local)
2025-06-11T20:49:28.643Z,1749674968.643 [DAT](INFO): DAT read: Range 10 to 50 : 353.5 m (Round-trip 471.4 ms) speed 0.2 m/s
2025-06-11T20:49:28.649Z,1749674968.649 [DAT](INFO): DAT read: user:498>
2025-06-11T20:49:28.649Z,1749674968.649 [DAT](INFO): DAT read: Tx time:20:49:30.3531
2025-06-11T20:49:28.650Z,1749674968.650 [DAT](INFO): Ping request sent.
2025-06-11T20:49:28.650Z,1749674968.650 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:28.650Z,1749674968.650 [DAT](INFO): DAT read: TxSync time:20:49:30.3523
2025-06-11T20:49:28.651Z,1749674968.651 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:28.661Z,1749674968.661 [DAT](INFO): direction in FSK: [0.945848,0.104423,-0.307357]
2025-06-11T20:49:28.661Z,1749674968.661 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:28.662Z,1749674968.662 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:28.681Z,1749674968.681 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:28.681Z,1749674968.681 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:28.892Z,1749674968.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 353.500000 m,
deltaT: 4.039627 s,
deltaX: -2.000000 m,
approachRate: -0.495095 m/s,
rangeRepo size: 4
2025-06-11T20:49:28.894Z,1749674968.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 350.419891 m,
bearing: 329.195383 deg,
lat: 36.906365 deg,
lon: -122.115364 deg,
deltaT: 4.039627 s,
deltaX: -1.974365 m,
approachRate: -0.488749 m/s,
posRepo size: 4
2025-06-11T20:49:28.895Z,1749674968.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:28.901Z,1749674968.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.419891 m,
nav range: 337.230927 m,
bearing: 329.266113 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013774 deg/s,
cmd heading: 321.068697 deg,
new cmd heading: 321.052232 deg.
2025-06-11T20:49:28.902Z,1749674968.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603418 target range: 350.419891 and range: 353.50 m.
2025-06-11T20:49:29.332Z,1749674969.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:29.334Z,1749674969.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:29.341Z,1749674969.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.419891 m,
nav range: 337.012299 m,
bearing: 329.261500 deg,
approach rate: -0.488828 m/s,
LOS rate: -0.010321 deg/s,
cmd heading: 321.052222 deg,
new cmd heading: 321.038374 deg.
2025-06-11T20:49:29.342Z,1749674969.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603177 target range: 350.419891 and range: 353.50 m.
2025-06-11T20:49:29.385Z,1749674969.385 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:29.385Z,1749674969.385 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:29.386Z,1749674969.386 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:29.637Z,1749674969.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987085
2025-06-11T20:49:29.661Z,1749674969.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:29.664Z,1749674969.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.419891 m,
nav range: 336.841980 m,
bearing: 329.257924 deg,
approach rate: -0.521011 m/s,
LOS rate: -0.010944 deg/s,
cmd heading: 321.038371 deg,
new cmd heading: 321.027638 deg.
2025-06-11T20:49:29.665Z,1749674969.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602989 target range: 350.419891 and range: 353.50 m.
2025-06-11T20:49:29.889Z,1749674969.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239372
2025-06-11T20:49:30.057Z,1749674970.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:30.060Z,1749674970.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.419891 m,
nav range: 336.650085 m,
bearing: 329.253930 deg,
approach rate: -0.484635 m/s,
LOS rate: -0.010093 deg/s,
cmd heading: 321.027634 deg,
new cmd heading: 321.015644 deg.
2025-06-11T20:49:30.061Z,1749674970.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602780 target range: 350.419891 and range: 353.50 m.
2025-06-11T20:49:30.142Z,1749674970.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492484
2025-06-11T20:49:30.393Z,1749674970.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742940
2025-06-11T20:49:30.489Z,1749674970.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:30.491Z,1749674970.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.419891 m,
nav range: 336.429169 m,
bearing: 329.251628 deg,
approach rate: -0.512194 m/s,
LOS rate: -0.005340 deg/s,
cmd heading: 321.015640 deg,
new cmd heading: 321.008730 deg.
2025-06-11T20:49:30.492Z,1749674970.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602659 target range: 350.419891 and range: 353.50 m.
2025-06-11T20:49:30.645Z,1749674970.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994882
2025-06-11T20:49:30.877Z,1749674970.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:30.884Z,1749674970.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.419891 m,
nav range: 336.234222 m,
bearing: 329.249613 deg,
approach rate: -0.501701 m/s,
LOS rate: -0.005188 deg/s,
cmd heading: 321.008728 deg,
new cmd heading: 321.002680 deg.
2025-06-11T20:49:30.885Z,1749674970.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602554 target range: 350.419891 and range: 353.50 m.
2025-06-11T20:49:30.897Z,1749674970.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247360
2025-06-11T20:49:31.149Z,1749674971.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498981
2025-06-11T20:49:31.329Z,1749674971.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:31.332Z,1749674971.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.419891 m,
nav range: 336.005859 m,
bearing: 329.247298 deg,
approach rate: -0.504816 m/s,
LOS rate: -0.005120 deg/s,
cmd heading: 321.002690 deg,
new cmd heading: 320.995741 deg.
2025-06-11T20:49:31.333Z,1749674971.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602433 target range: 350.419891 and range: 353.50 m.
2025-06-11T20:49:31.403Z,1749674971.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753088
2025-06-11T20:49:31.657Z,1749674971.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007080
2025-06-11T20:49:31.707Z,1749674971.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:31.717Z,1749674971.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:31.724Z,1749674971.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.419891 m,
nav range: 335.816956 m,
bearing: 329.245955 deg,
approach rate: -0.486916 m/s,
LOS rate: -0.003465 deg/s,
cmd heading: 320.995750 deg,
new cmd heading: 320.991717 deg.
2025-06-11T20:49:31.725Z,1749674971.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602362 target range: 350.419891 and range: 353.50 m.
2025-06-11T20:49:31.909Z,1749674971.909 [DAT](INFO): DAT read: Rx Time:20:49:33.2257
2025-06-11T20:49:31.909Z,1749674971.909 [DAT](INFO): Rx dataTimestamp_ set to:1749674971.909074
2025-06-11T20:49:31.910Z,1749674971.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260102
2025-06-11T20:49:32.071Z,1749674972.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:32.074Z,1749674972.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.419891 m,
nav range: 335.622986 m,
bearing: 329.244645 deg,
approach rate: -0.548208 m/s,
LOS rate: -0.003703 deg/s,
cmd heading: 320.991707 deg,
new cmd heading: 320.987777 deg.
2025-06-11T20:49:32.075Z,1749674972.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602293 target range: 350.419891 and range: 353.50 m.
2025-06-11T20:49:32.162Z,1749674972.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511474
2025-06-11T20:49:32.421Z,1749674972.421 [DAT](INFO): DAT read: 20:49:33.2257 LVL= 29088, 30849, 24914, 32659, AGC= 71, IDX= 410,-0.23,-2.038, 2.721,-2.343,-2.793, PHS= 0.843,-0.722, 0.447, RAW= 135.9, -8.1, CAL= 141.8, -19.1, ROT= 8.2, 19.1
2025-06-11T20:49:32.422Z,1749674972.422 [DAT](INFO): got valid direction response:
20:49:33.2257 LVL= 29088, 30849, 24914, 32659, AGC= 71, IDX= 410,-0.23,-2.038, 2.721,-2.343,-2.793, PHS= 0.843,-0.722, 0.447, RAW= 135.9, -8.1, CAL= 141.8, -19.1, ROT= 8.2, 19.1
2025-06-11T20:49:32.423Z,1749674972.423 [DAT](INFO): DAT read: Bearing 8.2, 19.1 (Local)
2025-06-11T20:49:32.423Z,1749674972.423 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.2, 19.1 (Local)
2025-06-11T20:49:32.425Z,1749674972.425 [DAT](INFO): DAT read: Range 10 to 50 : 351.3 m (Round-trip 468.5 ms) speed 0.4 m/s
2025-06-11T20:49:32.426Z,1749674972.426 [DAT](INFO): DAT read: user:499>
2025-06-11T20:49:32.426Z,1749674972.426 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:32.427Z,1749674972.427 [DAT](INFO): direction in FSK: [0.935288,0.134777,-0.327218]
2025-06-11T20:49:32.427Z,1749674972.427 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:32.434Z,1749674972.434 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:32.435Z,1749674972.435 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:32.435Z,1749674972.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:32.665Z,1749674972.665 [DAT](INFO): DAT read: Tx time:20:49:34.3531
2025-06-11T20:49:32.665Z,1749674972.665 [DAT](INFO): Ping request sent.
2025-06-11T20:49:32.665Z,1749674972.665 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:32.666Z,1749674972.666 [DAT](INFO): DAT read: TxSync time:20:49:34.3523
2025-06-11T20:49:32.666Z,1749674972.666 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:32.672Z,1749674972.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006964
2025-06-11T20:49:32.749Z,1749674972.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 351.299988 m,
deltaT: 3.786520 s,
deltaX: -2.200012 m,
approachRate: -0.581012 m/s,
rangeRepo size: 4
2025-06-11T20:49:32.751Z,1749674972.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 348.242798 m,
bearing: 330.565094 deg,
lat: 36.906375 deg,
lon: -122.115282 deg,
deltaT: 3.786520 s,
deltaX: -2.177094 m,
approachRate: -0.574959 m/s,
posRepo size: 4
2025-06-11T20:49:32.756Z,1749674972.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:32.759Z,1749674972.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 332.627441 m,
bearing: 330.431148 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003703 deg/s,
cmd heading: 320.987773 deg,
new cmd heading: 320.980247 deg.
2025-06-11T20:49:32.772Z,1749674972.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602162 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:32.845Z,1749674972.845 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:49:32.918Z,1749674972.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252226
2025-06-11T20:49:33.155Z,1749674973.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:33.166Z,1749674973.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 332.404083 m,
bearing: 330.432161 deg,
approach rate: -0.549641 m/s,
LOS rate: 0.002495 deg/s,
cmd heading: 320.980259 deg,
new cmd heading: 320.983301 deg.
2025-06-11T20:49:33.167Z,1749674973.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602215 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:33.169Z,1749674973.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503716
2025-06-11T20:49:33.426Z,1749674973.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760376
2025-06-11T20:49:33.521Z,1749674973.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:33.528Z,1749674973.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 332.212280 m,
bearing: 330.433602 deg,
approach rate: -0.524237 m/s,
LOS rate: 0.003943 deg/s,
cmd heading: 320.983292 deg,
new cmd heading: 320.987619 deg.
2025-06-11T20:49:33.529Z,1749674973.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602291 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:33.673Z,1749674973.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007503
2025-06-11T20:49:33.848Z,1749674973.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:49:33.890Z,1749674973.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:33.892Z,1749674973.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:33.895Z,1749674973.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 332.026154 m,
bearing: 330.435100 deg,
approach rate: -0.501684 m/s,
LOS rate: 0.004039 deg/s,
cmd heading: 320.987609 deg,
new cmd heading: 320.992104 deg.
2025-06-11T20:49:33.896Z,1749674973.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602369 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:33.925Z,1749674973.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259707
2025-06-11T20:49:34.177Z,1749674974.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511410
2025-06-11T20:49:34.408Z,1749674974.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:34.411Z,1749674974.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 331.769745 m,
bearing: 330.437163 deg,
approach rate: -0.496818 m/s,
LOS rate: 0.004001 deg/s,
cmd heading: 320.992117 deg,
new cmd heading: 320.998311 deg.
2025-06-11T20:49:34.412Z,1749674974.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602478 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:34.430Z,1749674974.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764791
2025-06-11T20:49:34.681Z,1749674974.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015642
2025-06-11T20:49:34.715Z,1749674974.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:34.718Z,1749674974.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 331.617218 m,
bearing: 330.438392 deg,
approach rate: -0.496830 m/s,
LOS rate: 0.004004 deg/s,
cmd heading: 320.998318 deg,
new cmd heading: 321.002006 deg.
2025-06-11T20:49:34.719Z,1749674974.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602542 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:34.933Z,1749674974.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267924
2025-06-11T20:49:35.097Z,1749674975.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:35.100Z,1749674975.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 331.427490 m,
bearing: 330.439861 deg,
approach rate: -0.496619 m/s,
LOS rate: 0.003846 deg/s,
cmd heading: 321.002007 deg,
new cmd heading: 321.006415 deg.
2025-06-11T20:49:35.101Z,1749674975.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602619 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:35.186Z,1749674975.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520193
2025-06-11T20:49:35.437Z,1749674975.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771404
2025-06-11T20:49:35.534Z,1749674975.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:35.537Z,1749674975.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 331.210938 m,
bearing: 330.441473 deg,
approach rate: -0.495872 m/s,
LOS rate: 0.003694 deg/s,
cmd heading: 321.006405 deg,
new cmd heading: 321.011245 deg.
2025-06-11T20:49:35.538Z,1749674975.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602703 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:35.689Z,1749674975.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023488
2025-06-11T20:49:35.916Z,1749674975.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:35.919Z,1749674975.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:35.923Z,1749674975.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 331.020874 m,
bearing: 330.442839 deg,
approach rate: -0.493555 m/s,
LOS rate: 0.003550 deg/s,
cmd heading: 321.011241 deg,
new cmd heading: 321.015342 deg.
2025-06-11T20:49:35.925Z,1749674975.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602775 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:35.957Z,1749674975.957 [DAT](INFO): DAT read: Rx Time:20:49:37.2234
2025-06-11T20:49:35.957Z,1749674975.957 [DAT](INFO): Rx dataTimestamp_ set to:1749674975.957120
2025-06-11T20:49:35.958Z,1749674975.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.292615
2025-06-11T20:49:36.209Z,1749674976.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543557
2025-06-11T20:49:36.418Z,1749674976.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.24 m.
2025-06-11T20:49:36.425Z,1749674976.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 348.242798 m,
nav range: 330.799896 m,
bearing: 330.444352 deg,
approach rate: -0.442650 m/s,
LOS rate: 0.003033 deg/s,
cmd heading: 321.015339 deg,
new cmd heading: 321.019882 deg.
2025-06-11T20:49:36.426Z,1749674976.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602854 target range: 348.242798 and range: 351.30 m.
2025-06-11T20:49:36.467Z,1749674976.467 [DAT](INFO): DAT read: 20:49:37.2234 LVL= 32752, 32753, 27554, 32755, AGC= 71, IDX= 416, 0.20,-2.869, 1.902,-3.136, 2.711, PHS= 0.792,-0.761, 0.434, RAW= 137.3, -6.7, CAL= 143.1, -16.9, ROT= 6.9, 16.9
2025-06-11T20:49:36.469Z,1749674976.469 [DAT](INFO): got valid direction response:
20:49:37.2234 LVL= 32752, 32753, 27554, 32755, AGC= 71, IDX= 416, 0.20,-2.869, 1.902,-3.136, 2.711, PHS= 0.792,-0.761, 0.434, RAW= 137.3, -6.7, CAL= 143.1, -16.9, ROT= 6.9, 16.9
2025-06-11T20:49:36.470Z,1749674976.470 [DAT](INFO): DAT read: Bearing 6.9, 16.9 (Local)
2025-06-11T20:49:36.471Z,1749674976.471 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.9, 16.9 (Local)
2025-06-11T20:49:36.474Z,1749674976.474 [DAT](INFO): DAT read: Range 10 to 50 : 349.5 m (Round-trip 466.1 ms) speed 0.7 m/s
2025-06-11T20:49:36.475Z,1749674976.475 [DAT](INFO): DAT read: user:500>
2025-06-11T20:49:36.476Z,1749674976.476 [DAT](INFO): DAT read: Tx time:20:49:38.3032
2025-06-11T20:49:36.477Z,1749674976.477 [DAT](INFO): Ping request sent.
2025-06-11T20:49:36.477Z,1749674976.477 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:36.477Z,1749674976.477 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:36.479Z,1749674976.479 [DAT](INFO): direction in FSK: [0.949884,0.114949,-0.290702]
2025-06-11T20:49:36.479Z,1749674976.479 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:36.479Z,1749674976.479 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:36.486Z,1749674976.486 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:36.486Z,1749674976.486 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:36.713Z,1749674976.713 [DAT](INFO): DAT read: TxSync time:20:49:38.3024
2025-06-11T20:49:36.813Z,1749674976.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 349.500000 m,
deltaT: 4.045736 s,
deltaX: -1.799988 m,
approachRate: -0.444910 m/s,
rangeRepo size: 4
2025-06-11T20:49:36.815Z,1749674976.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 346.453369 m,
bearing: 329.295805 deg,
lat: 36.906387 deg,
lon: -122.115282 deg,
deltaT: 4.045736 s,
deltaX: -1.789429 m,
approachRate: -0.442300 m/s,
posRepo size: 4
2025-06-11T20:49:36.815Z,1749674976.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:36.822Z,1749674976.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 331.725067 m,
bearing: 330.554209 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.003033 deg/s,
cmd heading: 321.019875 deg,
new cmd heading: 321.023458 deg.
2025-06-11T20:49:36.823Z,1749674976.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602916 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:37.119Z,1749674977.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:37.122Z,1749674977.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 331.575439 m,
bearing: 330.554065 deg,
approach rate: -0.486684 m/s,
LOS rate: -0.000466 deg/s,
cmd heading: 321.023454 deg,
new cmd heading: 321.023024 deg.
2025-06-11T20:49:37.123Z,1749674977.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602909 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:37.582Z,1749674977.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:37.596Z,1749674977.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 331.382294 m,
bearing: 330.552573 deg,
approach rate: -0.417850 m/s,
LOS rate: -0.003231 deg/s,
cmd heading: 321.023016 deg,
new cmd heading: 321.018535 deg.
2025-06-11T20:49:37.597Z,1749674977.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602830 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:37.938Z,1749674977.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:37.941Z,1749674977.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:37.946Z,1749674977.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 331.221710 m,
bearing: 330.551349 deg,
approach rate: -0.446804 m/s,
LOS rate: -0.003406 deg/s,
cmd heading: 321.018536 deg,
new cmd heading: 321.014863 deg.
2025-06-11T20:49:37.948Z,1749674977.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602767 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:37.973Z,1749674977.973 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:37.973Z,1749674977.973 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:37.973Z,1749674977.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:38.225Z,1749674978.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748209
2025-06-11T20:49:38.381Z,1749674978.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:38.397Z,1749674978.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 331.047302 m,
bearing: 330.550007 deg,
approach rate: -0.412986 m/s,
LOS rate: -0.003179 deg/s,
cmd heading: 321.014875 deg,
new cmd heading: 321.010848 deg.
2025-06-11T20:49:38.398Z,1749674978.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602696 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:38.477Z,1749674978.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000159
2025-06-11T20:49:38.729Z,1749674978.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252237
2025-06-11T20:49:38.792Z,1749674978.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:38.795Z,1749674978.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 330.856079 m,
bearing: 330.548557 deg,
approach rate: -0.458885 m/s,
LOS rate: -0.003482 deg/s,
cmd heading: 321.010859 deg,
new cmd heading: 321.006506 deg.
2025-06-11T20:49:38.800Z,1749674978.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602621 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:38.981Z,1749674978.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504016
2025-06-11T20:49:39.143Z,1749674979.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:39.146Z,1749674979.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 330.703979 m,
bearing: 330.547341 deg,
approach rate: -0.418468 m/s,
LOS rate: -0.003347 deg/s,
cmd heading: 321.006515 deg,
new cmd heading: 321.002865 deg.
2025-06-11T20:49:39.147Z,1749674979.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602557 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:39.234Z,1749674979.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756584
2025-06-11T20:49:39.485Z,1749674979.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008128
2025-06-11T20:49:39.571Z,1749674979.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:39.574Z,1749674979.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 330.510040 m,
bearing: 330.544568 deg,
approach rate: -0.453669 m/s,
LOS rate: -0.006491 deg/s,
cmd heading: 321.002854 deg,
new cmd heading: 320.994530 deg.
2025-06-11T20:49:39.575Z,1749674979.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602411 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:39.737Z,1749674979.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260093
2025-06-11T20:49:39.952Z,1749674979.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:39.954Z,1749674979.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:39.957Z,1749674979.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 330.342255 m,
bearing: 330.542118 deg,
approach rate: -0.437832 m/s,
LOS rate: -0.006398 deg/s,
cmd heading: 320.994521 deg,
new cmd heading: 320.987166 deg.
2025-06-11T20:49:39.958Z,1749674979.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602283 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:39.989Z,1749674979.989 [DAT](INFO): DAT read: Rx Time:20:49:41.1709
2025-06-11T20:49:39.990Z,1749674979.990 [DAT](INFO): Rx dataTimestamp_ set to:1749674979.989431
2025-06-11T20:49:39.990Z,1749674979.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513602
2025-06-11T20:49:40.241Z,1749674980.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764162
2025-06-11T20:49:40.442Z,1749674980.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.45 m.
2025-06-11T20:49:40.449Z,1749674980.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 346.453369 m,
nav range: 330.128967 m,
bearing: 330.538929 deg,
approach rate: -0.437283 m/s,
LOS rate: -0.006543 deg/s,
cmd heading: 320.987172 deg,
new cmd heading: 320.977598 deg.
2025-06-11T20:49:40.450Z,1749674980.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602116 target range: 346.453369 and range: 349.50 m.
2025-06-11T20:49:40.499Z,1749674980.499 [DAT](INFO): DAT read: 20:49:41.1709 LVL= 24816, 32753, 25234, 32755, AGC= 74, IDX= 424, 0.17, 0.854,-0.652, 0.591, 0.089, PHS= 0.853,-0.694, 0.499, RAW= 137.4, -9.4, CAL= 143.6, -20.1, ROT= 6.4, 20.1
2025-06-11T20:49:40.500Z,1749674980.500 [DAT](INFO): got valid direction response:
20:49:41.1709 LVL= 24816, 32753, 25234, 32755, AGC= 74, IDX= 424, 0.17, 0.854,-0.652, 0.591, 0.089, PHS= 0.853,-0.694, 0.499, RAW= 137.4, -9.4, CAL= 143.6, -20.1, ROT= 6.4, 20.1
2025-06-11T20:49:40.501Z,1749674980.501 [DAT](INFO): DAT read: Bearing 6.4, 20.1 (Local)
2025-06-11T20:49:40.502Z,1749674980.502 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.4, 20.1 (Local)
2025-06-11T20:49:40.503Z,1749674980.503 [DAT](INFO): DAT read: Range 10 to 50 : 347.7 m (Round-trip 463.6 ms) speed 0.3 m/s
2025-06-11T20:49:40.504Z,1749674980.504 [DAT](INFO): DAT read: user:501>
2025-06-11T20:49:40.505Z,1749674980.505 [DAT](INFO): DAT read: Tx time:20:49:42.2532
2025-06-11T20:49:40.505Z,1749674980.505 [DAT](INFO): Ping request sent.
2025-06-11T20:49:40.505Z,1749674980.505 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:40.505Z,1749674980.505 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:40.506Z,1749674980.506 [DAT](INFO): direction in FSK: [0.933242,0.104680,-0.343660]
2025-06-11T20:49:40.507Z,1749674980.507 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:40.507Z,1749674980.507 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:40.510Z,1749674980.510 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:40.511Z,1749674980.511 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:40.745Z,1749674980.745 [DAT](INFO): DAT read: TxSync time:20:49:42.2524
2025-06-11T20:49:40.826Z,1749674980.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 347.700012 m,
deltaT: 4.031804 s,
deltaX: -1.799988 m,
approachRate: -0.446447 m/s,
rangeRepo size: 4
2025-06-11T20:49:40.828Z,1749674980.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 344.668213 m,
bearing: 329.334316 deg,
lat: 36.906387 deg,
lon: -122.115344 deg,
deltaT: 4.031804 s,
deltaX: -1.785156 m,
approachRate: -0.442769 m/s,
posRepo size: 4
2025-06-11T20:49:40.829Z,1749674980.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:40.831Z,1749674980.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 332.722198 m,
bearing: 329.704626 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006543 deg/s,
cmd heading: 320.977609 deg,
new cmd heading: 320.970089 deg.
2025-06-11T20:49:40.832Z,1749674980.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601985 target range: 344.668213 and range: 347.70 m.
2025-06-11T20:49:41.169Z,1749674981.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:41.171Z,1749674981.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 332.568604 m,
bearing: 329.702117 deg,
approach rate: -0.447035 m/s,
LOS rate: -0.007305 deg/s,
cmd heading: 320.970096 deg,
new cmd heading: 320.962567 deg.
2025-06-11T20:49:41.172Z,1749674981.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601853 target range: 344.668213 and range: 347.70 m.
2025-06-11T20:49:41.611Z,1749674981.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:41.614Z,1749674981.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 332.367706 m,
bearing: 329.699091 deg,
approach rate: -0.454418 m/s,
LOS rate: -0.006850 deg/s,
cmd heading: 320.962556 deg,
new cmd heading: 320.953471 deg.
2025-06-11T20:49:41.614Z,1749674981.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601695 target range: 344.668213 and range: 347.70 m.
2025-06-11T20:49:41.982Z,1749674981.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:41.985Z,1749674981.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:41.987Z,1749674981.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 332.198303 m,
bearing: 329.696619 deg,
approach rate: -0.454210 m/s,
LOS rate: -0.006631 deg/s,
cmd heading: 320.953458 deg,
new cmd heading: 320.946038 deg.
2025-06-11T20:49:41.988Z,1749674981.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601565 target range: 344.668213 and range: 347.70 m.
2025-06-11T20:49:42.006Z,1749674982.006 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:42.006Z,1749674982.006 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:42.007Z,1749674982.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:42.257Z,1749674982.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751707
2025-06-11T20:49:42.424Z,1749674982.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:42.443Z,1749674982.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 332.015625 m,
bearing: 329.693965 deg,
approach rate: -0.432134 m/s,
LOS rate: -0.006281 deg/s,
cmd heading: 320.946027 deg,
new cmd heading: 320.938060 deg.
2025-06-11T20:49:42.451Z,1749674982.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601426 target range: 344.668213 and range: 347.70 m.
2025-06-11T20:49:42.510Z,1749674982.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004620
2025-06-11T20:49:42.761Z,1749674982.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255647
2025-06-11T20:49:42.862Z,1749674982.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:42.864Z,1749674982.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 331.789581 m,
bearing: 329.690771 deg,
approach rate: -0.496697 m/s,
LOS rate: -0.007025 deg/s,
cmd heading: 320.938049 deg,
new cmd heading: 320.928458 deg.
2025-06-11T20:49:42.865Z,1749674982.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601258 target range: 344.668213 and range: 347.70 m.
2025-06-11T20:49:43.013Z,1749674983.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507770
2025-06-11T20:49:43.189Z,1749674983.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:43.193Z,1749674983.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 331.633698 m,
bearing: 329.688593 deg,
approach rate: -0.475579 m/s,
LOS rate: -0.006646 deg/s,
cmd heading: 320.928459 deg,
new cmd heading: 320.921925 deg.
2025-06-11T20:49:43.194Z,1749674983.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601144 target range: 344.668213 and range: 347.70 m.
2025-06-11T20:49:43.267Z,1749674983.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761657
2025-06-11T20:49:43.521Z,1749674983.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015880
2025-06-11T20:49:43.636Z,1749674983.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:43.638Z,1749674983.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 331.419403 m,
bearing: 329.685721 deg,
approach rate: -0.480060 m/s,
LOS rate: -0.006439 deg/s,
cmd heading: 320.921930 deg,
new cmd heading: 320.913307 deg.
2025-06-11T20:49:43.639Z,1749674983.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600994 target range: 344.668213 and range: 347.70 m.
2025-06-11T20:49:43.773Z,1749674983.773 [DAT](INFO): DAT read: Rx Time:20:49:45.1185
2025-06-11T20:49:43.773Z,1749674983.773 [DAT](INFO): Rx dataTimestamp_ set to:1749674983.772941
2025-06-11T20:49:43.774Z,1749674983.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268578
2025-06-11T20:49:43.996Z,1749674983.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:43.998Z,1749674983.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:44.001Z,1749674984.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 331.245483 m,
bearing: 329.683434 deg,
approach rate: -0.479659 m/s,
LOS rate: -0.006310 deg/s,
cmd heading: 320.913296 deg,
new cmd heading: 320.906432 deg.
2025-06-11T20:49:44.002Z,1749674984.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600874 target range: 344.668213 and range: 347.70 m.
2025-06-11T20:49:44.026Z,1749674984.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520889
2025-06-11T20:49:44.278Z,1749674984.278 [DAT](INFO): DAT read: Range 10 to 50 : 345.9 m (Round-trip 461.2 ms) speed 0.5 m/s
2025-06-11T20:49:44.279Z,1749674984.279 [DAT](INFO): DAT read: user:502>
2025-06-11T20:49:44.279Z,1749674984.279 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:49:44.282Z,1749674984.282 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:44.283Z,1749674984.283 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:44.284Z,1749674984.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:44.485Z,1749674984.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 345.899994 m,
deltaT: 3.784032 s,
deltaX: -1.800018 m,
approachRate: -0.475688 m/s,
rangeRepo size: 4
2025-06-11T20:49:44.486Z,1749674984.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:44.492Z,1749674984.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 331.044983 m,
bearing: 329.680838 deg,
approach rate: -0.416210 m/s,
LOS rate: -0.005391 deg/s,
cmd heading: 320.906439 deg,
new cmd heading: 320.898648 deg.
2025-06-11T20:49:44.493Z,1749674984.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600738 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:44.529Z,1749674984.529 [DAT](INFO): DAT read: Tx time:20:49:46.202
2025-06-11T20:49:44.529Z,1749674984.529 [DAT](INFO): Ping request sent.
2025-06-11T20:49:44.530Z,1749674984.530 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:44.530Z,1749674984.530 [DAT](INFO): DAT read: TxSync time:20:49:46.2024
2025-06-11T20:49:44.531Z,1749674984.531 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:44.531Z,1749674984.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001628
2025-06-11T20:49:44.781Z,1749674984.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251297
2025-06-11T20:49:44.885Z,1749674984.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:44.887Z,1749674984.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 330.818695 m,
bearing: 329.678443 deg,
approach rate: -0.560521 m/s,
LOS rate: -0.005939 deg/s,
cmd heading: 320.898652 deg,
new cmd heading: 320.891460 deg.
2025-06-11T20:49:44.888Z,1749674984.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600613 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:45.033Z,1749674985.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503061
2025-06-11T20:49:45.224Z,1749674985.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:45.227Z,1749674985.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 330.654144 m,
bearing: 329.676845 deg,
approach rate: -0.483098 m/s,
LOS rate: -0.004692 deg/s,
cmd heading: 320.891467 deg,
new cmd heading: 320.886673 deg.
2025-06-11T20:49:45.228Z,1749674985.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600529 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:45.286Z,1749674985.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755825
2025-06-11T20:49:45.537Z,1749674985.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007187
2025-06-11T20:49:45.642Z,1749674985.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:45.644Z,1749674985.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 330.447571 m,
bearing: 329.675112 deg,
approach rate: -0.495032 m/s,
LOS rate: -0.004156 deg/s,
cmd heading: 320.886686 deg,
new cmd heading: 320.881483 deg.
2025-06-11T20:49:45.645Z,1749674985.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600439 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:45.790Z,1749674985.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260291
2025-06-11T20:49:46.019Z,1749674986.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:46.021Z,1749674986.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:46.024Z,1749674986.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 330.259888 m,
bearing: 329.673546 deg,
approach rate: -0.494571 m/s,
LOS rate: -0.004128 deg/s,
cmd heading: 320.881495 deg,
new cmd heading: 320.876796 deg.
2025-06-11T20:49:46.025Z,1749674986.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600357 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:46.044Z,1749674986.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513937
2025-06-11T20:49:46.293Z,1749674986.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763220
2025-06-11T20:49:46.420Z,1749674986.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:46.423Z,1749674986.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 330.062256 m,
bearing: 329.671873 deg,
approach rate: -0.495550 m/s,
LOS rate: -0.004198 deg/s,
cmd heading: 320.876796 deg,
new cmd heading: 320.871773 deg.
2025-06-11T20:49:46.424Z,1749674986.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600269 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:46.546Z,1749674986.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016207
2025-06-11T20:49:46.797Z,1749674986.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267226
2025-06-11T20:49:46.858Z,1749674986.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:46.861Z,1749674986.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 329.847656 m,
bearing: 329.670256 deg,
approach rate: -0.489352 m/s,
LOS rate: -0.003689 deg/s,
cmd heading: 320.871769 deg,
new cmd heading: 320.866915 deg.
2025-06-11T20:49:46.862Z,1749674986.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600184 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:47.049Z,1749674987.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519834
2025-06-11T20:49:47.301Z,1749674987.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771114
2025-06-11T20:49:47.302Z,1749674987.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:47.321Z,1749674987.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 329.638794 m,
bearing: 329.668657 deg,
approach rate: -0.470363 m/s,
LOS rate: -0.003604 deg/s,
cmd heading: 320.866906 deg,
new cmd heading: 320.862105 deg.
2025-06-11T20:49:47.322Z,1749674987.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600100 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:47.553Z,1749674987.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023197
2025-06-11T20:49:47.733Z,1749674987.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:47.741Z,1749674987.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 329.433044 m,
bearing: 329.667212 deg,
approach rate: -0.477701 m/s,
LOS rate: -0.003357 deg/s,
cmd heading: 320.862097 deg,
new cmd heading: 320.857759 deg.
2025-06-11T20:49:47.742Z,1749674987.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600024 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:47.805Z,1749674987.805 [DAT](INFO): DAT read: Rx Time:20:49:49.0659
2025-06-11T20:49:47.806Z,1749674987.806 [DAT](INFO): Rx dataTimestamp_ set to:1749674987.805279
2025-06-11T20:49:47.806Z,1749674987.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276517
2025-06-11T20:49:48.057Z,1749674988.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527214
2025-06-11T20:49:48.145Z,1749674988.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:48.147Z,1749674988.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.67 m.
2025-06-11T20:49:48.151Z,1749674988.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 344.668213 m,
nav range: 329.220459 m,
bearing: 329.665733 deg,
approach rate: -0.513214 m/s,
LOS rate: -0.003573 deg/s,
cmd heading: 320.857753 deg,
new cmd heading: 320.853313 deg.
2025-06-11T20:49:48.152Z,1749674988.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599946 target range: 344.668213 and range: 345.90 m.
2025-06-11T20:49:48.315Z,1749674988.315 [DAT](INFO): DAT read: 20:49:49.0660 LVL= 26096, 32753, 24722, 32755, AGC= 71, IDX= 420,-0.10, 2.417, 0.840, 2.106, 1.632, PHS= 0.873,-0.746, 0.471, RAW= 136.2, -8.2, CAL= 142.2, -19.2, ROT= 7.8, 19.2
2025-06-11T20:49:48.319Z,1749674988.319 [DAT](INFO): got valid direction response:
20:49:49.0660 LVL= 26096, 32753, 24722, 32755, AGC= 71, IDX= 420,-0.10, 2.417, 0.840, 2.106, 1.632, PHS= 0.873,-0.746, 0.471, RAW= 136.2, -8.2, CAL= 142.2, -19.2, ROT= 7.8, 19.2
2025-06-11T20:49:48.320Z,1749674988.320 [DAT](INFO): DAT read: Bearing 7.8, 19.2 (Local)
2025-06-11T20:49:48.320Z,1749674988.320 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.8, 19.2 (Local)
2025-06-11T20:49:48.322Z,1749674988.322 [DAT](INFO): DAT read: Range 10 to 50 : 343.8 m (Round-trip 458.5 ms) speed 0.4 m/s
2025-06-11T20:49:48.322Z,1749674988.322 [DAT](INFO): DAT read: user:503>
2025-06-11T20:49:48.323Z,1749674988.323 [DAT](INFO): DAT read: Tx time:20:49:50.1533
2025-06-11T20:49:48.323Z,1749674988.323 [DAT](INFO): Ping request sent.
2025-06-11T20:49:48.323Z,1749674988.323 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:48.324Z,1749674988.324 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:48.325Z,1749674988.325 [DAT](INFO): direction in FSK: [0.935639,0.128167,-0.328867]
2025-06-11T20:49:48.325Z,1749674988.325 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:48.325Z,1749674988.325 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:48.395Z,1749674988.395 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:48.395Z,1749674988.395 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:48.565Z,1749674988.565 [DAT](INFO): DAT read: TxSync time:20:49:50.1525
2025-06-11T20:49:48.711Z,1749674988.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 343.799988 m,
deltaT: 4.031814 s,
deltaX: -2.100006 m,
approachRate: -0.520859 m/s,
rangeRepo size: 4
2025-06-11T20:49:48.717Z,1749674988.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 340.802948 m,
bearing: 329.438137 deg,
lat: 36.906374 deg,
lon: -122.115351 deg,
deltaT: 7.815846 s,
deltaX: -3.865265 m,
approachRate: -0.494542 m/s,
posRepo size: 4
2025-06-11T20:49:48.718Z,1749674988.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:48.724Z,1749674988.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 328.073822 m,
bearing: 329.439119 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003573 deg/s,
cmd heading: 320.853300 deg,
new cmd heading: 320.847271 deg.
2025-06-11T20:49:48.725Z,1749674988.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599841 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:49.062Z,1749674989.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:49.065Z,1749674989.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 327.892120 m,
bearing: 329.438476 deg,
approach rate: -0.516515 m/s,
LOS rate: -0.001830 deg/s,
cmd heading: 320.847262 deg,
new cmd heading: 320.845331 deg.
2025-06-11T20:49:49.065Z,1749674989.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599807 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:49.447Z,1749674989.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:49.450Z,1749674989.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 327.702972 m,
bearing: 329.437830 deg,
approach rate: -0.490406 m/s,
LOS rate: -0.001676 deg/s,
cmd heading: 320.845322 deg,
new cmd heading: 320.843383 deg.
2025-06-11T20:49:49.451Z,1749674989.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599773 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:49.904Z,1749674989.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:49.907Z,1749674989.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 327.485474 m,
bearing: 329.437198 deg,
approach rate: -0.476197 m/s,
LOS rate: -0.001384 deg/s,
cmd heading: 320.843382 deg,
new cmd heading: 320.841486 deg.
2025-06-11T20:49:49.908Z,1749674989.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599741 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:50.256Z,1749674990.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:50.258Z,1749674990.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:50.261Z,1749674990.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 327.317200 m,
bearing: 329.436642 deg,
approach rate: -0.475299 m/s,
LOS rate: -0.001572 deg/s,
cmd heading: 320.841497 deg,
new cmd heading: 320.839828 deg.
2025-06-11T20:49:50.262Z,1749674990.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599711 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:50.331Z,1749674990.331 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:50.331Z,1749674990.331 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:50.331Z,1749674990.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:50.581Z,1749674990.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257511
2025-06-11T20:49:50.689Z,1749674990.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:50.691Z,1749674990.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 327.118530 m,
bearing: 329.436477 deg,
approach rate: -0.461487 m/s,
LOS rate: -0.000382 deg/s,
cmd heading: 320.839831 deg,
new cmd heading: 320.839337 deg.
2025-06-11T20:49:50.692Z,1749674990.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599703 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:50.833Z,1749674990.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509361
2025-06-11T20:49:51.067Z,1749674991.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:51.069Z,1749674991.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 326.943695 m,
bearing: 329.436330 deg,
approach rate: -0.462664 m/s,
LOS rate: -0.000391 deg/s,
cmd heading: 320.839339 deg,
new cmd heading: 320.838896 deg.
2025-06-11T20:49:51.070Z,1749674991.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599695 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:51.088Z,1749674991.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764630
2025-06-11T20:49:51.337Z,1749674991.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013289
2025-06-11T20:49:51.472Z,1749674991.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:51.475Z,1749674991.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 326.756531 m,
bearing: 329.436188 deg,
approach rate: -0.461831 m/s,
LOS rate: -0.000350 deg/s,
cmd heading: 320.838902 deg,
new cmd heading: 320.838476 deg.
2025-06-11T20:49:51.476Z,1749674991.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599688 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:51.593Z,1749674991.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267903
2025-06-11T20:49:51.841Z,1749674991.841 [DAT](INFO): DAT read: Rx Time:20:49:53.0289
2025-06-11T20:49:51.841Z,1749674991.841 [DAT](INFO): Rx dataTimestamp_ set to:1749674991.840966
2025-06-11T20:49:51.842Z,1749674991.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518338
2025-06-11T20:49:51.955Z,1749674991.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:51.962Z,1749674991.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 326.542480 m,
bearing: 329.435767 deg,
approach rate: -0.442716 m/s,
LOS rate: -0.000872 deg/s,
cmd heading: 320.838465 deg,
new cmd heading: 320.837200 deg.
2025-06-11T20:49:51.963Z,1749674991.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599666 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:52.093Z,1749674992.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769397
2025-06-11T20:49:52.282Z,1749674992.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:52.285Z,1749674992.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.80 m.
2025-06-11T20:49:52.287Z,1749674992.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.802948 m,
nav range: 326.388580 m,
bearing: 329.435479 deg,
approach rate: -0.468154 m/s,
LOS rate: -0.000876 deg/s,
cmd heading: 320.837208 deg,
new cmd heading: 320.836344 deg.
2025-06-11T20:49:52.289Z,1749674992.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599650 target range: 340.802948 and range: 343.80 m.
2025-06-11T20:49:52.356Z,1749674992.356 [DAT](INFO): DAT read: 20:49:53.0289 LVL= 25840, 32753, 23698, 32755, AGC= 72, IDX= 55, 0.43, 0.349,-1.323, 0.026,-0.468, PHS= 0.905,-0.808, 0.491, RAW= 136.6, -7.6, CAL= 142.6, -18.3, ROT= 7.4, 18.3
2025-06-11T20:49:52.358Z,1749674992.358 [DAT](INFO): got valid direction response:
20:49:53.0289 LVL= 25840, 32753, 23698, 32755, AGC= 72, IDX= 55, 0.43, 0.349,-1.323, 0.026,-0.468, PHS= 0.905,-0.808, 0.491, RAW= 136.6, -7.6, CAL= 142.6, -18.3, ROT= 7.4, 18.3
2025-06-11T20:49:52.359Z,1749674992.359 [DAT](INFO): DAT read: Bearing 7.4, 18.3 (Local)
2025-06-11T20:49:52.364Z,1749674992.364 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.4, 18.3 (Local)
2025-06-11T20:49:52.367Z,1749674992.367 [DAT](INFO): DAT read: Range 10 to 50 : 353.5 m (Round-trip 471.4 ms) speed 0.3 m/s
2025-06-11T20:49:52.378Z,1749674992.378 [DAT](INFO): DAT read: user:504>
2025-06-11T20:49:52.379Z,1749674992.379 [DAT](INFO): DAT read: Tx time:20:49:54.1533
2025-06-11T20:49:52.379Z,1749674992.379 [DAT](INFO): Ping request sent.
2025-06-11T20:49:52.379Z,1749674992.379 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:52.395Z,1749674992.395 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:52.405Z,1749674992.405 [DAT](INFO): direction in FSK: [0.941518,0.122282,-0.313992]
2025-06-11T20:49:52.405Z,1749674992.405 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:52.405Z,1749674992.405 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:52.413Z,1749674992.413 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:52.413Z,1749674992.413 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:52.602Z,1749674992.602 [DAT](INFO): DAT read: TxSync time:20:49:54.1525
2025-06-11T20:49:52.718Z,1749674992.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 353.500000 m,
deltaT: 4.036917 s,
deltaX: 9.700012 m,
approachRate: 2.402827 m/s,
rangeRepo size: 4
2025-06-11T20:49:52.720Z,1749674992.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 350.416779 m,
bearing: 329.467244 deg,
lat: 36.906387 deg,
lon: -122.115351 deg,
deltaT: 4.036917 s,
deltaX: 9.613831 m,
approachRate: 2.381478 m/s,
posRepo size: 4
2025-06-11T20:49:52.721Z,1749674992.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:52.724Z,1749674992.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 327.419708 m,
bearing: 329.562088 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000876 deg/s,
cmd heading: 320.836334 deg,
new cmd heading: 320.835195 deg.
2025-06-11T20:49:52.725Z,1749674992.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599630 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:53.098Z,1749674993.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:53.102Z,1749674993.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 327.251038 m,
bearing: 329.562738 deg,
approach rate: -0.442774 m/s,
LOS rate: 0.001709 deg/s,
cmd heading: 320.835186 deg,
new cmd heading: 320.837139 deg.
2025-06-11T20:49:53.103Z,1749674993.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599664 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:53.493Z,1749674993.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:53.496Z,1749674993.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 327.078003 m,
bearing: 329.563458 deg,
approach rate: -0.438152 m/s,
LOS rate: 0.001823 deg/s,
cmd heading: 320.837126 deg,
new cmd heading: 320.839286 deg.
2025-06-11T20:49:53.497Z,1749674993.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599702 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:53.958Z,1749674993.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:53.965Z,1749674993.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 326.890167 m,
bearing: 329.563727 deg,
approach rate: -0.404079 m/s,
LOS rate: 0.000578 deg/s,
cmd heading: 320.839284 deg,
new cmd heading: 320.840091 deg.
2025-06-11T20:49:53.966Z,1749674993.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599716 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:54.316Z,1749674994.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:54.318Z,1749674994.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:54.325Z,1749674994.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 326.733704 m,
bearing: 329.563901 deg,
approach rate: -0.435079 m/s,
LOS rate: 0.000486 deg/s,
cmd heading: 320.840104 deg,
new cmd heading: 320.840628 deg.
2025-06-11T20:49:54.326Z,1749674994.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599725 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:54.361Z,1749674994.361 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:54.361Z,1749674994.361 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:54.361Z,1749674994.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:54.615Z,1749674994.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235472
2025-06-11T20:49:54.727Z,1749674994.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:54.730Z,1749674994.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 326.553162 m,
bearing: 329.563679 deg,
approach rate: -0.441603 m/s,
LOS rate: -0.000544 deg/s,
cmd heading: 320.840623 deg,
new cmd heading: 320.839956 deg.
2025-06-11T20:49:54.731Z,1749674994.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599714 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:54.865Z,1749674994.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485411
2025-06-11T20:49:55.106Z,1749674995.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:55.109Z,1749674995.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 326.392212 m,
bearing: 329.563450 deg,
approach rate: -0.424196 m/s,
LOS rate: -0.000606 deg/s,
cmd heading: 320.839967 deg,
new cmd heading: 320.839278 deg.
2025-06-11T20:49:55.110Z,1749674995.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599702 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:55.117Z,1749674995.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737456
2025-06-11T20:49:55.369Z,1749674995.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989412
2025-06-11T20:49:55.507Z,1749674995.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:55.510Z,1749674995.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 326.221558 m,
bearing: 329.563185 deg,
approach rate: -0.425450 m/s,
LOS rate: -0.000661 deg/s,
cmd heading: 320.839284 deg,
new cmd heading: 320.838489 deg.
2025-06-11T20:49:55.511Z,1749674995.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599688 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:55.625Z,1749674995.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244396
2025-06-11T20:49:55.873Z,1749674995.873 [DAT](INFO): DAT read: Rx Time:20:49:57.0112
2025-06-11T20:49:55.874Z,1749674995.874 [DAT](INFO): Rx dataTimestamp_ set to:1749674995.873285
2025-06-11T20:49:55.874Z,1749674995.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494693
2025-06-11T20:49:55.974Z,1749674995.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:55.977Z,1749674995.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 326.025482 m,
bearing: 329.563012 deg,
approach rate: -0.420116 m/s,
LOS rate: -0.000370 deg/s,
cmd heading: 320.838492 deg,
new cmd heading: 320.837973 deg.
2025-06-11T20:49:55.978Z,1749674995.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599679 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:56.125Z,1749674996.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745462
2025-06-11T20:49:56.322Z,1749674996.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:56.324Z,1749674996.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.42 m.
2025-06-11T20:49:56.327Z,1749674996.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 350.416779 m,
nav range: 325.878510 m,
bearing: 329.562888 deg,
approach rate: -0.419972 m/s,
LOS rate: -0.000355 deg/s,
cmd heading: 320.837973 deg,
new cmd heading: 320.837600 deg.
2025-06-11T20:49:56.328Z,1749674996.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599672 target range: 350.416779 and range: 353.50 m.
2025-06-11T20:49:56.394Z,1749674996.394 [DAT](INFO): DAT read: 20:49:57.0112 LVL= 32208, 32753, 29266, 32755, AGC= 70, IDX= 259,-0.05, 0.265,-1.065, 0.018,-0.383, PHS= 0.736,-0.635, 0.398, RAW= 136.3, -8.1, CAL= 142.3, -19.0, ROT= 7.7, 19.0
2025-06-11T20:49:56.396Z,1749674996.396 [DAT](INFO): got valid direction response:
20:49:57.0112 LVL= 32208, 32753, 29266, 32755, AGC= 70, IDX= 259,-0.05, 0.265,-1.065, 0.018,-0.383, PHS= 0.736,-0.635, 0.398, RAW= 136.3, -8.1, CAL= 142.3, -19.0, ROT= 7.7, 19.0
2025-06-11T20:49:56.397Z,1749674996.397 [DAT](INFO): DAT read: Bearing 7.7, 19.0 (Local)
2025-06-11T20:49:56.398Z,1749674996.398 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.7, 19.0 (Local)
2025-06-11T20:49:56.401Z,1749674996.401 [DAT](INFO): DAT read: Range 10 to 50 : 340.3 m (Round-trip 453.8 ms) speed 0.2 m/s
2025-06-11T20:49:56.402Z,1749674996.402 [DAT](INFO): DAT read: user:505>
2025-06-11T20:49:56.403Z,1749674996.403 [DAT](INFO): DAT read: Tx time:20:49:58.1033
2025-06-11T20:49:56.403Z,1749674996.403 [DAT](INFO): Ping request sent.
2025-06-11T20:49:56.404Z,1749674996.404 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:49:56.405Z,1749674996.405 [DAT](INFO): DAT read: TxSync time:20:49:58.1025
2025-06-11T20:49:56.406Z,1749674996.406 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:49:56.407Z,1749674996.407 [DAT](INFO): direction in FSK: [0.936993,0.126686,-0.325568]
2025-06-11T20:49:56.409Z,1749674996.409 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:56.409Z,1749674996.409 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:56.412Z,1749674996.412 [DAT](INFO): publishing transmit ping time
2025-06-11T20:49:56.412Z,1749674996.412 [DAT](INFO): publishing direction and range info
2025-06-11T20:49:56.763Z,1749674996.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 340.299988 m,
deltaT: 4.033461 s,
deltaX: -13.200012 m,
approachRate: -3.272627 m/s,
rangeRepo size: 4
2025-06-11T20:49:56.773Z,1749674996.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 337.327972 m,
bearing: 330.043752 deg,
lat: 36.906387 deg,
lon: -122.115351 deg,
deltaT: 4.033461 s,
deltaX: -13.088806 m,
approachRate: -3.245056 m/s,
posRepo size: 4
2025-06-11T20:49:56.776Z,1749674996.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:49:56.779Z,1749674996.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 325.694275 m,
bearing: 329.562369 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000355 deg/s,
cmd heading: 320.837590 deg,
new cmd heading: 320.837124 deg.
2025-06-11T20:49:56.780Z,1749674996.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599664 target range: 337.327972 and range: 340.30 m.
2025-06-11T20:49:57.125Z,1749674997.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:49:57.127Z,1749674997.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 325.535431 m,
bearing: 329.561966 deg,
approach rate: -0.438065 m/s,
LOS rate: -0.001111 deg/s,
cmd heading: 320.837126 deg,
new cmd heading: 320.835917 deg.
2025-06-11T20:49:57.129Z,1749674997.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599643 target range: 337.327972 and range: 340.30 m.
2025-06-11T20:49:57.544Z,1749674997.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:49:57.547Z,1749674997.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 325.362701 m,
bearing: 329.561528 deg,
approach rate: -0.428227 m/s,
LOS rate: -0.001088 deg/s,
cmd heading: 320.835924 deg,
new cmd heading: 320.834608 deg.
2025-06-11T20:49:57.552Z,1749674997.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599620 target range: 337.327972 and range: 340.30 m.
2025-06-11T20:49:57.974Z,1749674997.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:49:57.977Z,1749674997.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 325.166565 m,
bearing: 329.559810 deg,
approach rate: -0.439551 m/s,
LOS rate: -0.003851 deg/s,
cmd heading: 320.834612 deg,
new cmd heading: 320.829457 deg.
2025-06-11T20:49:57.978Z,1749674997.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599530 target range: 337.327972 and range: 340.30 m.
2025-06-11T20:49:58.340Z,1749674998.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:49:58.342Z,1749674998.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:49:58.345Z,1749674998.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 325.005096 m,
bearing: 329.558334 deg,
approach rate: -0.438995 m/s,
LOS rate: -0.004015 deg/s,
cmd heading: 320.829449 deg,
new cmd heading: 320.825018 deg.
2025-06-11T20:49:58.346Z,1749674998.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599453 target range: 337.327972 and range: 340.30 m.
2025-06-11T20:49:58.402Z,1749674998.402 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:49:58.402Z,1749674998.402 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:49:58.402Z,1749674998.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:49:58.655Z,1749674998.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251279
2025-06-11T20:49:58.765Z,1749674998.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:49:58.768Z,1749674998.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 324.813416 m,
bearing: 329.556744 deg,
approach rate: -0.453247 m/s,
LOS rate: -0.003761 deg/s,
cmd heading: 320.825023 deg,
new cmd heading: 320.820251 deg.
2025-06-11T20:49:58.769Z,1749674998.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599370 target range: 337.327972 and range: 340.30 m.
2025-06-11T20:49:58.905Z,1749674998.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501464
2025-06-11T20:49:59.143Z,1749674999.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:49:59.146Z,1749674999.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 324.642242 m,
bearing: 329.555295 deg,
approach rate: -0.452412 m/s,
LOS rate: -0.003833 deg/s,
cmd heading: 320.820242 deg,
new cmd heading: 320.815891 deg.
2025-06-11T20:49:59.147Z,1749674999.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599294 target range: 337.327972 and range: 340.30 m.
2025-06-11T20:49:59.157Z,1749674999.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753121
2025-06-11T20:49:59.409Z,1749674999.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005880
2025-06-11T20:49:59.553Z,1749674999.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:49:59.556Z,1749674999.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 324.456665 m,
bearing: 329.553712 deg,
approach rate: -0.452906 m/s,
LOS rate: -0.003865 deg/s,
cmd heading: 320.815898 deg,
new cmd heading: 320.811147 deg.
2025-06-11T20:49:59.557Z,1749674999.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599211 target range: 337.327972 and range: 340.30 m.
2025-06-11T20:49:59.664Z,1749674999.664 [DAT](INFO): DAT read: Rx Time:20:50:00.9590
2025-06-11T20:49:59.665Z,1749674999.665 [DAT](INFO): Rx dataTimestamp_ set to:1749674999.664732
2025-06-11T20:49:59.667Z,1749674999.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263027
2025-06-11T20:49:59.914Z,1749674999.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509690
2025-06-11T20:50:00.009Z,1749675000.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:00.016Z,1749675000.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 324.250061 m,
bearing: 329.552951 deg,
approach rate: -0.453135 m/s,
LOS rate: -0.001671 deg/s,
cmd heading: 320.811144 deg,
new cmd heading: 320.808858 deg.
2025-06-11T20:50:00.017Z,1749675000.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599171 target range: 337.327972 and range: 340.30 m.
2025-06-11T20:50:00.166Z,1749675000.166 [DAT](INFO): DAT read: Range 10 to 50 : 338.6 m (Round-trip 451.5 ms) speed 0.3 m/s
2025-06-11T20:50:00.167Z,1749675000.167 [DAT](INFO): DAT read: user:506>
2025-06-11T20:50:00.168Z,1749675000.168 [DAT](INFO): DAT read: Tx time:20:50:02.0534
2025-06-11T20:50:00.168Z,1749675000.168 [DAT](INFO): Ping request sent.
2025-06-11T20:50:00.168Z,1749675000.168 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:00.169Z,1749675000.169 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:50:00.169Z,1749675000.169 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:00.169Z,1749675000.169 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:00.389Z,1749675000.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:00.391Z,1749675000.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 338.600006 m,
deltaT: 3.786097 s,
deltaX: -1.699982 m,
approachRate: -0.449006 m/s,
rangeRepo size: 4
2025-06-11T20:50:00.392Z,1749675000.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:00.395Z,1749675000.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 324.070343 m,
bearing: 329.552287 deg,
approach rate: -0.470910 m/s,
LOS rate: -0.001739 deg/s,
cmd heading: 320.808849 deg,
new cmd heading: 320.806859 deg.
2025-06-11T20:50:00.396Z,1749675000.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599136 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:00.417Z,1749675000.417 [DAT](INFO): DAT read: TxSync time:20:50:02.0526
2025-06-11T20:50:00.418Z,1749675000.418 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:00.418Z,1749675000.418 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:00.418Z,1749675000.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:00.671Z,1749675000.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502514
2025-06-11T20:50:00.780Z,1749675000.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:00.783Z,1749675000.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 323.874664 m,
bearing: 329.551159 deg,
approach rate: -0.502857 m/s,
LOS rate: -0.002903 deg/s,
cmd heading: 320.806855 deg,
new cmd heading: 320.803466 deg.
2025-06-11T20:50:00.784Z,1749675000.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599077 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:00.921Z,1749675000.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752997
2025-06-11T20:50:01.173Z,1749675001.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004779
2025-06-11T20:50:01.174Z,1749675001.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:01.176Z,1749675001.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 323.685089 m,
bearing: 329.550122 deg,
approach rate: -0.483953 m/s,
LOS rate: -0.002648 deg/s,
cmd heading: 320.803467 deg,
new cmd heading: 320.800355 deg.
2025-06-11T20:50:01.177Z,1749675001.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599022 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:01.425Z,1749675001.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256456
2025-06-11T20:50:01.596Z,1749675001.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:01.598Z,1749675001.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 323.480499 m,
bearing: 329.549108 deg,
approach rate: -0.482472 m/s,
LOS rate: -0.002391 deg/s,
cmd heading: 320.800352 deg,
new cmd heading: 320.797310 deg.
2025-06-11T20:50:01.599Z,1749675001.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598969 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:01.678Z,1749675001.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508819
2025-06-11T20:50:01.930Z,1749675001.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761178
2025-06-11T20:50:02.012Z,1749675002.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:02.015Z,1749675002.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 323.272552 m,
bearing: 329.548547 deg,
approach rate: -0.499028 m/s,
LOS rate: -0.001347 deg/s,
cmd heading: 320.797320 deg,
new cmd heading: 320.795635 deg.
2025-06-11T20:50:02.016Z,1749675002.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598940 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:02.181Z,1749675002.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012387
2025-06-11T20:50:02.394Z,1749675002.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:02.396Z,1749675002.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:02.399Z,1749675002.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 323.082062 m,
bearing: 329.548033 deg,
approach rate: -0.496637 m/s,
LOS rate: -0.001343 deg/s,
cmd heading: 320.795626 deg,
new cmd heading: 320.794081 deg.
2025-06-11T20:50:02.401Z,1749675002.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598913 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:02.450Z,1749675002.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281133
2025-06-11T20:50:02.706Z,1749675002.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.536617
2025-06-11T20:50:02.808Z,1749675002.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:02.811Z,1749675002.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 322.874115 m,
bearing: 329.547096 deg,
approach rate: -0.504894 m/s,
LOS rate: -0.002276 deg/s,
cmd heading: 320.794068 deg,
new cmd heading: 320.791256 deg.
2025-06-11T20:50:02.811Z,1749675002.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598864 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:02.955Z,1749675002.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787087
2025-06-11T20:50:03.186Z,1749675003.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:03.189Z,1749675003.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 322.683228 m,
bearing: 329.546284 deg,
approach rate: -0.504673 m/s,
LOS rate: -0.002148 deg/s,
cmd heading: 320.791254 deg,
new cmd heading: 320.788817 deg.
2025-06-11T20:50:03.190Z,1749675003.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598821 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:03.205Z,1749675003.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036473
2025-06-11T20:50:03.457Z,1749675003.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288378
2025-06-11T20:50:03.593Z,1749675003.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:03.596Z,1749675003.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 322.477814 m,
bearing: 329.545418 deg,
approach rate: -0.504594 m/s,
LOS rate: -0.002129 deg/s,
cmd heading: 320.788823 deg,
new cmd heading: 320.786223 deg.
2025-06-11T20:50:03.597Z,1749675003.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598776 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:03.709Z,1749675003.709 [DAT](INFO): DAT read: Rx Time:20:50:04.9063
2025-06-11T20:50:03.710Z,1749675003.710 [DAT](INFO): Rx dataTimestamp_ set to:1749675003.709538
2025-06-11T20:50:03.710Z,1749675003.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542004
2025-06-11T20:50:03.961Z,1749675003.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793006
2025-06-11T20:50:03.968Z,1749675003.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:50:04.098Z,1749675004.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.33 m.
2025-06-11T20:50:04.105Z,1749675004.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 337.327972 m,
nav range: 322.256226 m,
bearing: 329.544580 deg,
approach rate: -0.438655 m/s,
LOS rate: -0.001660 deg/s,
cmd heading: 320.786227 deg,
new cmd heading: 320.783712 deg.
2025-06-11T20:50:04.106Z,1749675004.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598732 target range: 337.327972 and range: 338.60 m.
2025-06-11T20:50:04.222Z,1749675004.222 [DAT](INFO): DAT read: 20:50:04.9063 LVL= 23936, 24497, 22898, 32755, AGC= 70, IDX= 416, 0.07, 2.407, 0.987, 2.127, 1.685, PHS= 0.810,-0.652, 0.438, RAW= 135.8, -9.1, CAL= 141.8, -20.2, ROT= 8.2, 20.2
2025-06-11T20:50:04.223Z,1749675004.223 [DAT](INFO): got valid direction response:
20:50:04.9063 LVL= 23936, 24497, 22898, 32755, AGC= 70, IDX= 416, 0.07, 2.407, 0.987, 2.127, 1.685, PHS= 0.810,-0.652, 0.438, RAW= 135.8, -9.1, CAL= 141.8, -20.2, ROT= 8.2, 20.2
2025-06-11T20:50:04.225Z,1749675004.225 [DAT](INFO): DAT read: Bearing 8.2, 20.2 (Local)
2025-06-11T20:50:04.225Z,1749675004.225 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.2, 20.2 (Local)
2025-06-11T20:50:04.227Z,1749675004.227 [DAT](INFO): DAT read: Range 10 to 50 : 336.6 m (Round-trip 448.8 ms) speed 0.3 m/s
2025-06-11T20:50:04.229Z,1749675004.229 [DAT](INFO): DAT read: user:507>
2025-06-11T20:50:04.230Z,1749675004.230 [DAT](INFO): DAT read: Tx time:20:50:06.0034
2025-06-11T20:50:04.231Z,1749675004.231 [DAT](INFO): Ping request sent.
2025-06-11T20:50:04.231Z,1749675004.231 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:04.231Z,1749675004.231 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:04.233Z,1749675004.233 [DAT](INFO): direction in FSK: [0.928898,0.133856,-0.345298]
2025-06-11T20:50:04.233Z,1749675004.233 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:04.234Z,1749675004.234 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:04.257Z,1749675004.257 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:04.257Z,1749675004.257 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:04.463Z,1749675004.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 336.600006 m,
deltaT: 4.050068 s,
deltaX: -2.000000 m,
approachRate: -0.493819 m/s,
rangeRepo size: 4
2025-06-11T20:50:04.469Z,1749675004.469 [DAT](INFO): DAT read: TxSync time:20:50:06.0026
2025-06-11T20:50:04.471Z,1749675004.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 333.669525 m,
bearing: 329.842918 deg,
lat: 36.906374 deg,
lon: -122.115344 deg,
deltaT: 7.836165 s,
deltaX: -3.658447 m,
approachRate: -0.466867 m/s,
posRepo size: 4
2025-06-11T20:50:04.474Z,1749675004.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:04.489Z,1749675004.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 320.494995 m,
bearing: 329.518832 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001660 deg/s,
cmd heading: 320.783714 deg,
new cmd heading: 320.781900 deg.
2025-06-11T20:50:04.490Z,1749675004.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598701 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:04.886Z,1749675004.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:04.893Z,1749675004.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:04.895Z,1749675004.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 320.297760 m,
bearing: 329.517540 deg,
approach rate: -0.463791 m/s,
LOS rate: -0.003041 deg/s,
cmd heading: 320.781911 deg,
new cmd heading: 320.778031 deg.
2025-06-11T20:50:04.900Z,1749675004.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598633 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:04.973Z,1749675004.973 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:04.973Z,1749675004.973 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:04.974Z,1749675004.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:04.980Z,1749675004.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:50:05.225Z,1749675005.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994270
2025-06-11T20:50:05.240Z,1749675005.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:05.243Z,1749675005.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 320.110077 m,
bearing: 329.516277 deg,
approach rate: -0.558348 m/s,
LOS rate: -0.003758 deg/s,
cmd heading: 320.778031 deg,
new cmd heading: 320.774242 deg.
2025-06-11T20:50:05.248Z,1749675005.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598567 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:05.477Z,1749675005.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246772
2025-06-11T20:50:05.631Z,1749675005.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:05.634Z,1749675005.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 319.909943 m,
bearing: 329.514890 deg,
approach rate: -0.491507 m/s,
LOS rate: -0.003409 deg/s,
cmd heading: 320.774234 deg,
new cmd heading: 320.770070 deg.
2025-06-11T20:50:05.635Z,1749675005.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598494 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:05.731Z,1749675005.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499839
2025-06-11T20:50:05.981Z,1749675005.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750139
2025-06-11T20:50:06.049Z,1749675006.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:06.068Z,1749675006.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 319.712555 m,
bearing: 329.513028 deg,
approach rate: -0.472252 m/s,
LOS rate: -0.004457 deg/s,
cmd heading: 320.770081 deg,
new cmd heading: 320.764492 deg.
2025-06-11T20:50:06.071Z,1749675006.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598396 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:06.233Z,1749675006.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002143
2025-06-11T20:50:06.443Z,1749675006.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:06.446Z,1749675006.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 319.531403 m,
bearing: 329.511241 deg,
approach rate: -0.459489 m/s,
LOS rate: -0.004537 deg/s,
cmd heading: 320.764480 deg,
new cmd heading: 320.759114 deg.
2025-06-11T20:50:06.447Z,1749675006.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598303 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:06.485Z,1749675006.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254418
2025-06-11T20:50:06.737Z,1749675006.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506150
2025-06-11T20:50:06.874Z,1749675006.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:06.877Z,1749675006.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 319.321594 m,
bearing: 329.509281 deg,
approach rate: -0.487024 m/s,
LOS rate: -0.004553 deg/s,
cmd heading: 320.759125 deg,
new cmd heading: 320.753241 deg.
2025-06-11T20:50:06.878Z,1749675006.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598200 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:06.989Z,1749675006.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758221
2025-06-11T20:50:07.241Z,1749675007.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010225
2025-06-11T20:50:07.265Z,1749675007.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:07.267Z,1749675007.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:07.274Z,1749675007.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 319.144379 m,
bearing: 329.507630 deg,
approach rate: -0.450716 m/s,
LOS rate: -0.004200 deg/s,
cmd heading: 320.753251 deg,
new cmd heading: 320.748297 deg.
2025-06-11T20:50:07.275Z,1749675007.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598114 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:07.493Z,1749675007.493 [DAT](INFO): DAT read: Rx Time:20:50:08.8538
2025-06-11T20:50:07.494Z,1749675007.494 [DAT](INFO): Rx dataTimestamp_ set to:1749675007.493892
2025-06-11T20:50:07.495Z,1749675007.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264243
2025-06-11T20:50:07.647Z,1749675007.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:07.650Z,1749675007.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 318.954224 m,
bearing: 329.505877 deg,
approach rate: -0.500422 m/s,
LOS rate: -0.004617 deg/s,
cmd heading: 320.748306 deg,
new cmd heading: 320.743043 deg.
2025-06-11T20:50:07.651Z,1749675007.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598022 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:07.745Z,1749675007.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514190
2025-06-11T20:50:08.000Z,1749675008.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768964
2025-06-11T20:50:08.214Z,1749675008.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.67 m.
2025-06-11T20:50:08.217Z,1749675008.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 333.669525 m,
nav range: 318.694061 m,
bearing: 329.503909 deg,
approach rate: -0.458811 m/s,
LOS rate: -0.003474 deg/s,
cmd heading: 320.743033 deg,
new cmd heading: 320.737124 deg.
2025-06-11T20:50:08.218Z,1749675008.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597919 target range: 333.669525 and range: 336.60 m.
2025-06-11T20:50:08.255Z,1749675008.255 [DAT](INFO): DAT read: 20:50:08.8538 LVL= 26528, 32433, 27122, 32755, AGC= 68, IDX= 421, 0.10,-0.773,-2.377,-1.050,-1.516, PHS= 0.831,-0.814, 0.462, RAW= 137.7, -6.5, CAL= 143.5, -16.6, ROT= 6.5, 16.6
2025-06-11T20:50:08.256Z,1749675008.256 [DAT](INFO): got valid direction response:
20:50:08.8538 LVL= 26528, 32433, 27122, 32755, AGC= 68, IDX= 421, 0.10,-0.773,-2.377,-1.050,-1.516, PHS= 0.831,-0.814, 0.462, RAW= 137.7, -6.5, CAL= 143.5, -16.6, ROT= 6.5, 16.6
2025-06-11T20:50:08.258Z,1749675008.258 [DAT](INFO): DAT read: Bearing 6.5, 16.6 (Local)
2025-06-11T20:50:08.258Z,1749675008.258 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.5, 16.6 (Local)
2025-06-11T20:50:08.260Z,1749675008.260 [DAT](INFO): DAT read: Range 10 to 50 : 334.6 m (Round-trip 446.2 ms) speed 0.1 m/s
2025-06-11T20:50:08.261Z,1749675008.261 [DAT](INFO): DAT read: user:508>
2025-06-11T20:50:08.261Z,1749675008.261 [DAT](INFO): DAT read: Tx time:20:50:09.9534
2025-06-11T20:50:08.262Z,1749675008.262 [DAT](INFO): Ping request sent.
2025-06-11T20:50:08.262Z,1749675008.262 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:08.262Z,1749675008.262 [DAT](INFO): DAT read: TxSync time:20:50:09.9526
2025-06-11T20:50:08.263Z,1749675008.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:08.264Z,1749675008.264 [DAT](INFO): direction in FSK: [0.952162,0.108485,-0.285688]
2025-06-11T20:50:08.264Z,1749675008.264 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:08.265Z,1749675008.265 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:08.268Z,1749675008.268 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:08.268Z,1749675008.268 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:08.567Z,1749675008.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 334.600006 m,
deltaT: 4.033483 s,
deltaX: -2.000000 m,
approachRate: -0.495849 m/s,
rangeRepo size: 4
2025-06-11T20:50:08.569Z,1749675008.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 331.691498 m,
bearing: 328.161073 deg,
lat: 36.906374 deg,
lon: -122.115351 deg,
deltaT: 4.033483 s,
deltaX: -1.978027 m,
approachRate: -0.490402 m/s,
posRepo size: 4
2025-06-11T20:50:08.570Z,1749675008.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.69 m.
2025-06-11T20:50:08.588Z,1749675008.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 331.691498 m,
nav range: 318.875977 m,
bearing: 329.399072 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003474 deg/s,
cmd heading: 320.737132 deg,
new cmd heading: 320.733468 deg.
2025-06-11T20:50:08.589Z,1749675008.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597855 target range: 331.691498 and range: 334.60 m.
2025-06-11T20:50:09.018Z,1749675009.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.69 m.
2025-06-11T20:50:09.021Z,1749675009.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 331.691498 m,
nav range: 318.681122 m,
bearing: 329.398908 deg,
approach rate: -0.433458 m/s,
LOS rate: -0.000363 deg/s,
cmd heading: 320.733471 deg,
new cmd heading: 320.732981 deg.
2025-06-11T20:50:09.022Z,1749675009.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597847 target range: 331.691498 and range: 334.60 m.
2025-06-11T20:50:09.367Z,1749675009.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:09.372Z,1749675009.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.69 m.
2025-06-11T20:50:09.374Z,1749675009.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 331.691498 m,
nav range: 318.509521 m,
bearing: 329.398843 deg,
approach rate: -0.481862 m/s,
LOS rate: -0.000185 deg/s,
cmd heading: 320.732979 deg,
new cmd heading: 320.732782 deg.
2025-06-11T20:50:09.375Z,1749675009.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597843 target range: 331.691498 and range: 334.60 m.
2025-06-11T20:50:09.509Z,1749675009.509 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:09.509Z,1749675009.509 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:09.509Z,1749675009.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:09.761Z,1749675009.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498949
2025-06-11T20:50:09.779Z,1749675009.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.69 m.
2025-06-11T20:50:09.782Z,1749675009.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 331.691498 m,
nav range: 318.324432 m,
bearing: 329.398782 deg,
approach rate: -0.454045 m/s,
LOS rate: -0.000149 deg/s,
cmd heading: 320.732788 deg,
new cmd heading: 320.732606 deg.
2025-06-11T20:50:09.783Z,1749675009.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597840 target range: 331.691498 and range: 334.60 m.
2025-06-11T20:50:10.013Z,1749675010.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751117
2025-06-11T20:50:10.201Z,1749675010.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.69 m.
2025-06-11T20:50:10.204Z,1749675010.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 331.691498 m,
nav range: 318.137604 m,
bearing: 329.400266 deg,
approach rate: -0.443011 m/s,
LOS rate: 0.003520 deg/s,
cmd heading: 320.732597 deg,
new cmd heading: 320.737051 deg.
2025-06-11T20:50:10.205Z,1749675010.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597918 target range: 331.691498 and range: 334.60 m.
2025-06-11T20:50:10.266Z,1749675010.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004292
2025-06-11T20:50:10.517Z,1749675010.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255093
2025-06-11T20:50:10.577Z,1749675010.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.69 m.
2025-06-11T20:50:10.585Z,1749675010.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 331.691498 m,
nav range: 317.970673 m,
bearing: 329.401581 deg,
approach rate: -0.444420 m/s,
LOS rate: 0.003504 deg/s,
cmd heading: 320.737050 deg,
new cmd heading: 320.740999 deg.
2025-06-11T20:50:10.604Z,1749675010.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597987 target range: 331.691498 and range: 334.60 m.
2025-06-11T20:50:10.769Z,1749675010.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507028
2025-06-11T20:50:11.021Z,1749675011.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759403
2025-06-11T20:50:11.029Z,1749675011.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.69 m.
2025-06-11T20:50:11.031Z,1749675011.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 331.691498 m,
nav range: 317.775696 m,
bearing: 329.404257 deg,
approach rate: -0.431406 m/s,
LOS rate: 0.005924 deg/s,
cmd heading: 320.741012 deg,
new cmd heading: 320.749044 deg.
2025-06-11T20:50:11.033Z,1749675011.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598127 target range: 331.691498 and range: 334.60 m.
2025-06-11T20:50:11.274Z,1749675011.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011844
2025-06-11T20:50:11.408Z,1749675011.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:11.410Z,1749675011.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.69 m.
2025-06-11T20:50:11.417Z,1749675011.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 331.691498 m,
nav range: 317.617523 m,
bearing: 329.406424 deg,
approach rate: -0.414822 m/s,
LOS rate: 0.005685 deg/s,
cmd heading: 320.749044 deg,
new cmd heading: 320.755547 deg.
2025-06-11T20:50:11.418Z,1749675011.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598240 target range: 331.691498 and range: 334.60 m.
2025-06-11T20:50:11.529Z,1749675011.529 [DAT](INFO): DAT read: Rx Time:20:50:12.8015
2025-06-11T20:50:11.530Z,1749675011.530 [DAT](INFO): Rx dataTimestamp_ set to:1749675011.529533
2025-06-11T20:50:11.531Z,1749675011.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268999
2025-06-11T20:50:11.777Z,1749675011.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515119
2025-06-11T20:50:11.811Z,1749675011.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.69 m.
2025-06-11T20:50:11.825Z,1749675011.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 331.691498 m,
nav range: 317.444397 m,
bearing: 329.408725 deg,
approach rate: -0.431657 m/s,
LOS rate: 0.005740 deg/s,
cmd heading: 320.755546 deg,
new cmd heading: 320.762453 deg.
2025-06-11T20:50:11.826Z,1749675011.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598361 target range: 331.691498 and range: 334.60 m.
2025-06-11T20:50:12.039Z,1749675012.039 [DAT](INFO): DAT read: 20:50:12.8015 LVL= 24000, 22769, 23890, 30195, AGC= 73, IDX= 413, 0.28, 1.771, 0.027, 1.442, 0.905, PHS= 0.954,-0.831, 0.535, RAW= 137.0, -8.2, CAL= 143.1, -18.9, ROT= 6.9, 18.9
2025-06-11T20:50:12.041Z,1749675012.041 [DAT](INFO): got valid direction response:
20:50:12.8015 LVL= 24000, 22769, 23890, 30195, AGC= 73, IDX= 413, 0.28, 1.771, 0.027, 1.442, 0.905, PHS= 0.954,-0.831, 0.535, RAW= 137.0, -8.2, CAL= 143.1, -18.9, ROT= 6.9, 18.9
2025-06-11T20:50:12.042Z,1749675012.042 [DAT](INFO): DAT read: Bearing 6.9, 18.9 (Local)
2025-06-11T20:50:12.042Z,1749675012.042 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.9, 18.9 (Local)
2025-06-11T20:50:12.043Z,1749675012.043 [DAT](INFO): DAT read: Range 10 to 50 : 332.9 m (Round-trip 443.9 ms) speed 0.4 m/s
2025-06-11T20:50:12.053Z,1749675012.053 [DAT](INFO): DAT read: user:509>
2025-06-11T20:50:12.053Z,1749675012.053 [DAT](INFO): DAT read: Tx time:20:50:13.9035
2025-06-11T20:50:12.054Z,1749675012.054 [DAT](INFO): Ping request sent.
2025-06-11T20:50:12.054Z,1749675012.054 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:12.054Z,1749675012.054 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:12.055Z,1749675012.055 [DAT](INFO): direction in FSK: [0.939233,0.113660,-0.323917]
2025-06-11T20:50:12.055Z,1749675012.055 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:12.060Z,1749675012.060 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:12.063Z,1749675012.063 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:12.063Z,1749675012.063 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:12.281Z,1749675012.281 [DAT](INFO): DAT read: TxSync time:20:50:13.9027
2025-06-11T20:50:12.300Z,1749675012.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 332.899994 m,
deltaT: 3.782555 s,
deltaX: -1.700012 m,
approachRate: -0.449435 m/s,
rangeRepo size: 4
2025-06-11T20:50:12.302Z,1749675012.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 329.999603 m,
bearing: 328.832475 deg,
lat: 36.906368 deg,
lon: -122.115384 deg,
deltaT: 3.782555 s,
deltaX: -1.691895 m,
approachRate: -0.447289 m/s,
posRepo size: 4
2025-06-11T20:50:12.303Z,1749675012.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:12.309Z,1749675012.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 318.139221 m,
bearing: 328.908830 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005740 deg/s,
cmd heading: 320.762458 deg,
new cmd heading: 320.770795 deg.
2025-06-11T20:50:12.310Z,1749675012.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598506 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:12.618Z,1749675012.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:12.621Z,1749675012.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 317.996124 m,
bearing: 328.910655 deg,
approach rate: -0.443472 m/s,
LOS rate: 0.005658 deg/s,
cmd heading: 320.770791 deg,
new cmd heading: 320.776268 deg.
2025-06-11T20:50:12.622Z,1749675012.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598602 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:13.110Z,1749675013.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:13.113Z,1749675013.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 317.789062 m,
bearing: 328.913335 deg,
approach rate: -0.420539 m/s,
LOS rate: 0.005446 deg/s,
cmd heading: 320.776255 deg,
new cmd heading: 320.784300 deg.
2025-06-11T20:50:13.114Z,1749675013.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598742 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:13.427Z,1749675013.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:13.430Z,1749675013.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:13.433Z,1749675013.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 317.654755 m,
bearing: 328.915044 deg,
approach rate: -0.419407 m/s,
LOS rate: 0.005341 deg/s,
cmd heading: 320.784288 deg,
new cmd heading: 320.789418 deg.
2025-06-11T20:50:13.434Z,1749675013.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598832 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:13.541Z,1749675013.541 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:13.542Z,1749675013.542 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:13.542Z,1749675013.542 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:13.793Z,1749675013.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739035
2025-06-11T20:50:13.830Z,1749675013.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:13.833Z,1749675013.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 317.486328 m,
bearing: 328.917200 deg,
approach rate: -0.421647 m/s,
LOS rate: 0.005401 deg/s,
cmd heading: 320.789424 deg,
new cmd heading: 320.795896 deg.
2025-06-11T20:50:13.834Z,1749675013.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598945 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:14.045Z,1749675014.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991065
2025-06-11T20:50:14.253Z,1749675014.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:14.256Z,1749675014.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 317.310120 m,
bearing: 328.918054 deg,
approach rate: -0.415892 m/s,
LOS rate: 0.002016 deg/s,
cmd heading: 320.795899 deg,
new cmd heading: 320.798461 deg.
2025-06-11T20:50:14.257Z,1749675014.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598989 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:14.297Z,1749675014.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243238
2025-06-11T20:50:14.551Z,1749675014.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497195
2025-06-11T20:50:14.669Z,1749675014.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:14.672Z,1749675014.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 317.142822 m,
bearing: 328.918865 deg,
approach rate: -0.402217 m/s,
LOS rate: 0.001951 deg/s,
cmd heading: 320.798467 deg,
new cmd heading: 320.800902 deg.
2025-06-11T20:50:14.673Z,1749675014.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599032 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:14.805Z,1749675014.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751049
2025-06-11T20:50:15.042Z,1749675015.042 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 80.91, 73.31, 76.36
2025-06-11T20:50:15.057Z,1749675015.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003200
2025-06-11T20:50:15.058Z,1749675015.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:15.061Z,1749675015.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 316.975861 m,
bearing: 328.919730 deg,
approach rate: -0.429234 m/s,
LOS rate: 0.002224 deg/s,
cmd heading: 320.800899 deg,
new cmd heading: 320.803494 deg.
2025-06-11T20:50:15.062Z,1749675015.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599077 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:15.309Z,1749675015.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255384
2025-06-11T20:50:15.462Z,1749675015.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:15.464Z,1749675015.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:15.467Z,1749675015.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 316.806641 m,
bearing: 328.920607 deg,
approach rate: -0.417274 m/s,
LOS rate: 0.002164 deg/s,
cmd heading: 320.803494 deg,
new cmd heading: 320.806127 deg.
2025-06-11T20:50:15.468Z,1749675015.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599123 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:15.561Z,1749675015.561 [DAT](INFO): DAT read: Rx Time:20:50:16.7654
2025-06-11T20:50:15.562Z,1749675015.562 [DAT](INFO): Rx dataTimestamp_ set to:1749675015.561434
2025-06-11T20:50:15.562Z,1749675015.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508555
2025-06-11T20:50:15.813Z,1749675015.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759099
2025-06-11T20:50:15.872Z,1749675015.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.00 m.
2025-06-11T20:50:15.878Z,1749675015.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 329.999603 m,
nav range: 316.636536 m,
bearing: 328.921592 deg,
approach rate: -0.416693 m/s,
LOS rate: 0.002415 deg/s,
cmd heading: 320.806117 deg,
new cmd heading: 320.809074 deg.
2025-06-11T20:50:15.918Z,1749675015.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599174 target range: 329.999603 and range: 332.90 m.
2025-06-11T20:50:16.072Z,1749675016.072 [DAT](INFO): DAT read: 20:50:16.7654 LVL= 21872, 29281, 22306, 30899, AGC= 73, IDX= 237, 0.17,-1.636,-2.928,-1.680,-2.297, PHS= 0.749,-0.584, 0.614, RAW= 144.7, -12.2, CAL= 151.7, -20.9, ROT= 358.3, 20.9
2025-06-11T20:50:16.073Z,1749675016.073 [DAT](INFO): got valid direction response:
20:50:16.7654 LVL= 21872, 29281, 22306, 30899, AGC= 73, IDX= 237, 0.17,-1.636,-2.928,-1.680,-2.297, PHS= 0.749,-0.584, 0.614, RAW= 144.7, -12.2, CAL= 151.7, -20.9, ROT= 358.3, 20.9
2025-06-11T20:50:16.074Z,1749675016.074 [DAT](INFO): DAT read: Bearing 358.3, 20.9 (Local)
2025-06-11T20:50:16.074Z,1749675016.074 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.3, 20.9 (Local)
2025-06-11T20:50:16.076Z,1749675016.076 [DAT](INFO): DAT read: Range 10 to 50 : 343.3 m (Round-trip 457.8 ms) speed 0.6 m/s
2025-06-11T20:50:16.077Z,1749675016.077 [DAT](INFO): DAT read: user:510>
2025-06-11T20:50:16.077Z,1749675016.077 [DAT](INFO): DAT read: Tx time:20:50:17.8535
2025-06-11T20:50:16.078Z,1749675016.078 [DAT](INFO): Ping request sent.
2025-06-11T20:50:16.078Z,1749675016.078 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:16.078Z,1749675016.078 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:16.079Z,1749675016.079 [DAT](INFO): direction in FSK: [0.933793,-0.027715,-0.356738]
2025-06-11T20:50:16.079Z,1749675016.079 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:16.080Z,1749675016.080 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:16.083Z,1749675016.083 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:16.083Z,1749675016.083 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:16.317Z,1749675016.317 [DAT](INFO): DAT read: TxSync time:20:50:17.8527
2025-06-11T20:50:16.417Z,1749675016.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 343.299988 m,
deltaT: 4.034025 s,
deltaX: 10.399994 m,
approachRate: 2.578069 m/s,
rangeRepo size: 4
2025-06-11T20:50:16.419Z,1749675016.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 340.308502 m,
bearing: 320.050586 deg,
lat: 36.906365 deg,
lon: -122.115384 deg,
deltaT: 4.034025 s,
deltaX: 10.308899 m,
approachRate: 2.555487 m/s,
posRepo size: 4
2025-06-11T20:50:16.419Z,1749675016.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.31 m.
2025-06-11T20:50:16.422Z,1749675016.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.308502 m,
nav range: 316.094208 m,
bearing: 328.888679 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002415 deg/s,
cmd heading: 320.809068 deg,
new cmd heading: 320.813006 deg.
2025-06-11T20:50:16.423Z,1749675016.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599243 target range: 340.308502 and range: 343.30 m.
2025-06-11T20:50:16.701Z,1749675016.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.31 m.
2025-06-11T20:50:16.704Z,1749675016.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.308502 m,
nav range: 315.967651 m,
bearing: 328.889043 deg,
approach rate: -0.443010 m/s,
LOS rate: 0.001275 deg/s,
cmd heading: 320.813002 deg,
new cmd heading: 320.814094 deg.
2025-06-11T20:50:16.705Z,1749675016.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599262 target range: 340.308502 and range: 343.30 m.
2025-06-11T20:50:17.143Z,1749675017.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.31 m.
2025-06-11T20:50:17.150Z,1749675017.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.308502 m,
nav range: 315.774536 m,
bearing: 328.888333 deg,
approach rate: -0.437420 m/s,
LOS rate: -0.001609 deg/s,
cmd heading: 320.814095 deg,
new cmd heading: 320.811963 deg.
2025-06-11T20:50:17.151Z,1749675017.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599225 target range: 340.308502 and range: 343.30 m.
2025-06-11T20:50:17.503Z,1749675017.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:17.505Z,1749675017.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.31 m.
2025-06-11T20:50:17.508Z,1749675017.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.308502 m,
nav range: 315.599274 m,
bearing: 328.887700 deg,
approach rate: -0.483541 m/s,
LOS rate: -0.001747 deg/s,
cmd heading: 320.811964 deg,
new cmd heading: 320.810063 deg.
2025-06-11T20:50:17.509Z,1749675017.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599192 target range: 340.308502 and range: 343.30 m.
2025-06-11T20:50:17.577Z,1749675017.577 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:17.577Z,1749675017.577 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:17.577Z,1749675017.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:17.829Z,1749675017.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750865
2025-06-11T20:50:18.003Z,1749675018.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.31 m.
2025-06-11T20:50:18.009Z,1749675018.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.308502 m,
nav range: 315.385223 m,
bearing: 328.886880 deg,
approach rate: -0.430511 m/s,
LOS rate: -0.001651 deg/s,
cmd heading: 320.810051 deg,
new cmd heading: 320.807588 deg.
2025-06-11T20:50:18.010Z,1749675018.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599149 target range: 340.308502 and range: 343.30 m.
2025-06-11T20:50:18.081Z,1749675018.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002973
2025-06-11T20:50:18.333Z,1749675018.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254845
2025-06-11T20:50:18.520Z,1749675018.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.31 m.
2025-06-11T20:50:18.523Z,1749675018.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.308502 m,
nav range: 315.136108 m,
bearing: 328.885149 deg,
approach rate: -0.481015 m/s,
LOS rate: -0.003344 deg/s,
cmd heading: 320.807592 deg,
new cmd heading: 320.802397 deg.
2025-06-11T20:50:18.528Z,1749675018.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599058 target range: 340.308502 and range: 343.30 m.
2025-06-11T20:50:18.585Z,1749675018.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507045
2025-06-11T20:50:18.837Z,1749675018.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759030
2025-06-11T20:50:18.887Z,1749675018.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.31 m.
2025-06-11T20:50:18.890Z,1749675018.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.308502 m,
nav range: 314.946045 m,
bearing: 328.883827 deg,
approach rate: -0.518045 m/s,
LOS rate: -0.003605 deg/s,
cmd heading: 320.802401 deg,
new cmd heading: 320.798433 deg.
2025-06-11T20:50:18.891Z,1749675018.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598989 target range: 340.308502 and range: 343.30 m.
2025-06-11T20:50:19.089Z,1749675019.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011586
2025-06-11T20:50:19.341Z,1749675019.341 [DAT](INFO): DAT read: Rx Time:20:50:20.6968
2025-06-11T20:50:19.341Z,1749675019.341 [DAT](INFO): Rx dataTimestamp_ set to:1749675019.341119
2025-06-11T20:50:19.342Z,1749675019.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264100
2025-06-11T20:50:19.356Z,1749675019.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.31 m.
2025-06-11T20:50:19.359Z,1749675019.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.308502 m,
nav range: 314.722748 m,
bearing: 328.882110 deg,
approach rate: -0.497604 m/s,
LOS rate: -0.003829 deg/s,
cmd heading: 320.798440 deg,
new cmd heading: 320.793285 deg.
2025-06-11T20:50:19.364Z,1749675019.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598899 target range: 340.308502 and range: 343.30 m.
2025-06-11T20:50:19.593Z,1749675019.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514918
2025-06-11T20:50:19.726Z,1749675019.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:19.729Z,1749675019.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.31 m.
2025-06-11T20:50:19.731Z,1749675019.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 340.308502 m,
nav range: 314.527740 m,
bearing: 328.880569 deg,
approach rate: -0.496812 m/s,
LOS rate: -0.003929 deg/s,
cmd heading: 320.793276 deg,
new cmd heading: 320.788650 deg.
2025-06-11T20:50:19.732Z,1749675019.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598818 target range: 340.308502 and range: 343.30 m.
2025-06-11T20:50:19.850Z,1749675019.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769289
2025-06-11T20:50:20.103Z,1749675020.103 [DAT](INFO): DAT read: 20:50:20.6968 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 252, 0.09, 0.081,-1.277,-0.171,-0.600, PHS= 0.770,-0.630, 0.426, RAW= 136.4, -9.0, CAL= 142.4, -20.0, ROT= 7.6, 20.0
2025-06-11T20:50:20.105Z,1749675020.105 [DAT](INFO): got valid direction response:
20:50:20.6968 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 252, 0.09, 0.081,-1.277,-0.171,-0.600, PHS= 0.770,-0.630, 0.426, RAW= 136.4, -9.0, CAL= 142.4, -20.0, ROT= 7.6, 20.0
2025-06-11T20:50:20.106Z,1749675020.106 [DAT](INFO): DAT read: Bearing 7.6, 20.0 (Local)
2025-06-11T20:50:20.106Z,1749675020.106 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.6, 20.0 (Local)
2025-06-11T20:50:20.108Z,1749675020.108 [DAT](INFO): DAT read: Range 10 to 50 : 329.3 m (Round-trip 439.1 ms) speed 0.5 m/s
2025-06-11T20:50:20.109Z,1749675020.109 [DAT](INFO): DAT read: user:511>
2025-06-11T20:50:20.110Z,1749675020.110 [DAT](INFO): DAT read: Tx time:20:50:21.8036
2025-06-11T20:50:20.110Z,1749675020.110 [DAT](INFO): Ping request sent.
2025-06-11T20:50:20.110Z,1749675020.110 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:20.111Z,1749675020.111 [DAT](INFO): DAT read: TxSync time:20:50:21.8028
2025-06-11T20:50:20.111Z,1749675020.111 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:20.113Z,1749675020.113 [DAT](INFO): direction in FSK: [0.931438,0.124280,-0.342020]
2025-06-11T20:50:20.113Z,1749675020.113 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:20.114Z,1749675020.114 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:20.119Z,1749675020.119 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:20.119Z,1749675020.119 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:20.245Z,1749675020.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 329.299988 m,
deltaT: 4.031758 s,
deltaX: -14.000000 m,
approachRate: -3.472431 m/s,
rangeRepo size: 4
2025-06-11T20:50:20.247Z,1749675020.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 326.431732 m,
bearing: 330.100211 deg,
lat: 36.906365 deg,
lon: -122.115384 deg,
deltaT: 4.031758 s,
deltaX: -13.876770 m,
approachRate: -3.441866 m/s,
posRepo size: 4
2025-06-11T20:50:20.247Z,1749675020.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:20.255Z,1749675020.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 314.278320 m,
bearing: 328.878480 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003929 deg/s,
cmd heading: 320.788659 deg,
new cmd heading: 320.782783 deg.
2025-06-11T20:50:20.260Z,1749675020.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598716 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:20.549Z,1749675020.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:20.556Z,1749675020.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 314.103577 m,
bearing: 328.877007 deg,
approach rate: -0.542349 m/s,
LOS rate: -0.004574 deg/s,
cmd heading: 320.782785 deg,
new cmd heading: 320.778364 deg.
2025-06-11T20:50:20.557Z,1749675020.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598639 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:20.968Z,1749675020.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:20.986Z,1749675020.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 313.897980 m,
bearing: 328.875290 deg,
approach rate: -0.498017 m/s,
LOS rate: -0.004162 deg/s,
cmd heading: 320.778359 deg,
new cmd heading: 320.773205 deg.
2025-06-11T20:50:20.993Z,1749675020.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598548 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:21.355Z,1749675021.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:21.359Z,1749675021.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 313.683350 m,
bearing: 328.873363 deg,
approach rate: -0.546179 m/s,
LOS rate: -0.004907 deg/s,
cmd heading: 320.773195 deg,
new cmd heading: 320.767410 deg.
2025-06-11T20:50:21.361Z,1749675021.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598447 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:21.738Z,1749675021.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:21.740Z,1749675021.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:21.743Z,1749675021.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 313.486664 m,
bearing: 328.871615 deg,
approach rate: -0.511336 m/s,
LOS rate: -0.004546 deg/s,
cmd heading: 320.767403 deg,
new cmd heading: 320.762158 deg.
2025-06-11T20:50:21.744Z,1749675021.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598356 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:21.862Z,1749675021.862 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:21.862Z,1749675021.862 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:21.863Z,1749675021.863 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:22.113Z,1749675022.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002583
2025-06-11T20:50:22.181Z,1749675022.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:22.183Z,1749675022.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 313.257355 m,
bearing: 328.869656 deg,
approach rate: -0.520192 m/s,
LOS rate: -0.004448 deg/s,
cmd heading: 320.762158 deg,
new cmd heading: 320.756275 deg.
2025-06-11T20:50:22.184Z,1749675022.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598253 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:22.365Z,1749675022.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254590
2025-06-11T20:50:22.553Z,1749675022.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:22.555Z,1749675022.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 313.063721 m,
bearing: 328.868051 deg,
approach rate: -0.520201 m/s,
LOS rate: -0.004313 deg/s,
cmd heading: 320.756284 deg,
new cmd heading: 320.751467 deg.
2025-06-11T20:50:22.557Z,1749675022.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598169 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:22.617Z,1749675022.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506898
2025-06-11T20:50:22.869Z,1749675022.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758786
2025-06-11T20:50:23.003Z,1749675023.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:23.023Z,1749675023.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 312.850250 m,
bearing: 328.866365 deg,
approach rate: -0.476002 m/s,
LOS rate: -0.003763 deg/s,
cmd heading: 320.751475 deg,
new cmd heading: 320.746413 deg.
2025-06-11T20:50:23.041Z,1749675023.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598081 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:23.121Z,1749675023.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010851
2025-06-11T20:50:23.373Z,1749675023.373 [DAT](INFO): DAT read: Rx Time:20:50:24.6441
2025-06-11T20:50:23.374Z,1749675023.374 [DAT](INFO): Rx dataTimestamp_ set to:1749675023.373363
2025-06-11T20:50:23.374Z,1749675023.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264098
2025-06-11T20:50:23.383Z,1749675023.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:23.386Z,1749675023.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 312.645599 m,
bearing: 328.865485 deg,
approach rate: -0.536343 m/s,
LOS rate: -0.002309 deg/s,
cmd heading: 320.746421 deg,
new cmd heading: 320.743778 deg.
2025-06-11T20:50:23.387Z,1749675023.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598035 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:23.625Z,1749675023.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514621
2025-06-11T20:50:23.807Z,1749675023.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:23.827Z,1749675023.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.43 m.
2025-06-11T20:50:23.845Z,1749675023.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 326.431732 m,
nav range: 312.457001 m,
bearing: 328.864764 deg,
approach rate: -0.426112 m/s,
LOS rate: -0.001630 deg/s,
cmd heading: 320.743771 deg,
new cmd heading: 320.741606 deg.
2025-06-11T20:50:23.846Z,1749675023.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597997 target range: 326.431732 and range: 329.30 m.
2025-06-11T20:50:23.883Z,1749675023.883 [DAT](INFO): DAT read: 20:50:24.6441 LVL= 26096, 29745, 28850, 32755, AGC= 68, IDX= 417,-0.19, 2.726, 1.137, 2.441, 2.028, PHS= 0.786,-0.844, 0.410, RAW= 137.3, -4.8, CAL= 142.9, -14.7, ROT= 7.1, 14.7
2025-06-11T20:50:23.885Z,1749675023.885 [DAT](INFO): got valid direction response:
20:50:24.6441 LVL= 26096, 29745, 28850, 32755, AGC= 68, IDX= 417,-0.19, 2.726, 1.137, 2.441, 2.028, PHS= 0.786,-0.844, 0.410, RAW= 137.3, -4.8, CAL= 142.9, -14.7, ROT= 7.1, 14.7
2025-06-11T20:50:23.886Z,1749675023.886 [DAT](INFO): DAT read: Bearing 7.1, 14.7 (Local)
2025-06-11T20:50:23.886Z,1749675023.886 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.1, 14.7 (Local)
2025-06-11T20:50:23.888Z,1749675023.888 [DAT](INFO): DAT read: Range 10 to 50 : 327.3 m (Round-trip 436.4 ms) speed 0.1 m/s
2025-06-11T20:50:23.889Z,1749675023.889 [DAT](INFO): DAT read: user:512>
2025-06-11T20:50:23.890Z,1749675023.890 [DAT](INFO): DAT read: Tx time:20:50:25.7536
2025-06-11T20:50:23.890Z,1749675023.890 [DAT](INFO): Ping request sent.
2025-06-11T20:50:23.890Z,1749675023.890 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:23.890Z,1749675023.890 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:23.891Z,1749675023.891 [DAT](INFO): direction in FSK: [0.959851,0.119556,-0.253758]
2025-06-11T20:50:23.892Z,1749675023.892 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:23.892Z,1749675023.892 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:23.895Z,1749675023.895 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:23.915Z,1749675023.915 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:24.130Z,1749675024.130 [DAT](INFO): DAT read: TxSync time:20:50:25.7528
2025-06-11T20:50:24.247Z,1749675024.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 327.299988 m,
deltaT: 3.779806 s,
deltaX: -2.000000 m,
approachRate: -0.529128 m/s,
rangeRepo size: 4
2025-06-11T20:50:24.254Z,1749675024.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 324.446075 m,
bearing: 327.957420 deg,
lat: 36.906363 deg,
lon: -122.115438 deg,
deltaT: 3.779806 s,
deltaX: -1.985657 m,
approachRate: -0.525333 m/s,
posRepo size: 4
2025-06-11T20:50:24.254Z,1749675024.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:24.261Z,1749675024.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 314.602448 m,
bearing: 328.091213 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001630 deg/s,
cmd heading: 320.741613 deg,
new cmd heading: 320.739553 deg.
2025-06-11T20:50:24.262Z,1749675024.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597961 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:24.581Z,1749675024.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:24.584Z,1749675024.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 314.436401 m,
bearing: 328.090120 deg,
approach rate: -0.496233 m/s,
LOS rate: -0.003269 deg/s,
cmd heading: 320.739564 deg,
new cmd heading: 320.736282 deg.
2025-06-11T20:50:24.585Z,1749675024.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597904 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:25.006Z,1749675025.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:25.021Z,1749675025.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 314.246063 m,
bearing: 328.088841 deg,
approach rate: -0.447763 m/s,
LOS rate: -0.003009 deg/s,
cmd heading: 320.736285 deg,
new cmd heading: 320.732447 deg.
2025-06-11T20:50:25.029Z,1749675025.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597837 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:25.409Z,1749675025.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:25.412Z,1749675025.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 314.055145 m,
bearing: 328.088407 deg,
approach rate: -0.473779 m/s,
LOS rate: -0.001078 deg/s,
cmd heading: 320.732460 deg,
new cmd heading: 320.731157 deg.
2025-06-11T20:50:25.413Z,1749675025.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597815 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:25.797Z,1749675025.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:25.799Z,1749675025.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 313.881958 m,
bearing: 328.087916 deg,
approach rate: -0.447865 m/s,
LOS rate: -0.001269 deg/s,
cmd heading: 320.731149 deg,
new cmd heading: 320.729676 deg.
2025-06-11T20:50:25.800Z,1749675025.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597789 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:26.225Z,1749675026.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:26.227Z,1749675026.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:26.234Z,1749675026.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 313.702972 m,
bearing: 328.087981 deg,
approach rate: -0.415577 m/s,
LOS rate: 0.000150 deg/s,
cmd heading: 320.729673 deg,
new cmd heading: 320.729867 deg.
2025-06-11T20:50:26.235Z,1749675026.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597792 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:26.397Z,1749675026.397 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:26.398Z,1749675026.398 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:26.398Z,1749675026.398 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:26.599Z,1749675026.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:26.601Z,1749675026.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 313.535095 m,
bearing: 328.087833 deg,
approach rate: -0.451391 m/s,
LOS rate: -0.000398 deg/s,
cmd heading: 320.729865 deg,
new cmd heading: 320.729421 deg.
2025-06-11T20:50:26.602Z,1749675026.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597785 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:26.649Z,1749675026.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759248
2025-06-11T20:50:26.901Z,1749675026.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010807
2025-06-11T20:50:27.017Z,1749675027.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:27.019Z,1749675027.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 313.354462 m,
bearing: 328.087412 deg,
approach rate: -0.432145 m/s,
LOS rate: -0.001009 deg/s,
cmd heading: 320.729428 deg,
new cmd heading: 320.728163 deg.
2025-06-11T20:50:27.036Z,1749675027.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597763 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:27.154Z,1749675027.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263463
2025-06-11T20:50:27.405Z,1749675027.405 [DAT](INFO): DAT read: Rx Time:20:50:28.5918
2025-06-11T20:50:27.405Z,1749675027.405 [DAT](INFO): Rx dataTimestamp_ set to:1749675027.405103
2025-06-11T20:50:27.406Z,1749675027.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515723
2025-06-11T20:50:27.457Z,1749675027.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:27.459Z,1749675027.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 313.165527 m,
bearing: 328.087769 deg,
approach rate: -0.429344 m/s,
LOS rate: 0.000812 deg/s,
cmd heading: 320.728171 deg,
new cmd heading: 320.729242 deg.
2025-06-11T20:50:27.460Z,1749675027.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597781 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:27.657Z,1749675027.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766543
2025-06-11T20:50:27.845Z,1749675027.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.45 m.
2025-06-11T20:50:27.847Z,1749675027.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 324.446075 m,
nav range: 312.998779 m,
bearing: 328.088084 deg,
approach rate: -0.429679 m/s,
LOS rate: 0.000813 deg/s,
cmd heading: 320.729236 deg,
new cmd heading: 320.730183 deg.
2025-06-11T20:50:27.849Z,1749675027.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597798 target range: 324.446075 and range: 327.30 m.
2025-06-11T20:50:27.917Z,1749675027.917 [DAT](INFO): DAT read: 20:50:28.5918 LVL= 32304, 32753, 27122, 32755, AGC= 72, IDX= 426,-0.08,-0.232,-1.648,-0.451,-0.817, PHS= 0.673,-0.784, 0.363, RAW= 138.4, -3.8, CAL= 143.8, -13.4, ROT= 6.2, 13.4
2025-06-11T20:50:27.919Z,1749675027.919 [DAT](INFO): got valid direction response:
20:50:28.5918 LVL= 32304, 32753, 27122, 32755, AGC= 72, IDX= 426,-0.08,-0.232,-1.648,-0.451,-0.817, PHS= 0.673,-0.784, 0.363, RAW= 138.4, -3.8, CAL= 143.8, -13.4, ROT= 6.2, 13.4
2025-06-11T20:50:27.922Z,1749675027.922 [DAT](INFO): DAT read: Bearing 6.2, 13.4 (Local)
2025-06-11T20:50:27.922Z,1749675027.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.2, 13.4 (Local)
2025-06-11T20:50:27.926Z,1749675027.926 [DAT](INFO): DAT read: Range 10 to 50 : 325.5 m (Round-trip 434.1 ms) speed 0.0 m/s
2025-06-11T20:50:27.927Z,1749675027.927 [DAT](INFO): DAT read: user:513>
2025-06-11T20:50:27.929Z,1749675027.929 [DAT](INFO): DAT read: Tx time:20:50:29.7051
2025-06-11T20:50:27.930Z,1749675027.930 [DAT](INFO): Ping request sent.
2025-06-11T20:50:27.930Z,1749675027.930 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:27.930Z,1749675027.930 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:27.932Z,1749675027.932 [DAT](INFO): direction in FSK: [0.967086,0.105059,-0.231748]
2025-06-11T20:50:27.933Z,1749675027.933 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:27.933Z,1749675027.933 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:27.938Z,1749675027.938 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:27.938Z,1749675027.938 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:28.166Z,1749675028.166 [DAT](INFO): DAT read: TxSync time:20:50:29.7043
2025-06-11T20:50:28.337Z,1749675028.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 325.500000 m,
deltaT: 4.032142 s,
deltaX: -1.799988 m,
approachRate: -0.446410 m/s,
rangeRepo size: 4
2025-06-11T20:50:28.339Z,1749675028.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 322.657074 m,
bearing: 330.415814 deg,
lat: 36.906363 deg,
lon: -122.115384 deg,
deltaT: 4.032142 s,
deltaX: -1.789001 m,
approachRate: -0.443685 m/s,
posRepo size: 4
2025-06-11T20:50:28.344Z,1749675028.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:28.346Z,1749675028.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 310.267944 m,
bearing: 328.846265 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000813 deg/s,
cmd heading: 320.730193 deg,
new cmd heading: 320.731380 deg.
2025-06-11T20:50:28.347Z,1749675028.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597818 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:28.770Z,1749675028.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:28.773Z,1749675028.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:28.775Z,1749675028.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 310.073761 m,
bearing: 328.846096 deg,
approach rate: -0.439895 m/s,
LOS rate: -0.000382 deg/s,
cmd heading: 320.731367 deg,
new cmd heading: 320.730862 deg.
2025-06-11T20:50:28.777Z,1749675028.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597809 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:28.917Z,1749675028.917 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:28.917Z,1749675028.917 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:28.918Z,1749675028.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:29.170Z,1749675029.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240033
2025-06-11T20:50:29.211Z,1749675029.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:29.230Z,1749675029.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 309.884735 m,
bearing: 328.846007 deg,
approach rate: -0.431707 m/s,
LOS rate: -0.000204 deg/s,
cmd heading: 320.730848 deg,
new cmd heading: 320.730580 deg.
2025-06-11T20:50:29.231Z,1749675029.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597805 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:29.421Z,1749675029.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491012
2025-06-11T20:50:29.576Z,1749675029.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:29.578Z,1749675029.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 309.728027 m,
bearing: 328.845868 deg,
approach rate: -0.429314 m/s,
LOS rate: -0.000381 deg/s,
cmd heading: 320.730575 deg,
new cmd heading: 320.730158 deg.
2025-06-11T20:50:29.579Z,1749675029.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597797 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:29.673Z,1749675029.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743106
2025-06-11T20:50:29.925Z,1749675029.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995414
2025-06-11T20:50:29.998Z,1749675029.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:30.002Z,1749675030.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 309.544861 m,
bearing: 328.845684 deg,
approach rate: -0.433139 m/s,
LOS rate: -0.000435 deg/s,
cmd heading: 320.730165 deg,
new cmd heading: 320.729613 deg.
2025-06-11T20:50:30.003Z,1749675030.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597788 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:30.180Z,1749675030.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250222
2025-06-11T20:50:30.424Z,1749675030.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:30.427Z,1749675030.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 309.351501 m,
bearing: 328.845806 deg,
approach rate: -0.454339 m/s,
LOS rate: 0.000288 deg/s,
cmd heading: 320.729619 deg,
new cmd heading: 320.729987 deg.
2025-06-11T20:50:30.429Z,1749675030.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499133
2025-06-11T20:50:30.430Z,1749675030.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597794 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:30.681Z,1749675030.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751686
2025-06-11T20:50:30.805Z,1749675030.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:30.807Z,1749675030.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:30.814Z,1749675030.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 309.187134 m,
bearing: 328.846187 deg,
approach rate: -0.429402 m/s,
LOS rate: 0.000996 deg/s,
cmd heading: 320.729974 deg,
new cmd heading: 320.731118 deg.
2025-06-11T20:50:30.815Z,1749675030.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597814 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:30.935Z,1749675030.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005056
2025-06-11T20:50:31.185Z,1749675031.185 [DAT](INFO): DAT read: Rx Time:20:50:32.5412
2025-06-11T20:50:31.185Z,1749675031.185 [DAT](INFO): Rx dataTimestamp_ set to:1749675031.185008
2025-06-11T20:50:31.186Z,1749675031.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256091
2025-06-11T20:50:31.259Z,1749675031.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:31.262Z,1749675031.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 308.965027 m,
bearing: 328.847121 deg,
approach rate: -0.490768 m/s,
LOS rate: 0.002065 deg/s,
cmd heading: 320.731121 deg,
new cmd heading: 320.733925 deg.
2025-06-11T20:50:31.263Z,1749675031.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597863 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:31.437Z,1749675031.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507004
2025-06-11T20:50:31.627Z,1749675031.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:31.630Z,1749675031.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 308.793182 m,
bearing: 328.848183 deg,
approach rate: -0.467852 m/s,
LOS rate: 0.002892 deg/s,
cmd heading: 320.733935 deg,
new cmd heading: 320.737122 deg.
2025-06-11T20:50:31.630Z,1749675031.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597919 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:31.693Z,1749675031.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762384
2025-06-11T20:50:31.949Z,1749675031.949 [DAT](INFO): DAT read: 20:50:32.5412 LVL= 32752, 32753, 30962, 32755, AGC= 68, IDX= 418,-0.24,-0.705,-2.093,-0.901,-1.295, PHS= 0.678,-0.752, 0.391, RAW= 139.1, -4.9, CAL= 144.7, -14.6, ROT= 5.3, 14.6
2025-06-11T20:50:31.950Z,1749675031.950 [DAT](INFO): got valid direction response:
20:50:32.5412 LVL= 32752, 32753, 30962, 32755, AGC= 68, IDX= 418,-0.24,-0.705,-2.093,-0.901,-1.295, PHS= 0.678,-0.752, 0.391, RAW= 139.1, -4.9, CAL= 144.7, -14.6, ROT= 5.3, 14.6
2025-06-11T20:50:31.951Z,1749675031.951 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:50:31.951Z,1749675031.951 [DAT](INFO): Received a bad header
2025-06-11T20:50:31.964Z,1749675031.964 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:50:31.965Z,1749675031.965 [DAT](INFO): direction in FSK: [0.963572,0.089388,-0.252069]
2025-06-11T20:50:31.978Z,1749675031.978 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:31.978Z,1749675031.978 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:31.978Z,1749675031.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:32.063Z,1749675032.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:32.070Z,1749675032.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 308.595673 m,
bearing: 328.849760 deg,
approach rate: -0.452669 m/s,
LOS rate: 0.003617 deg/s,
cmd heading: 320.737132 deg,
new cmd heading: 320.741867 deg.
2025-06-11T20:50:32.071Z,1749675032.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598001 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:32.195Z,1749675032.195 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:32.195Z,1749675032.195 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:32.195Z,1749675032.195 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:32.445Z,1749675032.445 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:32.445Z,1749675032.445 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:32.445Z,1749675032.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:32.459Z,1749675032.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:32.462Z,1749675032.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 308.399384 m,
bearing: 328.850589 deg,
approach rate: -0.495831 m/s,
LOS rate: 0.002096 deg/s,
cmd heading: 320.741859 deg,
new cmd heading: 320.744348 deg.
2025-06-11T20:50:32.463Z,1749675032.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598045 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:32.696Z,1749675032.696 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:32.697Z,1749675032.697 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:32.697Z,1749675032.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:32.822Z,1749675032.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:32.825Z,1749675032.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:32.827Z,1749675032.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 308.224792 m,
bearing: 328.851838 deg,
approach rate: -0.477250 m/s,
LOS rate: 0.003416 deg/s,
cmd heading: 320.744345 deg,
new cmd heading: 320.748093 deg.
2025-06-11T20:50:32.829Z,1749675032.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598110 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:32.953Z,1749675032.953 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:32.953Z,1749675032.953 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:32.953Z,1749675032.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:33.202Z,1749675033.202 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:33.202Z,1749675033.202 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:33.202Z,1749675033.202 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:33.278Z,1749675033.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:33.281Z,1749675033.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 308.003418 m,
bearing: 328.852101 deg,
approach rate: -0.487911 m/s,
LOS rate: 0.000580 deg/s,
cmd heading: 320.748088 deg,
new cmd heading: 320.748877 deg.
2025-06-11T20:50:33.282Z,1749675033.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598124 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:33.453Z,1749675033.453 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:33.453Z,1749675033.453 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:33.453Z,1749675033.453 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:33.645Z,1749675033.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:33.650Z,1749675033.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 307.832581 m,
bearing: 328.852452 deg,
approach rate: -0.465558 m/s,
LOS rate: 0.000958 deg/s,
cmd heading: 320.748880 deg,
new cmd heading: 320.749934 deg.
2025-06-11T20:50:33.651Z,1749675033.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598143 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:33.705Z,1749675033.705 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:33.705Z,1749675033.705 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:33.705Z,1749675033.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:33.957Z,1749675033.957 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:33.957Z,1749675033.957 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:33.957Z,1749675033.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:34.040Z,1749675034.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:34.042Z,1749675034.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 307.632965 m,
bearing: 328.852962 deg,
approach rate: -0.506392 m/s,
LOS rate: 0.001293 deg/s,
cmd heading: 320.749945 deg,
new cmd heading: 320.751475 deg.
2025-06-11T20:50:34.043Z,1749675034.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598169 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:34.211Z,1749675034.211 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:34.211Z,1749675034.211 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:34.212Z,1749675034.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:34.461Z,1749675034.461 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:34.461Z,1749675034.461 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:34.461Z,1749675034.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:34.468Z,1749675034.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:34.470Z,1749675034.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 307.425629 m,
bearing: 328.851669 deg,
approach rate: -0.484488 m/s,
LOS rate: -0.003023 deg/s,
cmd heading: 320.751475 deg,
new cmd heading: 320.747595 deg.
2025-06-11T20:50:34.471Z,1749675034.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598102 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:34.717Z,1749675034.717 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:34.717Z,1749675034.717 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:34.717Z,1749675034.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:34.882Z,1749675034.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:34.891Z,1749675034.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:34.894Z,1749675034.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 307.234222 m,
bearing: 328.850474 deg,
approach rate: -0.452030 m/s,
LOS rate: -0.002824 deg/s,
cmd heading: 320.747596 deg,
new cmd heading: 320.744009 deg.
2025-06-11T20:50:34.895Z,1749675034.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598039 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:34.966Z,1749675034.966 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:34.966Z,1749675034.966 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:34.966Z,1749675034.966 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:35.100Z,1749675035.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:50:35.219Z,1749675035.219 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:35.219Z,1749675035.219 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:35.220Z,1749675035.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:35.298Z,1749675035.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:35.301Z,1749675035.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 307.021149 m,
bearing: 328.848096 deg,
approach rate: -0.523922 m/s,
LOS rate: -0.005851 deg/s,
cmd heading: 320.744017 deg,
new cmd heading: 320.736879 deg.
2025-06-11T20:50:35.302Z,1749675035.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597915 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:35.469Z,1749675035.469 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:35.469Z,1749675035.469 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:35.469Z,1749675035.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:35.720Z,1749675035.720 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:35.721Z,1749675035.721 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:35.721Z,1749675035.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:35.737Z,1749675035.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:35.748Z,1749675035.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 306.821136 m,
bearing: 328.845861 deg,
approach rate: -0.455276 m/s,
LOS rate: -0.005092 deg/s,
cmd heading: 320.736886 deg,
new cmd heading: 320.730175 deg.
2025-06-11T20:50:35.749Z,1749675035.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597797 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:35.972Z,1749675035.972 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:35.973Z,1749675035.973 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:35.973Z,1749675035.973 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:36.060Z,1749675036.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:36.062Z,1749675036.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 306.650818 m,
bearing: 328.843834 deg,
approach rate: -0.528112 m/s,
LOS rate: -0.006290 deg/s,
cmd heading: 320.730165 deg,
new cmd heading: 320.724080 deg.
2025-06-11T20:50:36.063Z,1749675036.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597691 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:36.104Z,1749675036.104 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:50:36.227Z,1749675036.227 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:36.227Z,1749675036.227 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:36.228Z,1749675036.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:36.476Z,1749675036.476 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:36.477Z,1749675036.477 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:36.477Z,1749675036.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:36.516Z,1749675036.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:36.518Z,1749675036.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 306.451202 m,
bearing: 328.839851 deg,
approach rate: -0.457303 m/s,
LOS rate: -0.009129 deg/s,
cmd heading: 320.724073 deg,
new cmd heading: 320.712118 deg.
2025-06-11T20:50:36.519Z,1749675036.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597482 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:36.729Z,1749675036.729 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:36.729Z,1749675036.729 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:36.729Z,1749675036.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:36.879Z,1749675036.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:36.882Z,1749675036.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 306.262939 m,
bearing: 328.836026 deg,
approach rate: -0.491139 m/s,
LOS rate: -0.009985 deg/s,
cmd heading: 320.712106 deg,
new cmd heading: 320.700624 deg.
2025-06-11T20:50:36.883Z,1749675036.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597282 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:36.981Z,1749675036.981 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:36.981Z,1749675036.981 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:36.981Z,1749675036.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:37.234Z,1749675037.234 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:37.235Z,1749675037.235 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:37.235Z,1749675037.235 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:37.326Z,1749675037.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:37.340Z,1749675037.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:37.343Z,1749675037.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 306.039429 m,
bearing: 328.830380 deg,
approach rate: -0.488622 m/s,
LOS rate: -0.012353 deg/s,
cmd heading: 320.700631 deg,
new cmd heading: 320.683680 deg.
2025-06-11T20:50:37.344Z,1749675037.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596986 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:37.485Z,1749675037.485 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:37.485Z,1749675037.485 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:37.485Z,1749675037.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:37.721Z,1749675037.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:37.723Z,1749675037.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 305.862183 m,
bearing: 328.825832 deg,
approach rate: -0.461605 m/s,
LOS rate: -0.011850 deg/s,
cmd heading: 320.683693 deg,
new cmd heading: 320.670043 deg.
2025-06-11T20:50:37.733Z,1749675037.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596748 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:37.737Z,1749675037.737 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:37.737Z,1749675037.737 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:37.737Z,1749675037.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:37.989Z,1749675037.989 [DAT](INFO): Reached modem response timeout
2025-06-11T20:50:37.989Z,1749675037.989 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:50:37.990Z,1749675037.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:38.099Z,1749675038.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:38.102Z,1749675038.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 305.665344 m,
bearing: 328.820776 deg,
approach rate: -0.520637 m/s,
LOS rate: -0.013382 deg/s,
cmd heading: 320.670032 deg,
new cmd heading: 320.654854 deg.
2025-06-11T20:50:38.103Z,1749675038.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596483 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:38.242Z,1749675038.242 [DAT](INFO): Reached modem response timeout
2025-06-11T20:50:38.243Z,1749675038.243 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:50:38.244Z,1749675038.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:38.493Z,1749675038.493 [DAT](INFO): Reached modem response timeout
2025-06-11T20:50:38.493Z,1749675038.493 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:50:38.493Z,1749675038.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:38.534Z,1749675038.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:38.541Z,1749675038.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 305.469086 m,
bearing: 328.815882 deg,
approach rate: -0.450912 m/s,
LOS rate: -0.011251 deg/s,
cmd heading: 320.654842 deg,
new cmd heading: 320.640151 deg.
2025-06-11T20:50:38.542Z,1749675038.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596226 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:38.745Z,1749675038.745 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:50:38.745Z,1749675038.745 [DAT](INFO): response not received
2025-06-11T20:50:38.746Z,1749675038.746 [DAT](INFO): DAT read: user:515>
2025-06-11T20:50:38.746Z,1749675038.746 [DAT](INFO): DAT read: Tx time:20:50:40.6538
2025-06-11T20:50:38.747Z,1749675038.747 [DAT](INFO): Ping request sent.
2025-06-11T20:50:38.747Z,1749675038.747 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:38.747Z,1749675038.747 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:38.748Z,1749675038.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-06-11T20:50:38.898Z,1749675038.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:38.901Z,1749675038.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 305.284027 m,
bearing: 328.811098 deg,
approach rate: -0.508720 m/s,
LOS rate: -0.013160 deg/s,
cmd heading: 320.640143 deg,
new cmd heading: 320.625782 deg.
2025-06-11T20:50:38.902Z,1749675038.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595975 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:39.000Z,1749675039.000 [DAT](INFO): DAT read: TxSync time:20:50:40.6530
2025-06-11T20:50:39.001Z,1749675039.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254301
2025-06-11T20:50:39.255Z,1749675039.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508081
2025-06-11T20:50:39.353Z,1749675039.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:39.355Z,1749675039.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:39.358Z,1749675039.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 305.068695 m,
bearing: 328.806349 deg,
approach rate: -0.470606 m/s,
LOS rate: -0.010385 deg/s,
cmd heading: 320.625773 deg,
new cmd heading: 320.611517 deg.
2025-06-11T20:50:39.359Z,1749675039.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595726 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:39.505Z,1749675039.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758161
2025-06-11T20:50:39.697Z,1749675039.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:39.700Z,1749675039.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 304.907501 m,
bearing: 328.802706 deg,
approach rate: -0.471882 m/s,
LOS rate: -0.010672 deg/s,
cmd heading: 320.611511 deg,
new cmd heading: 320.600575 deg.
2025-06-11T20:50:39.701Z,1749675039.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595536 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:39.758Z,1749675039.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010834
2025-06-11T20:50:40.009Z,1749675040.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262018
2025-06-11T20:50:40.111Z,1749675040.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:40.114Z,1749675040.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 304.717804 m,
bearing: 328.798365 deg,
approach rate: -0.457959 m/s,
LOS rate: -0.010487 deg/s,
cmd heading: 320.600583 deg,
new cmd heading: 320.587551 deg.
2025-06-11T20:50:40.115Z,1749675040.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595308 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:40.263Z,1749675040.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515611
2025-06-11T20:50:40.513Z,1749675040.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766392
2025-06-11T20:50:40.548Z,1749675040.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:40.551Z,1749675040.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 304.520050 m,
bearing: 328.794522 deg,
approach rate: -0.461455 m/s,
LOS rate: -0.008973 deg/s,
cmd heading: 320.587551 deg,
new cmd heading: 320.576015 deg.
2025-06-11T20:50:40.556Z,1749675040.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595107 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:40.765Z,1749675040.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018591
2025-06-11T20:50:40.908Z,1749675040.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:40.911Z,1749675040.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 304.337463 m,
bearing: 328.790904 deg,
approach rate: -0.496217 m/s,
LOS rate: -0.009838 deg/s,
cmd heading: 320.576022 deg,
new cmd heading: 320.565162 deg.
2025-06-11T20:50:40.912Z,1749675040.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594918 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:41.017Z,1749675041.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270098
2025-06-11T20:50:41.271Z,1749675041.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523972
2025-06-11T20:50:41.389Z,1749675041.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:41.391Z,1749675041.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:41.409Z,1749675041.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 304.112183 m,
bearing: 328.788815 deg,
approach rate: -0.466590 m/s,
LOS rate: -0.004330 deg/s,
cmd heading: 320.565175 deg,
new cmd heading: 320.558903 deg.
2025-06-11T20:50:41.410Z,1749675041.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594808 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:41.521Z,1749675041.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774648
2025-06-11T20:50:41.718Z,1749675041.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:41.721Z,1749675041.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 303.959045 m,
bearing: 328.787321 deg,
approach rate: -0.467636 m/s,
LOS rate: -0.004566 deg/s,
cmd heading: 320.558891 deg,
new cmd heading: 320.554406 deg.
2025-06-11T20:50:41.722Z,1749675041.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594730 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:41.774Z,1749675041.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027131
2025-06-11T20:50:42.026Z,1749675042.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278146
2025-06-11T20:50:42.118Z,1749675042.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:42.121Z,1749675042.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 303.772064 m,
bearing: 328.785555 deg,
approach rate: -0.467037 m/s,
LOS rate: -0.004412 deg/s,
cmd heading: 320.554411 deg,
new cmd heading: 320.549112 deg.
2025-06-11T20:50:42.122Z,1749675042.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594637 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:42.277Z,1749675042.277 [DAT](INFO): DAT read: Rx Time:20:50:43.4826
2025-06-11T20:50:42.277Z,1749675042.277 [DAT](INFO): Rx dataTimestamp_ set to:1749675042.277178
2025-06-11T20:50:42.278Z,1749675042.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531231
2025-06-11T20:50:42.529Z,1749675042.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782030
2025-06-11T20:50:42.559Z,1749675042.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.66 m.
2025-06-11T20:50:42.562Z,1749675042.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 322.657074 m,
nav range: 303.571228 m,
bearing: 328.786105 deg,
approach rate: -0.456052 m/s,
LOS rate: 0.001250 deg/s,
cmd heading: 320.549111 deg,
new cmd heading: 320.550762 deg.
2025-06-11T20:50:42.563Z,1749675042.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594666 target range: 322.657074 and range: 325.50 m.
2025-06-11T20:50:42.788Z,1749675042.788 [DAT](INFO): DAT read: 20:50:43.4826 LVL= 27376, 25009, 25458, 30259, AGC= 71, IDX= 393, 0.10, 0.573,-0.850, 0.291,-0.094, PHS= 0.755,-0.709, 0.382, RAW= 135.8, -6.5, CAL= 141.6, -17.2, ROT= 8.4, 17.2
2025-06-11T20:50:42.790Z,1749675042.790 [DAT](INFO): got valid direction response:
20:50:43.4826 LVL= 27376, 25009, 25458, 30259, AGC= 71, IDX= 393, 0.10, 0.573,-0.850, 0.291,-0.094, PHS= 0.755,-0.709, 0.382, RAW= 135.8, -6.5, CAL= 141.6, -17.2, ROT= 8.4, 17.2
2025-06-11T20:50:42.791Z,1749675042.791 [DAT](INFO): DAT read: Bearing 8.4, 17.2 (Local)
2025-06-11T20:50:42.792Z,1749675042.792 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.4, 17.2 (Local)
2025-06-11T20:50:42.794Z,1749675042.794 [DAT](INFO): DAT read: Range 10 to 50 : 318.5 m (Round-trip 424.7 ms) speed 0.1 m/s
2025-06-11T20:50:42.812Z,1749675042.812 [DAT](INFO): DAT read: user:516>
2025-06-11T20:50:42.813Z,1749675042.813 [DAT](INFO): DAT read: Tx time:20:50:44.6038
2025-06-11T20:50:42.813Z,1749675042.813 [DAT](INFO): Ping request sent.
2025-06-11T20:50:42.813Z,1749675042.813 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:42.814Z,1749675042.814 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:42.818Z,1749675042.818 [DAT](INFO): direction in FSK: [0.945030,0.139550,-0.295708]
2025-06-11T20:50:42.819Z,1749675042.819 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:42.852Z,1749675042.852 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:42.855Z,1749675042.855 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:42.855Z,1749675042.855 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:42.967Z,1749675042.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 318.500000 m,
deltaT: 14.872131 s,
deltaX: -7.000000 m,
approachRate: -0.470679 m/s,
rangeRepo size: 4
2025-06-11T20:50:42.973Z,1749675042.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 315.759796 m,
bearing: 330.649920 deg,
lat: 36.906369 deg,
lon: -122.115324 deg,
deltaT: 14.872131 s,
deltaX: -6.897278 m,
approachRate: -0.463772 m/s,
posRepo size: 4
2025-06-11T20:50:42.974Z,1749675042.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:42.981Z,1749675042.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 301.262421 m,
bearing: 329.717007 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001250 deg/s,
cmd heading: 320.550750 deg,
new cmd heading: 320.552277 deg.
2025-06-11T20:50:42.982Z,1749675042.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594693 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:43.034Z,1749675043.034 [DAT](INFO): DAT read: TxSync time:20:50:44.6030
2025-06-11T20:50:43.462Z,1749675043.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:43.468Z,1749675043.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:43.471Z,1749675043.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 301.027100 m,
bearing: 329.719642 deg,
approach rate: -0.472923 m/s,
LOS rate: 0.005300 deg/s,
cmd heading: 320.552280 deg,
new cmd heading: 320.560192 deg.
2025-06-11T20:50:43.471Z,1749675043.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594831 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:43.537Z,1749675043.537 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:43.538Z,1749675043.538 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:43.538Z,1749675043.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:43.766Z,1749675043.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:43.769Z,1749675043.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 300.887573 m,
bearing: 329.721291 deg,
approach rate: -0.461708 m/s,
LOS rate: 0.005458 deg/s,
cmd heading: 320.560203 deg,
new cmd heading: 320.565151 deg.
2025-06-11T20:50:43.770Z,1749675043.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594917 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:43.789Z,1749675043.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975409
2025-06-11T20:50:44.041Z,1749675044.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227431
2025-06-11T20:50:44.184Z,1749675044.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:44.186Z,1749675044.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 300.697296 m,
bearing: 329.723690 deg,
approach rate: -0.455529 m/s,
LOS rate: 0.005747 deg/s,
cmd heading: 320.565148 deg,
new cmd heading: 320.572350 deg.
2025-06-11T20:50:44.187Z,1749675044.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595043 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:44.293Z,1749675044.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479823
2025-06-11T20:50:44.545Z,1749675044.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731610
2025-06-11T20:50:44.590Z,1749675044.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:44.613Z,1749675044.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 300.516418 m,
bearing: 329.726856 deg,
approach rate: -0.445389 m/s,
LOS rate: 0.007802 deg/s,
cmd heading: 320.572361 deg,
new cmd heading: 320.581866 deg.
2025-06-11T20:50:44.614Z,1749675044.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595209 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:44.797Z,1749675044.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983494
2025-06-11T20:50:44.983Z,1749675044.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:44.986Z,1749675044.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 300.341064 m,
bearing: 329.729960 deg,
approach rate: -0.445521 m/s,
LOS rate: 0.007891 deg/s,
cmd heading: 320.581868 deg,
new cmd heading: 320.591186 deg.
2025-06-11T20:50:44.987Z,1749675044.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595372 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:45.051Z,1749675045.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237678
2025-06-11T20:50:45.301Z,1749675045.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487536
2025-06-11T20:50:45.430Z,1749675045.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:45.433Z,1749675045.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 300.145142 m,
bearing: 329.734171 deg,
approach rate: -0.438869 m/s,
LOS rate: 0.009438 deg/s,
cmd heading: 320.591185 deg,
new cmd heading: 320.603824 deg.
2025-06-11T20:50:45.434Z,1749675045.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595592 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:45.554Z,1749675045.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740715
2025-06-11T20:50:45.794Z,1749675045.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:45.796Z,1749675045.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:45.799Z,1749675045.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 299.992706 m,
bearing: 329.737483 deg,
approach rate: -0.416417 m/s,
LOS rate: 0.009052 deg/s,
cmd heading: 320.603834 deg,
new cmd heading: 320.613775 deg.
2025-06-11T20:50:45.805Z,1749675045.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991548
2025-06-11T20:50:45.806Z,1749675045.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595766 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:46.057Z,1749675046.057 [DAT](INFO): DAT read: Rx Time:20:50:47.4303
2025-06-11T20:50:46.057Z,1749675046.057 [DAT](INFO): Rx dataTimestamp_ set to:1749675046.057087
2025-06-11T20:50:46.058Z,1749675046.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244620
2025-06-11T20:50:46.188Z,1749675046.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:46.191Z,1749675046.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 299.812286 m,
bearing: 329.741425 deg,
approach rate: -0.460053 m/s,
LOS rate: 0.010057 deg/s,
cmd heading: 320.613779 deg,
new cmd heading: 320.625611 deg.
2025-06-11T20:50:46.192Z,1749675046.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595973 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:46.309Z,1749675046.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495450
2025-06-11T20:50:46.566Z,1749675046.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751839
2025-06-11T20:50:46.645Z,1749675046.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:46.647Z,1749675046.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 299.622070 m,
bearing: 329.745731 deg,
approach rate: -0.416547 m/s,
LOS rate: 0.009435 deg/s,
cmd heading: 320.625609 deg,
new cmd heading: 320.638535 deg.
2025-06-11T20:50:46.652Z,1749675046.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596198 target range: 315.759796 and range: 318.50 m.
2025-06-11T20:50:46.814Z,1749675046.814 [DAT](INFO): DAT read: Range 10 to 50 : 316.8 m (Round-trip 422.4 ms) speed 0.4 m/s
2025-06-11T20:50:46.815Z,1749675046.815 [DAT](INFO): DAT read: user:517>
2025-06-11T20:50:46.816Z,1749675046.816 [DAT](INFO): DAT read: Tx time:20:50:48.5038
2025-06-11T20:50:46.816Z,1749675046.816 [DAT](INFO): Ping request sent.
2025-06-11T20:50:46.816Z,1749675046.816 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:46.817Z,1749675046.817 [DAT](INFO): DAT read: TxSync time:20:50:48.5030
2025-06-11T20:50:46.817Z,1749675046.817 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:50:46.817Z,1749675046.817 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:46.818Z,1749675046.818 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:46.997Z,1749675046.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 316.799988 m,
deltaT: 4.031620 s,
deltaX: -1.700012 m,
approachRate: -0.421670 m/s,
rangeRepo size: 4
2025-06-11T20:50:46.998Z,1749675046.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:47.001Z,1749675047.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 299.463593 m,
bearing: 329.749290 deg,
approach rate: -0.451247 m/s,
LOS rate: 0.010141 deg/s,
cmd heading: 320.638531 deg,
new cmd heading: 320.649216 deg.
2025-06-11T20:50:47.002Z,1749675047.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596385 target range: 315.759796 and range: 316.80 m.
2025-06-11T20:50:47.479Z,1749675047.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:47.482Z,1749675047.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 299.258575 m,
bearing: 329.752021 deg,
approach rate: -0.424477 m/s,
LOS rate: 0.005657 deg/s,
cmd heading: 320.649214 deg,
new cmd heading: 320.657410 deg.
2025-06-11T20:50:47.483Z,1749675047.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596528 target range: 315.759796 and range: 316.80 m.
2025-06-11T20:50:47.795Z,1749675047.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:47.815Z,1749675047.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:47.823Z,1749675047.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 299.123840 m,
bearing: 329.753741 deg,
approach rate: -0.402227 m/s,
LOS rate: 0.005138 deg/s,
cmd heading: 320.657410 deg,
new cmd heading: 320.662573 deg.
2025-06-11T20:50:47.825Z,1749675047.825 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:47.826Z,1749675047.826 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:47.826Z,1749675047.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:47.830Z,1749675047.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596618 target range: 315.759796 and range: 316.80 m.
2025-06-11T20:50:48.077Z,1749675048.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260766
2025-06-11T20:50:48.205Z,1749675048.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:48.207Z,1749675048.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 298.950256 m,
bearing: 329.755896 deg,
approach rate: -0.443821 m/s,
LOS rate: 0.005513 deg/s,
cmd heading: 320.662574 deg,
new cmd heading: 320.669043 deg.
2025-06-11T20:50:48.209Z,1749675048.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596731 target range: 315.759796 and range: 316.80 m.
2025-06-11T20:50:48.329Z,1749675048.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512691
2025-06-11T20:50:48.581Z,1749675048.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764662
2025-06-11T20:50:48.648Z,1749675048.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:48.650Z,1749675048.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 298.767883 m,
bearing: 329.756962 deg,
approach rate: -0.415714 m/s,
LOS rate: 0.002432 deg/s,
cmd heading: 320.669049 deg,
new cmd heading: 320.672250 deg.
2025-06-11T20:50:48.651Z,1749675048.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596786 target range: 315.759796 and range: 316.80 m.
2025-06-11T20:50:48.833Z,1749675048.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016788
2025-06-11T20:50:49.011Z,1749675049.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:49.013Z,1749675049.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 298.599213 m,
bearing: 329.757823 deg,
approach rate: -0.459596 m/s,
LOS rate: 0.002347 deg/s,
cmd heading: 320.672245 deg,
new cmd heading: 320.674830 deg.
2025-06-11T20:50:49.014Z,1749675049.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596832 target range: 315.759796 and range: 316.80 m.
2025-06-11T20:50:49.085Z,1749675049.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268838
2025-06-11T20:50:49.337Z,1749675049.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520567
2025-06-11T20:50:49.479Z,1749675049.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:49.503Z,1749675049.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 298.390747 m,
bearing: 329.757170 deg,
approach rate: -0.444701 m/s,
LOS rate: -0.001394 deg/s,
cmd heading: 320.674841 deg,
new cmd heading: 320.672881 deg.
2025-06-11T20:50:49.508Z,1749675049.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596797 target range: 315.759796 and range: 316.80 m.
2025-06-11T20:50:49.590Z,1749675049.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774042
2025-06-11T20:50:49.836Z,1749675049.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:49.838Z,1749675049.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:49.841Z,1749675049.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024786
2025-06-11T20:50:49.842Z,1749675049.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 298.231384 m,
bearing: 329.756603 deg,
approach rate: -0.444204 m/s,
LOS rate: -0.001584 deg/s,
cmd heading: 320.672874 deg,
new cmd heading: 320.671169 deg.
2025-06-11T20:50:49.843Z,1749675049.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596768 target range: 315.759796 and range: 316.80 m.
2025-06-11T20:50:50.093Z,1749675050.093 [DAT](INFO): DAT read: Rx Time:20:50:51.3281
2025-06-11T20:50:50.093Z,1749675050.093 [DAT](INFO): Rx dataTimestamp_ set to:1749675050.093065
2025-06-11T20:50:50.094Z,1749675050.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277729
2025-06-11T20:50:50.241Z,1749675050.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.76 m.
2025-06-11T20:50:50.244Z,1749675050.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 315.759796 m,
nav range: 298.057953 m,
bearing: 329.755937 deg,
approach rate: -0.430230 m/s,
LOS rate: -0.001653 deg/s,
cmd heading: 320.671180 deg,
new cmd heading: 320.669181 deg.
2025-06-11T20:50:50.245Z,1749675050.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596733 target range: 315.759796 and range: 316.80 m.
2025-06-11T20:50:50.345Z,1749675050.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528734
2025-06-11T20:50:50.603Z,1749675050.603 [DAT](INFO): DAT read: 20:50:51.3281 LVL= 23824, 26945, 23362, 28851, AGC= 72, IDX= 410,-0.02,-1.771, 3.087,-1.996,-2.385, PHS= 0.702,-0.764, 0.386, RAW= 138.2, -4.9, CAL= 143.8, -14.7, ROT= 6.2, 14.7
2025-06-11T20:50:50.604Z,1749675050.604 [DAT](INFO): got valid direction response:
20:50:51.3281 LVL= 23824, 26945, 23362, 28851, AGC= 72, IDX= 410,-0.02,-1.771, 3.087,-1.996,-2.385, PHS= 0.702,-0.764, 0.386, RAW= 138.2, -4.9, CAL= 143.8, -14.7, ROT= 6.2, 14.7
2025-06-11T20:50:50.605Z,1749675050.605 [DAT](INFO): DAT read: Bearing 6.2, 14.7 (Local)
2025-06-11T20:50:50.605Z,1749675050.605 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.2, 14.7 (Local)
2025-06-11T20:50:50.607Z,1749675050.607 [DAT](INFO): DAT read: Range 10 to 50 : 315.0 m (Round-trip 420.1 ms) speed -0.2 m/s
2025-06-11T20:50:50.608Z,1749675050.608 [DAT](INFO): DAT read: user:518>
2025-06-11T20:50:50.609Z,1749675050.609 [DAT](INFO): DAT read: Tx time:20:50:52.4539
2025-06-11T20:50:50.609Z,1749675050.609 [DAT](INFO): Ping request sent.
2025-06-11T20:50:50.609Z,1749675050.609 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:50.610Z,1749675050.610 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:50.611Z,1749675050.611 [DAT](INFO): direction in FSK: [0.961610,0.104464,-0.253758]
2025-06-11T20:50:50.611Z,1749675050.611 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:50.611Z,1749675050.611 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:50.614Z,1749675050.614 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:50.614Z,1749675050.614 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:50.755Z,1749675050.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 315.000000 m,
deltaT: 3.784061 s,
deltaX: -1.799988 m,
approachRate: -0.475676 m/s,
rangeRepo size: 4
2025-06-11T20:50:50.770Z,1749675050.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 312.266113 m,
bearing: 329.145633 deg,
lat: 36.906386 deg,
lon: -122.115324 deg,
deltaT: 7.815681 s,
deltaX: -3.493683 m,
approachRate: -0.447009 m/s,
posRepo size: 4
2025-06-11T20:50:50.770Z,1749675050.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:50.777Z,1749675050.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 299.464752 m,
bearing: 329.935410 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001653 deg/s,
cmd heading: 320.669185 deg,
new cmd heading: 320.666639 deg.
2025-06-11T20:50:50.778Z,1749675050.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596689 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:50.850Z,1749675050.850 [DAT](INFO): DAT read: TxSync time:20:50:52.4531
2025-06-11T20:50:51.070Z,1749675051.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:51.073Z,1749675051.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 299.311401 m,
bearing: 329.933949 deg,
approach rate: -0.486220 m/s,
LOS rate: -0.004635 deg/s,
cmd heading: 320.666644 deg,
new cmd heading: 320.662259 deg.
2025-06-11T20:50:51.074Z,1749675051.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596612 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:51.523Z,1749675051.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:51.525Z,1749675051.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 299.100525 m,
bearing: 329.929968 deg,
approach rate: -0.466093 m/s,
LOS rate: -0.008805 deg/s,
cmd heading: 320.662246 deg,
new cmd heading: 320.650295 deg.
2025-06-11T20:50:51.526Z,1749675051.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596404 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:51.888Z,1749675051.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:51.890Z,1749675051.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:51.899Z,1749675051.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 298.933289 m,
bearing: 329.926807 deg,
approach rate: -0.455232 m/s,
LOS rate: -0.008610 deg/s,
cmd heading: 320.650307 deg,
new cmd heading: 320.640818 deg.
2025-06-11T20:50:51.904Z,1749675051.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596238 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:52.108Z,1749675052.108 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:52.109Z,1749675052.109 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:52.109Z,1749675052.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:52.279Z,1749675052.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:52.282Z,1749675052.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 298.748169 m,
bearing: 329.923437 deg,
approach rate: -0.475921 m/s,
LOS rate: -0.008670 deg/s,
cmd heading: 320.640826 deg,
new cmd heading: 320.630709 deg.
2025-06-11T20:50:52.283Z,1749675052.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596062 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:52.361Z,1749675052.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751609
2025-06-11T20:50:52.613Z,1749675052.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003753
2025-06-11T20:50:52.724Z,1749675052.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:52.727Z,1749675052.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 298.539062 m,
bearing: 329.918930 deg,
approach rate: -0.470104 m/s,
LOS rate: -0.010139 deg/s,
cmd heading: 320.630718 deg,
new cmd heading: 320.617187 deg.
2025-06-11T20:50:52.728Z,1749675052.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595826 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:52.865Z,1749675052.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255563
2025-06-11T20:50:53.113Z,1749675053.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:53.117Z,1749675053.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507606
2025-06-11T20:50:53.120Z,1749675053.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 298.365173 m,
bearing: 329.915192 deg,
approach rate: -0.446368 m/s,
LOS rate: -0.009600 deg/s,
cmd heading: 320.617194 deg,
new cmd heading: 320.605974 deg.
2025-06-11T20:50:53.121Z,1749675053.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595630 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:53.370Z,1749675053.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760886
2025-06-11T20:50:53.578Z,1749675053.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:53.585Z,1749675053.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 298.143036 m,
bearing: 329.909939 deg,
approach rate: -0.478404 m/s,
LOS rate: -0.011321 deg/s,
cmd heading: 320.605965 deg,
new cmd heading: 320.590195 deg.
2025-06-11T20:50:53.586Z,1749675053.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595355 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:53.621Z,1749675053.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011668
2025-06-11T20:50:53.873Z,1749675053.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263522
2025-06-11T20:50:53.911Z,1749675053.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:53.914Z,1749675053.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:53.919Z,1749675053.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 297.973175 m,
bearing: 329.905917 deg,
approach rate: -0.505075 m/s,
LOS rate: -0.011967 deg/s,
cmd heading: 320.590201 deg,
new cmd heading: 320.578127 deg.
2025-06-11T20:50:53.921Z,1749675053.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595144 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:54.125Z,1749675054.125 [DAT](INFO): DAT read: Rx Time:20:50:55.2755
2025-06-11T20:50:54.125Z,1749675054.125 [DAT](INFO): Rx dataTimestamp_ set to:1749675054.125000
2025-06-11T20:50:54.126Z,1749675054.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516548
2025-06-11T20:50:54.295Z,1749675054.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.27 m.
2025-06-11T20:50:54.298Z,1749675054.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 312.266113 m,
nav range: 297.790131 m,
bearing: 329.901655 deg,
approach rate: -0.480113 m/s,
LOS rate: -0.011186 deg/s,
cmd heading: 320.578125 deg,
new cmd heading: 320.565331 deg.
2025-06-11T20:50:54.299Z,1749675054.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594921 target range: 312.266113 and range: 315.00 m.
2025-06-11T20:50:54.377Z,1749675054.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767702
2025-06-11T20:50:54.637Z,1749675054.637 [DAT](INFO): DAT read: 20:50:55.2755 LVL= 16656, 20929, 15298, 23747, AGC= 71, IDX= 400,-0.44, 0.208,-1.301,-0.080,-0.463, PHS= 0.759,-0.791, 0.380, RAW= 136.4, -5.0, CAL= 142.1, -15.1, ROT= 7.9, 15.1
2025-06-11T20:50:54.638Z,1749675054.638 [DAT](INFO): got valid direction response:
20:50:55.2755 LVL= 16656, 20929, 15298, 23747, AGC= 71, IDX= 400,-0.44, 0.208,-1.301,-0.080,-0.463, PHS= 0.759,-0.791, 0.380, RAW= 136.4, -5.0, CAL= 142.1, -15.1, ROT= 7.9, 15.1
2025-06-11T20:50:54.639Z,1749675054.639 [DAT](INFO): DAT read: Bearing 7.9, 15.1 (Local)
2025-06-11T20:50:54.639Z,1749675054.639 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.9, 15.1 (Local)
2025-06-11T20:50:54.641Z,1749675054.641 [DAT](INFO): DAT read: Range 10 to 50 : 313.1 m (Round-trip 417.5 ms) speed 0.4 m/s
2025-06-11T20:50:54.642Z,1749675054.642 [DAT](INFO): DAT read: user:519>
2025-06-11T20:50:54.643Z,1749675054.643 [DAT](INFO): DAT read: Tx time:20:50:56.3539
2025-06-11T20:50:54.643Z,1749675054.643 [DAT](INFO): Ping request sent.
2025-06-11T20:50:54.643Z,1749675054.643 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:50:54.685Z,1749675054.685 [DAT](INFO): DAT read: TxSync time:20:50:56.3531
2025-06-11T20:50:54.686Z,1749675054.686 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:50:54.687Z,1749675054.687 [DAT](INFO): direction in FSK: [0.956310,0.132699,-0.260505]
2025-06-11T20:50:54.687Z,1749675054.687 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:54.692Z,1749675054.692 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:54.695Z,1749675054.695 [DAT](INFO): publishing transmit ping time
2025-06-11T20:50:54.695Z,1749675054.695 [DAT](INFO): publishing direction and range info
2025-06-11T20:50:54.807Z,1749675054.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 313.100006 m,
deltaT: 4.033583 s,
deltaX: -1.899994 m,
approachRate: -0.471044 m/s,
rangeRepo size: 4
2025-06-11T20:50:54.818Z,1749675054.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 310.393280 m,
bearing: 329.826203 deg,
lat: 36.906404 deg,
lon: -122.115342 deg,
deltaT: 4.033583 s,
deltaX: -1.872833 m,
approachRate: -0.464310 m/s,
posRepo size: 4
2025-06-11T20:50:54.819Z,1749675054.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:54.825Z,1749675054.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 300.032013 m,
bearing: 329.823497 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011186 deg/s,
cmd heading: 320.565339 deg,
new cmd heading: 320.548188 deg.
2025-06-11T20:50:54.826Z,1749675054.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594621 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:55.122Z,1749675055.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:55.129Z,1749675055.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 299.872803 m,
bearing: 329.819853 deg,
approach rate: -0.504550 m/s,
LOS rate: -0.011552 deg/s,
cmd heading: 320.548182 deg,
new cmd heading: 320.537246 deg.
2025-06-11T20:50:55.130Z,1749675055.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594430 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:55.570Z,1749675055.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:55.572Z,1749675055.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 299.656769 m,
bearing: 329.815789 deg,
approach rate: -0.482581 m/s,
LOS rate: -0.009085 deg/s,
cmd heading: 320.537253 deg,
new cmd heading: 320.525052 deg.
2025-06-11T20:50:55.573Z,1749675055.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594217 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:55.908Z,1749675055.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:55.911Z,1749675055.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 299.495941 m,
bearing: 329.812779 deg,
approach rate: -0.475214 m/s,
LOS rate: -0.008900 deg/s,
cmd heading: 320.525041 deg,
new cmd heading: 320.516005 deg.
2025-06-11T20:50:55.912Z,1749675055.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594059 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:56.306Z,1749675056.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:56.309Z,1749675056.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:56.312Z,1749675056.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 299.306183 m,
bearing: 329.809188 deg,
approach rate: -0.474221 m/s,
LOS rate: -0.008978 deg/s,
cmd heading: 320.515998 deg,
new cmd heading: 320.505220 deg.
2025-06-11T20:50:56.329Z,1749675056.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593872 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:56.394Z,1749675056.394 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:56.394Z,1749675056.394 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:56.394Z,1749675056.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:50:56.645Z,1749675056.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001693
2025-06-11T20:50:56.736Z,1749675056.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:56.739Z,1749675056.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 299.101837 m,
bearing: 329.805723 deg,
approach rate: -0.477471 m/s,
LOS rate: -0.008103 deg/s,
cmd heading: 320.505233 deg,
new cmd heading: 320.494829 deg.
2025-06-11T20:50:56.740Z,1749675056.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593690 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:56.897Z,1749675056.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253597
2025-06-11T20:50:57.117Z,1749675057.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:57.120Z,1749675057.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 298.920013 m,
bearing: 329.802630 deg,
approach rate: -0.477034 m/s,
LOS rate: -0.008120 deg/s,
cmd heading: 320.494824 deg,
new cmd heading: 320.485540 deg.
2025-06-11T20:50:57.121Z,1749675057.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593528 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:57.149Z,1749675057.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505616
2025-06-11T20:50:57.401Z,1749675057.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757653
2025-06-11T20:50:57.590Z,1749675057.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:57.593Z,1749675057.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 298.703979 m,
bearing: 329.798943 deg,
approach rate: -0.456955 m/s,
LOS rate: -0.007803 deg/s,
cmd heading: 320.485535 deg,
new cmd heading: 320.474468 deg.
2025-06-11T20:50:57.594Z,1749675057.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593335 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:57.653Z,1749675057.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010104
2025-06-11T20:50:57.905Z,1749675057.905 [DAT](INFO): DAT read: Rx Time:20:50:59.1732
2025-06-11T20:50:57.905Z,1749675057.905 [DAT](INFO): Rx dataTimestamp_ set to:1749675057.904914
2025-06-11T20:50:57.906Z,1749675057.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262609
2025-06-11T20:50:58.001Z,1749675058.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:58.008Z,1749675058.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 298.504303 m,
bearing: 329.797147 deg,
approach rate: -0.485596 m/s,
LOS rate: -0.004372 deg/s,
cmd heading: 320.474470 deg,
new cmd heading: 320.469077 deg.
2025-06-11T20:50:58.013Z,1749675058.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593241 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:58.157Z,1749675058.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513656
2025-06-11T20:50:58.383Z,1749675058.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:50:58.386Z,1749675058.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:58.389Z,1749675058.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 298.326233 m,
bearing: 329.795543 deg,
approach rate: -0.463107 m/s,
LOS rate: -0.004174 deg/s,
cmd heading: 320.469088 deg,
new cmd heading: 320.464273 deg.
2025-06-11T20:50:58.390Z,1749675058.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593157 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:58.434Z,1749675058.434 [DAT](INFO): DAT read: 20:50:59.1732 LVL= 22160, 22801, 20546, 29235, AGC= 73, IDX= 423, 0.19, 0.249,-1.344,-0.093,-0.472, PHS= 0.809,-0.825, 0.376, RAW= 135.2, -5.0, CAL= 140.8, -15.3, ROT= 9.2, 15.3
2025-06-11T20:50:58.435Z,1749675058.435 [DAT](INFO): got valid direction response:
20:50:59.1732 LVL= 22160, 22801, 20546, 29235, AGC= 73, IDX= 423, 0.19, 0.249,-1.344,-0.093,-0.472, PHS= 0.809,-0.825, 0.376, RAW= 135.2, -5.0, CAL= 140.8, -15.3, ROT= 9.2, 15.3
2025-06-11T20:50:58.436Z,1749675058.436 [DAT](INFO): DAT read: $Error in header
2025-06-11T20:50:58.437Z,1749675058.437 [DAT](INFO): Received a bad header
2025-06-11T20:50:58.448Z,1749675058.448 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T20:50:58.449Z,1749675058.449 [DAT](INFO): direction in FSK: [0.952150,0.154215,-0.263873]
2025-06-11T20:50:58.452Z,1749675058.452 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:58.453Z,1749675058.453 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:58.453Z,1749675058.453 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:58.677Z,1749675058.677 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:58.677Z,1749675058.677 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:58.677Z,1749675058.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:58.773Z,1749675058.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:58.784Z,1749675058.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 298.153717 m,
bearing: 329.795477 deg,
approach rate: -0.445161 m/s,
LOS rate: -0.000171 deg/s,
cmd heading: 320.464280 deg,
new cmd heading: 320.464081 deg.
2025-06-11T20:50:58.785Z,1749675058.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593153 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:58.929Z,1749675058.929 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:58.929Z,1749675058.929 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:58.929Z,1749675058.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:59.150Z,1749675059.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:59.153Z,1749675059.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 297.986023 m,
bearing: 329.795414 deg,
approach rate: -0.445016 m/s,
LOS rate: -0.000168 deg/s,
cmd heading: 320.464088 deg,
new cmd heading: 320.463899 deg.
2025-06-11T20:50:59.154Z,1749675059.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593150 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:59.181Z,1749675059.181 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:59.181Z,1749675059.181 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:59.181Z,1749675059.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:59.432Z,1749675059.432 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:59.433Z,1749675059.433 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:59.433Z,1749675059.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:59.604Z,1749675059.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:50:59.607Z,1749675059.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 297.788055 m,
bearing: 329.795341 deg,
approach rate: -0.435862 m/s,
LOS rate: -0.000161 deg/s,
cmd heading: 320.463897 deg,
new cmd heading: 320.463678 deg.
2025-06-11T20:50:59.612Z,1749675059.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593146 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:50:59.686Z,1749675059.686 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:59.686Z,1749675059.686 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:59.686Z,1749675059.686 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:50:59.937Z,1749675059.937 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:50:59.937Z,1749675059.937 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:50:59.937Z,1749675059.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:00.007Z,1749675060.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:00.014Z,1749675060.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 297.613068 m,
bearing: 329.797210 deg,
approach rate: -0.434597 m/s,
LOS rate: 0.004644 deg/s,
cmd heading: 320.463679 deg,
new cmd heading: 320.469289 deg.
2025-06-11T20:51:00.015Z,1749675060.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593244 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:00.189Z,1749675060.189 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:00.189Z,1749675060.189 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:00.189Z,1749675060.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:00.355Z,1749675060.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:00.362Z,1749675060.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 297.463562 m,
bearing: 329.798821 deg,
approach rate: -0.429039 m/s,
LOS rate: 0.004628 deg/s,
cmd heading: 320.469279 deg,
new cmd heading: 320.474117 deg.
2025-06-11T20:51:00.363Z,1749675060.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593328 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:00.441Z,1749675060.441 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:00.441Z,1749675060.441 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:00.441Z,1749675060.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:00.693Z,1749675060.693 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:00.693Z,1749675060.693 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:00.693Z,1749675060.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:00.809Z,1749675060.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:00.811Z,1749675060.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:00.814Z,1749675060.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 297.264740 m,
bearing: 329.802730 deg,
approach rate: -0.435937 m/s,
LOS rate: 0.008576 deg/s,
cmd heading: 320.474115 deg,
new cmd heading: 320.485849 deg.
2025-06-11T20:51:00.815Z,1749675060.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593534 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:00.945Z,1749675060.945 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:00.946Z,1749675060.946 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:00.946Z,1749675060.946 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:01.173Z,1749675061.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:01.180Z,1749675061.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 297.108185 m,
bearing: 329.805847 deg,
approach rate: -0.432870 m/s,
LOS rate: 0.008623 deg/s,
cmd heading: 320.485863 deg,
new cmd heading: 320.495219 deg.
2025-06-11T20:51:01.181Z,1749675061.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593697 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:01.197Z,1749675061.197 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:01.197Z,1749675061.197 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:01.197Z,1749675061.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:01.448Z,1749675061.448 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:01.449Z,1749675061.449 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:01.449Z,1749675061.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:01.625Z,1749675061.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:01.627Z,1749675061.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 296.930695 m,
bearing: 329.809446 deg,
approach rate: -0.393225 m/s,
LOS rate: 0.007979 deg/s,
cmd heading: 320.495207 deg,
new cmd heading: 320.506011 deg.
2025-06-11T20:51:01.632Z,1749675061.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593885 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:01.701Z,1749675061.701 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:01.702Z,1749675061.702 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:01.702Z,1749675061.702 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:01.953Z,1749675061.953 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:01.953Z,1749675061.953 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:01.953Z,1749675061.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:02.006Z,1749675062.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:02.009Z,1749675062.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 296.748901 m,
bearing: 329.814835 deg,
approach rate: -0.476928 m/s,
LOS rate: 0.014145 deg/s,
cmd heading: 320.505998 deg,
new cmd heading: 320.522174 deg.
2025-06-11T20:51:02.010Z,1749675062.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594167 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:02.205Z,1749675062.205 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:02.205Z,1749675062.205 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:02.205Z,1749675062.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:02.370Z,1749675062.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:02.373Z,1749675062.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 296.594574 m,
bearing: 329.819491 deg,
approach rate: -0.423260 m/s,
LOS rate: 0.012777 deg/s,
cmd heading: 320.522172 deg,
new cmd heading: 320.536149 deg.
2025-06-11T20:51:02.374Z,1749675062.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594411 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:02.458Z,1749675062.458 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:02.458Z,1749675062.458 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:02.459Z,1749675062.459 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:02.709Z,1749675062.709 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:02.709Z,1749675062.709 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:02.709Z,1749675062.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:02.802Z,1749675062.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:02.804Z,1749675062.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 296.410583 m,
bearing: 329.825628 deg,
approach rate: -0.426566 m/s,
LOS rate: 0.014235 deg/s,
cmd heading: 320.536161 deg,
new cmd heading: 320.554581 deg.
2025-06-11T20:51:02.805Z,1749675062.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594733 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:02.961Z,1749675062.961 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:02.961Z,1749675062.961 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:02.961Z,1749675062.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:03.175Z,1749675063.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:03.177Z,1749675063.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:03.180Z,1749675063.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 296.250397 m,
bearing: 329.831033 deg,
approach rate: -0.426241 m/s,
LOS rate: 0.014392 deg/s,
cmd heading: 320.554575 deg,
new cmd heading: 320.570801 deg.
2025-06-11T20:51:03.181Z,1749675063.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595016 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:03.213Z,1749675063.213 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:03.213Z,1749675063.213 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:03.214Z,1749675063.214 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:03.465Z,1749675063.465 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:03.465Z,1749675063.465 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:03.465Z,1749675063.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:03.611Z,1749675063.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:03.635Z,1749675063.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 296.076935 m,
bearing: 329.836930 deg,
approach rate: -0.401356 m/s,
LOS rate: 0.013651 deg/s,
cmd heading: 320.570803 deg,
new cmd heading: 320.588502 deg.
2025-06-11T20:51:03.643Z,1749675063.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595325 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:03.718Z,1749675063.718 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:03.718Z,1749675063.718 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:03.718Z,1749675063.718 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:03.969Z,1749675063.969 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:03.969Z,1749675063.969 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:03.969Z,1749675063.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:04.029Z,1749675064.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:04.036Z,1749675064.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 295.887573 m,
bearing: 329.842584 deg,
approach rate: -0.451180 m/s,
LOS rate: 0.013481 deg/s,
cmd heading: 320.588507 deg,
new cmd heading: 320.605482 deg.
2025-06-11T20:51:04.037Z,1749675064.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595621 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:04.223Z,1749675064.223 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:04.223Z,1749675064.223 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:04.224Z,1749675064.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:04.385Z,1749675064.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:04.388Z,1749675064.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 295.733032 m,
bearing: 329.847191 deg,
approach rate: -0.434127 m/s,
LOS rate: 0.012948 deg/s,
cmd heading: 320.605473 deg,
new cmd heading: 320.619301 deg.
2025-06-11T20:51:04.389Z,1749675064.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595862 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:04.473Z,1749675064.473 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:04.473Z,1749675064.473 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:04.474Z,1749675064.474 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T20:51:04.726Z,1749675064.726 [DAT](INFO): Reached modem response timeout
2025-06-11T20:51:04.727Z,1749675064.727 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:51:04.728Z,1749675064.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:04.819Z,1749675064.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:04.821Z,1749675064.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 295.548096 m,
bearing: 329.849874 deg,
approach rate: -0.426833 m/s,
LOS rate: 0.006196 deg/s,
cmd heading: 320.619298 deg,
new cmd heading: 320.627351 deg.
2025-06-11T20:51:04.822Z,1749675064.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596003 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:04.977Z,1749675064.977 [DAT](INFO): Reached modem response timeout
2025-06-11T20:51:04.977Z,1749675064.977 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:51:04.977Z,1749675064.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:05.198Z,1749675065.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:05.200Z,1749675065.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:05.203Z,1749675065.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 295.385437 m,
bearing: 329.852183 deg,
approach rate: -0.425918 m/s,
LOS rate: 0.006050 deg/s,
cmd heading: 320.627357 deg,
new cmd heading: 320.634288 deg.
2025-06-11T20:51:05.204Z,1749675065.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596124 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:05.228Z,1749675065.228 [DAT](INFO): Reached modem response timeout
2025-06-11T20:51:05.229Z,1749675065.229 [DAT](DEBUG): Acoustic response timeout
2025-06-11T20:51:05.229Z,1749675065.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:05.481Z,1749675065.481 [DAT](INFO): DAT read: Response Not Received
2025-06-11T20:51:05.481Z,1749675065.481 [DAT](INFO): response not received
2025-06-11T20:51:05.482Z,1749675065.482 [DAT](INFO): DAT read: user:521>
2025-06-11T20:51:05.482Z,1749675065.482 [DAT](INFO): DAT read: Tx time:20:51:07.3040
2025-06-11T20:51:05.483Z,1749675065.483 [DAT](INFO): Ping request sent.
2025-06-11T20:51:05.483Z,1749675065.483 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:05.483Z,1749675065.483 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:05.483Z,1749675065.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-06-11T20:51:05.622Z,1749675065.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:05.630Z,1749675065.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 295.208313 m,
bearing: 329.854625 deg,
approach rate: -0.422287 m/s,
LOS rate: 0.005824 deg/s,
cmd heading: 320.634297 deg,
new cmd heading: 320.641625 deg.
2025-06-11T20:51:05.634Z,1749675065.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596252 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:05.734Z,1749675065.734 [DAT](INFO): DAT read: TxSync time:20:51:07.3032
2025-06-11T20:51:05.735Z,1749675065.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252240
2025-06-11T20:51:05.985Z,1749675065.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502147
2025-06-11T20:51:06.048Z,1749675066.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:06.051Z,1749675066.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 295.034485 m,
bearing: 329.855856 deg,
approach rate: -0.409838 m/s,
LOS rate: 0.002905 deg/s,
cmd heading: 320.641619 deg,
new cmd heading: 320.645315 deg.
2025-06-11T20:51:06.056Z,1749675066.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596316 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:06.232Z,1749675066.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:51:06.237Z,1749675066.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754141
2025-06-11T20:51:06.405Z,1749675066.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:06.408Z,1749675066.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 294.869324 m,
bearing: 329.857033 deg,
approach rate: -0.457105 m/s,
LOS rate: 0.003259 deg/s,
cmd heading: 320.645307 deg,
new cmd heading: 320.648840 deg.
2025-06-11T20:51:06.409Z,1749675066.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596378 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:06.490Z,1749675066.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007227
2025-06-11T20:51:06.741Z,1749675066.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258241
2025-06-11T20:51:06.857Z,1749675066.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:06.859Z,1749675066.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 294.684509 m,
bearing: 329.854495 deg,
approach rate: -0.409663 m/s,
LOS rate: -0.005630 deg/s,
cmd heading: 320.648831 deg,
new cmd heading: 320.641212 deg.
2025-06-11T20:51:06.864Z,1749675066.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596245 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:06.995Z,1749675066.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511940
2025-06-11T20:51:07.211Z,1749675067.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:07.213Z,1749675067.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:07.216Z,1749675067.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 294.519806 m,
bearing: 329.852169 deg,
approach rate: -0.461521 m/s,
LOS rate: -0.006520 deg/s,
cmd heading: 320.641209 deg,
new cmd heading: 320.634229 deg.
2025-06-11T20:51:07.217Z,1749675067.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596123 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:07.236Z,1749675067.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:51:07.245Z,1749675067.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762203
2025-06-11T20:51:07.497Z,1749675067.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014044
2025-06-11T20:51:07.708Z,1749675067.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:07.721Z,1749675067.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 294.332947 m,
bearing: 329.849419 deg,
approach rate: -0.385111 m/s,
LOS rate: -0.005671 deg/s,
cmd heading: 320.634242 deg,
new cmd heading: 320.625986 deg.
2025-06-11T20:51:07.722Z,1749675067.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595979 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:07.749Z,1749675067.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266189
2025-06-11T20:51:08.001Z,1749675068.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518215
2025-06-11T20:51:08.065Z,1749675068.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:08.067Z,1749675068.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 294.151031 m,
bearing: 329.844551 deg,
approach rate: -0.496924 m/s,
LOS rate: -0.013307 deg/s,
cmd heading: 320.625991 deg,
new cmd heading: 320.611377 deg.
2025-06-11T20:51:08.072Z,1749675068.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595724 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:08.253Z,1749675068.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770181
2025-06-11T20:51:08.438Z,1749675068.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:08.441Z,1749675068.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 293.988953 m,
bearing: 329.840168 deg,
approach rate: -0.433655 m/s,
LOS rate: -0.011733 deg/s,
cmd heading: 320.611375 deg,
new cmd heading: 320.598219 deg.
2025-06-11T20:51:08.442Z,1749675068.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595494 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:08.505Z,1749675068.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022501
2025-06-11T20:51:08.757Z,1749675068.757 [DAT](INFO): DAT read: Rx Time:20:51:10.1168
2025-06-11T20:51:08.757Z,1749675068.757 [DAT](INFO): Rx dataTimestamp_ set to:1749675068.757041
2025-06-11T20:51:08.758Z,1749675068.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275185
2025-06-11T20:51:08.875Z,1749675068.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:08.878Z,1749675068.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 293.796539 m,
bearing: 329.832962 deg,
approach rate: -0.440296 m/s,
LOS rate: -0.016500 deg/s,
cmd heading: 320.598206 deg,
new cmd heading: 320.576574 deg.
2025-06-11T20:51:08.879Z,1749675068.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595117 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:09.009Z,1749675069.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526043
2025-06-11T20:51:09.266Z,1749675069.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782693
2025-06-11T20:51:09.309Z,1749675069.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:09.311Z,1749675069.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.39 m.
2025-06-11T20:51:09.318Z,1749675069.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 310.393280 m,
nav range: 293.615448 m,
bearing: 329.826170 deg,
approach rate: -0.415430 m/s,
LOS rate: -0.015592 deg/s,
cmd heading: 320.576568 deg,
new cmd heading: 320.556177 deg.
2025-06-11T20:51:09.319Z,1749675069.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594761 target range: 310.393280 and range: 313.10 m.
2025-06-11T20:51:09.519Z,1749675069.519 [DAT](INFO): DAT read: 20:51:10.1168 LVL= 32752, 32753, 31938, 32755, AGC= 72, IDX= 390,-0.28, 0.096,-1.310,-0.127,-0.512, PHS= 0.696,-0.750, 0.383, RAW= 138.1, -5.0, CAL= 143.7, -14.9, ROT= 6.3, 14.9
2025-06-11T20:51:09.520Z,1749675069.520 [DAT](INFO): got valid direction response:
20:51:10.1168 LVL= 32752, 32753, 31938, 32755, AGC= 72, IDX= 390,-0.28, 0.096,-1.310,-0.127,-0.512, PHS= 0.696,-0.750, 0.383, RAW= 138.1, -5.0, CAL= 143.7, -14.9, ROT= 6.3, 14.9
2025-06-11T20:51:09.521Z,1749675069.521 [DAT](INFO): DAT read: Bearing 6.3, 14.9 (Local)
2025-06-11T20:51:09.522Z,1749675069.522 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.3, 14.9 (Local)
2025-06-11T20:51:09.523Z,1749675069.523 [DAT](INFO): DAT read: Range 10 to 50 : 306.5 m (Round-trip 408.7 ms) speed 0.3 m/s
2025-06-11T20:51:09.524Z,1749675069.524 [DAT](INFO): DAT read: user:522>
2025-06-11T20:51:09.525Z,1749675069.525 [DAT](INFO): DAT read: Tx time:20:51:11.2040
2025-06-11T20:51:09.525Z,1749675069.525 [DAT](INFO): Ping request sent.
2025-06-11T20:51:09.525Z,1749675069.525 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:09.526Z,1749675069.526 [DAT](INFO): DAT read: TxSync time:20:51:11.2032
2025-06-11T20:51:09.526Z,1749675069.526 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:09.527Z,1749675069.527 [DAT](INFO): direction in FSK: [0.960540,0.106045,-0.257133]
2025-06-11T20:51:09.528Z,1749675069.528 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:09.528Z,1749675069.528 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:09.531Z,1749675069.531 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:09.531Z,1749675069.531 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:09.761Z,1749675069.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 306.500000 m,
deltaT: 14.882305 s,
deltaX: -6.600006 m,
approachRate: -0.443480 m/s,
rangeRepo size: 4
2025-06-11T20:51:09.763Z,1749675069.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 303.841278 m,
bearing: 328.700265 deg,
lat: 36.906404 deg,
lon: -122.115342 deg,
deltaT: 14.882305 s,
deltaX: -6.552002 m,
approachRate: -0.440255 m/s,
posRepo size: 4
2025-06-11T20:51:09.766Z,1749675069.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:09.769Z,1749675069.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 293.420471 m,
bearing: 329.818847 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.015592 deg/s,
cmd heading: 320.556187 deg,
new cmd heading: 320.535405 deg.
2025-06-11T20:51:09.769Z,1749675069.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594398 target range: 303.841278 and range: 306.50 m.
2025-06-11T20:51:10.088Z,1749675070.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:10.091Z,1749675070.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 293.248352 m,
bearing: 329.812383 deg,
approach rate: -0.518015 m/s,
LOS rate: -0.019464 deg/s,
cmd heading: 320.535396 deg,
new cmd heading: 320.515994 deg.
2025-06-11T20:51:10.092Z,1749675070.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594059 target range: 303.841278 and range: 306.50 m.
2025-06-11T20:51:10.468Z,1749675070.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:10.471Z,1749675070.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 293.073029 m,
bearing: 329.805892 deg,
approach rate: -0.461611 m/s,
LOS rate: -0.017103 deg/s,
cmd heading: 320.515998 deg,
new cmd heading: 320.496511 deg.
2025-06-11T20:51:10.471Z,1749675070.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593719 target range: 303.841278 and range: 306.50 m.
2025-06-11T20:51:10.894Z,1749675070.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:10.897Z,1749675070.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 292.871613 m,
bearing: 329.799971 deg,
approach rate: -0.472088 m/s,
LOS rate: -0.013885 deg/s,
cmd heading: 320.496518 deg,
new cmd heading: 320.478745 deg.
2025-06-11T20:51:10.898Z,1749675070.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593409 target range: 303.841278 and range: 306.50 m.
2025-06-11T20:51:11.268Z,1749675071.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:11.271Z,1749675071.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 292.694916 m,
bearing: 329.794749 deg,
approach rate: -0.472853 m/s,
LOS rate: -0.013983 deg/s,
cmd heading: 320.478732 deg,
new cmd heading: 320.463057 deg.
2025-06-11T20:51:11.273Z,1749675071.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593135 target range: 303.841278 and range: 306.50 m.
2025-06-11T20:51:11.664Z,1749675071.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:11.666Z,1749675071.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:11.690Z,1749675071.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 292.507172 m,
bearing: 329.789190 deg,
approach rate: -0.471910 m/s,
LOS rate: -0.013984 deg/s,
cmd heading: 320.463050 deg,
new cmd heading: 320.446360 deg.
2025-06-11T20:51:11.691Z,1749675071.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592844 target range: 303.841278 and range: 306.50 m.
2025-06-11T20:51:11.781Z,1749675071.781 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:11.781Z,1749675071.781 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:11.781Z,1749675071.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:12.033Z,1749675072.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507400
2025-06-11T20:51:12.111Z,1749675072.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:12.118Z,1749675072.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 292.294159 m,
bearing: 329.784969 deg,
approach rate: -0.478456 m/s,
LOS rate: -0.009488 deg/s,
cmd heading: 320.446357 deg,
new cmd heading: 320.433684 deg.
2025-06-11T20:51:12.119Z,1749675072.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592623 target range: 303.841278 and range: 306.50 m.
2025-06-11T20:51:12.285Z,1749675072.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759412
2025-06-11T20:51:12.472Z,1749675072.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:12.475Z,1749675072.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 292.114655 m,
bearing: 329.781417 deg,
approach rate: -0.497337 m/s,
LOS rate: -0.009845 deg/s,
cmd heading: 320.433680 deg,
new cmd heading: 320.423020 deg.
2025-06-11T20:51:12.476Z,1749675072.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592437 target range: 303.841278 and range: 306.50 m.
2025-06-11T20:51:12.538Z,1749675072.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012441
2025-06-11T20:51:12.792Z,1749675072.792 [DAT](INFO): DAT read: Rx Time:20:51:14.0145
2025-06-11T20:51:12.793Z,1749675072.793 [DAT](INFO): Rx dataTimestamp_ set to:1749675072.792493
2025-06-11T20:51:12.795Z,1749675072.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269499
2025-06-11T20:51:12.914Z,1749675072.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:12.918Z,1749675072.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 291.897888 m,
bearing: 329.779814 deg,
approach rate: -0.490699 m/s,
LOS rate: -0.003633 deg/s,
cmd heading: 320.423025 deg,
new cmd heading: 320.418211 deg.
2025-06-11T20:51:12.920Z,1749675072.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592353 target range: 303.841278 and range: 306.50 m.
2025-06-11T20:51:13.041Z,1749675073.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515845
2025-06-11T20:51:13.299Z,1749675073.299 [DAT](INFO): DAT read: 20:51:14.0145 LVL= 24960, 22161, 24098, 25843, AGC= 69, IDX= 413,-0.37,-1.047,-2.500,-1.336,-1.694, PHS= 0.735,-0.759, 0.355, RAW= 135.8, -5.0, CAL= 141.4, -15.2, ROT= 8.6, 15.2
2025-06-11T20:51:13.300Z,1749675073.300 [DAT](INFO): got valid direction response:
20:51:14.0145 LVL= 24960, 22161, 24098, 25843, AGC= 69, IDX= 413,-0.37,-1.047,-2.500,-1.336,-1.694, PHS= 0.735,-0.759, 0.355, RAW= 135.8, -5.0, CAL= 141.4, -15.2, ROT= 8.6, 15.2
2025-06-11T20:51:13.301Z,1749675073.301 [DAT](INFO): DAT read: Bearing 8.6, 15.2 (Local)
2025-06-11T20:51:13.301Z,1749675073.301 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.6, 15.2 (Local)
2025-06-11T20:51:13.303Z,1749675073.303 [DAT](INFO): DAT read: Range 10 to 50 : 304.7 m (Round-trip 406.3 ms) speed 0.4 m/s
2025-06-11T20:51:13.303Z,1749675073.303 [DAT](INFO): DAT read: user:523>
2025-06-11T20:51:13.305Z,1749675073.305 [DAT](INFO): DAT read: Tx time:20:51:15.1041
2025-06-11T20:51:13.305Z,1749675073.305 [DAT](INFO): Ping request sent.
2025-06-11T20:51:13.305Z,1749675073.305 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:13.306Z,1749675073.306 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:13.307Z,1749675073.307 [DAT](INFO): direction in FSK: [0.954166,0.144304,-0.262189]
2025-06-11T20:51:13.307Z,1749675073.307 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:13.307Z,1749675073.307 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:13.310Z,1749675073.310 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:13.311Z,1749675073.311 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:13.320Z,1749675073.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 304.700012 m,
deltaT: 3.779938 s,
deltaX: -1.799988 m,
approachRate: -0.476195 m/s,
rangeRepo size: 4
2025-06-11T20:51:13.321Z,1749675073.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:13.328Z,1749675073.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 291.716217 m,
bearing: 329.778522 deg,
approach rate: -0.452189 m/s,
LOS rate: -0.003217 deg/s,
cmd heading: 320.418217 deg,
new cmd heading: 320.414340 deg.
2025-06-11T20:51:13.329Z,1749675073.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592285 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:13.546Z,1749675073.546 [DAT](INFO): DAT read: TxSync time:20:51:15.1033
2025-06-11T20:51:13.696Z,1749675073.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:13.698Z,1749675073.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 291.514038 m,
bearing: 329.777170 deg,
approach rate: -0.531994 m/s,
LOS rate: -0.003561 deg/s,
cmd heading: 320.414337 deg,
new cmd heading: 320.410278 deg.
2025-06-11T20:51:13.699Z,1749675073.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592214 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:14.124Z,1749675074.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:14.126Z,1749675074.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:14.133Z,1749675074.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 291.311981 m,
bearing: 329.777412 deg,
approach rate: -0.469286 m/s,
LOS rate: 0.000563 deg/s,
cmd heading: 320.410266 deg,
new cmd heading: 320.410993 deg.
2025-06-11T20:51:14.134Z,1749675074.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592227 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:14.304Z,1749675074.304 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:14.305Z,1749675074.305 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:14.305Z,1749675074.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:14.494Z,1749675074.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:14.497Z,1749675074.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 291.133606 m,
bearing: 329.777737 deg,
approach rate: -0.485189 m/s,
LOS rate: 0.000884 deg/s,
cmd heading: 320.411004 deg,
new cmd heading: 320.411979 deg.
2025-06-11T20:51:14.498Z,1749675074.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592244 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:14.557Z,1749675074.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251673
2025-06-11T20:51:14.811Z,1749675074.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505760
2025-06-11T20:51:14.983Z,1749675074.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:14.986Z,1749675074.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 290.907013 m,
bearing: 329.781208 deg,
approach rate: -0.463468 m/s,
LOS rate: 0.007106 deg/s,
cmd heading: 320.411988 deg,
new cmd heading: 320.422410 deg.
2025-06-11T20:51:14.986Z,1749675074.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592426 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:15.061Z,1749675075.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755631
2025-06-11T20:51:15.313Z,1749675075.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007644
2025-06-11T20:51:15.321Z,1749675075.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:15.324Z,1749675075.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 290.750732 m,
bearing: 329.783605 deg,
approach rate: -0.461335 m/s,
LOS rate: 0.007080 deg/s,
cmd heading: 320.422397 deg,
new cmd heading: 320.429592 deg.
2025-06-11T20:51:15.325Z,1749675075.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592551 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:15.565Z,1749675075.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259553
2025-06-11T20:51:15.706Z,1749675075.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:15.709Z,1749675075.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 290.571686 m,
bearing: 329.786360 deg,
approach rate: -0.465207 m/s,
LOS rate: 0.007162 deg/s,
cmd heading: 320.429582 deg,
new cmd heading: 320.437851 deg.
2025-06-11T20:51:15.710Z,1749675075.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592696 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:15.821Z,1749675075.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514996
2025-06-11T20:51:16.069Z,1749675076.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763511
2025-06-11T20:51:16.136Z,1749675076.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:16.138Z,1749675076.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:16.141Z,1749675076.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 290.380157 m,
bearing: 329.790456 deg,
approach rate: -0.443457 m/s,
LOS rate: 0.009490 deg/s,
cmd heading: 320.437860 deg,
new cmd heading: 320.450157 deg.
2025-06-11T20:51:16.142Z,1749675076.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592910 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:16.321Z,1749675076.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015547
2025-06-11T20:51:16.518Z,1749675076.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:16.521Z,1749675076.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 290.211365 m,
bearing: 329.794065 deg,
approach rate: -0.443871 m/s,
LOS rate: 0.009495 deg/s,
cmd heading: 320.450155 deg,
new cmd heading: 320.460987 deg.
2025-06-11T20:51:16.522Z,1749675076.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593099 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:16.574Z,1749675076.574 [DAT](INFO): DAT read: Rx Time:20:51:17.9122
2025-06-11T20:51:16.574Z,1749675076.574 [DAT](INFO): Rx dataTimestamp_ set to:1749675076.574101
2025-06-11T20:51:16.575Z,1749675076.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269898
2025-06-11T20:51:16.829Z,1749675076.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523289
2025-06-11T20:51:16.975Z,1749675076.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:16.981Z,1749675076.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 290.018890 m,
bearing: 329.798557 deg,
approach rate: -0.421982 m/s,
LOS rate: 0.009854 deg/s,
cmd heading: 320.460974 deg,
new cmd heading: 320.474458 deg.
2025-06-11T20:51:16.982Z,1749675076.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593335 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:17.081Z,1749675077.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774371
2025-06-11T20:51:17.327Z,1749675077.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.84 m.
2025-06-11T20:51:17.335Z,1749675077.335 [DAT](INFO): DAT read: 20:51:17.9122 LVL= 20976, 32161, 23234, 31395, AGC= 68, IDX= 420, 0.20,-2.751, 2.045,-3.055, 2.880, PHS= 0.740,-0.788, 0.345, RAW= 135.6, -4.4, CAL= 141.1, -14.5, ROT= 8.9, 14.5
2025-06-11T20:51:17.336Z,1749675077.336 [DAT](INFO): got valid direction response:
20:51:17.9122 LVL= 20976, 32161, 23234, 31395, AGC= 68, IDX= 420, 0.20,-2.751, 2.045,-3.055, 2.880, PHS= 0.740,-0.788, 0.345, RAW= 135.6, -4.4, CAL= 141.1, -14.5, ROT= 8.9, 14.5
2025-06-11T20:51:17.338Z,1749675077.338 [DAT](INFO): DAT read: Bearing 8.9, 14.5 (Local)
2025-06-11T20:51:17.338Z,1749675077.338 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.9, 14.5 (Local)
2025-06-11T20:51:17.340Z,1749675077.340 [DAT](INFO): DAT read: Range 10 to 50 : 303.0 m (Round-trip 404.0 ms) speed 0.4 m/s
2025-06-11T20:51:17.340Z,1749675077.340 [DAT](INFO): DAT read: user:524>
2025-06-11T20:51:17.341Z,1749675077.341 [DAT](INFO): DAT read: Tx time:20:51:19.0041
2025-06-11T20:51:17.341Z,1749675077.341 [DAT](INFO): Ping request sent.
2025-06-11T20:51:17.342Z,1749675077.342 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:17.342Z,1749675077.342 [DAT](INFO): DAT read: TxSync time:20:51:19.0033
2025-06-11T20:51:17.343Z,1749675077.343 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:17.346Z,1749675077.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 303.841278 m,
nav range: 289.864014 m,
bearing: 329.802147 deg,
approach rate: -0.439510 m/s,
LOS rate: 0.010193 deg/s,
cmd heading: 320.474470 deg,
new cmd heading: 320.485245 deg.
2025-06-11T20:51:17.347Z,1749675077.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593523 target range: 303.841278 and range: 304.70 m.
2025-06-11T20:51:17.348Z,1749675077.348 [DAT](INFO): direction in FSK: [0.956491,0.149782,-0.250380]
2025-06-11T20:51:17.348Z,1749675077.348 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:17.348Z,1749675077.348 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:17.351Z,1749675077.351 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:17.352Z,1749675077.352 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:17.755Z,1749675077.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 303.000000 m,
deltaT: 4.036202 s,
deltaX: -1.700012 m,
approachRate: -0.421191 m/s,
rangeRepo size: 4
2025-06-11T20:51:17.761Z,1749675077.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 300.357361 m,
bearing: 330.140800 deg,
lat: 36.906404 deg,
lon: -122.115342 deg,
deltaT: 7.816140 s,
deltaX: -3.483917 m,
approachRate: -0.445734 m/s,
posRepo size: 4
2025-06-11T20:51:17.762Z,1749675077.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.36 m.
2025-06-11T20:51:17.768Z,1749675077.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 300.357361 m,
nav range: 289.724884 m,
bearing: 329.809870 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.010193 deg/s,
cmd heading: 320.485235 deg,
new cmd heading: 320.498293 deg.
2025-06-11T20:51:17.769Z,1749675077.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593750 target range: 300.357361 and range: 303.00 m.
2025-06-11T20:51:18.298Z,1749675078.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:18.300Z,1749675078.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.36 m.
2025-06-11T20:51:18.303Z,1749675078.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 300.357361 m,
nav range: 289.482941 m,
bearing: 329.815540 deg,
approach rate: -0.442906 m/s,
LOS rate: 0.010388 deg/s,
cmd heading: 320.498294 deg,
new cmd heading: 320.515318 deg.
2025-06-11T20:51:18.305Z,1749675078.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594048 target range: 300.357361 and range: 303.00 m.
2025-06-11T20:51:18.337Z,1749675078.337 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:18.337Z,1749675078.337 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:18.337Z,1749675078.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:18.589Z,1749675078.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247317
2025-06-11T20:51:18.594Z,1749675078.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.36 m.
2025-06-11T20:51:18.597Z,1749675078.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 300.357361 m,
nav range: 289.359222 m,
bearing: 329.818416 deg,
approach rate: -0.420680 m/s,
LOS rate: 0.009783 deg/s,
cmd heading: 320.515315 deg,
new cmd heading: 320.523946 deg.
2025-06-11T20:51:18.598Z,1749675078.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594198 target range: 300.357361 and range: 303.00 m.
2025-06-11T20:51:18.843Z,1749675078.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501075
2025-06-11T20:51:19.024Z,1749675079.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.36 m.
2025-06-11T20:51:19.027Z,1749675079.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 300.357361 m,
nav range: 289.184021 m,
bearing: 329.821561 deg,
approach rate: -0.408020 m/s,
LOS rate: 0.007328 deg/s,
cmd heading: 320.523948 deg,
new cmd heading: 320.533389 deg.
2025-06-11T20:51:19.028Z,1749675079.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594363 target range: 300.357361 and range: 303.00 m.
2025-06-11T20:51:19.093Z,1749675079.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751396
2025-06-11T20:51:19.345Z,1749675079.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003135
2025-06-11T20:51:19.438Z,1749675079.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.36 m.
2025-06-11T20:51:19.445Z,1749675079.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 300.357361 m,
nav range: 289.017181 m,
bearing: 329.824423 deg,
approach rate: -0.402802 m/s,
LOS rate: 0.006914 deg/s,
cmd heading: 320.533401 deg,
new cmd heading: 320.541993 deg.
2025-06-11T20:51:19.446Z,1749675079.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594513 target range: 300.357361 and range: 303.00 m.
2025-06-11T20:51:19.597Z,1749675079.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255116
2025-06-11T20:51:19.805Z,1749675079.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.36 m.
2025-06-11T20:51:19.811Z,1749675079.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 300.357361 m,
nav range: 288.866791 m,
bearing: 329.826895 deg,
approach rate: -0.411329 m/s,
LOS rate: 0.006766 deg/s,
cmd heading: 320.541980 deg,
new cmd heading: 320.549401 deg.
2025-06-11T20:51:19.833Z,1749675079.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594643 target range: 300.357361 and range: 303.00 m.
2025-06-11T20:51:19.852Z,1749675079.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509816
2025-06-11T20:51:20.101Z,1749675080.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759182
2025-06-11T20:51:20.250Z,1749675080.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.36 m.
2025-06-11T20:51:20.257Z,1749675080.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 300.357361 m,
nav range: 288.687012 m,
bearing: 329.827457 deg,
approach rate: -0.402316 m/s,
LOS rate: 0.001258 deg/s,
cmd heading: 320.549411 deg,
new cmd heading: 320.551097 deg.
2025-06-11T20:51:20.258Z,1749675080.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594672 target range: 300.357361 and range: 303.00 m.
2025-06-11T20:51:20.353Z,1749675080.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011235
2025-06-11T20:51:20.605Z,1749675080.605 [DAT](INFO): DAT read: Rx Time:20:51:21.8098
2025-06-11T20:51:20.606Z,1749675080.606 [DAT](INFO): Rx dataTimestamp_ set to:1749675080.605368
2025-06-11T20:51:20.606Z,1749675080.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264585
2025-06-11T20:51:20.639Z,1749675080.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:20.645Z,1749675080.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.36 m.
2025-06-11T20:51:20.652Z,1749675080.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 300.357361 m,
nav range: 288.529388 m,
bearing: 329.827864 deg,
approach rate: -0.399500 m/s,
LOS rate: 0.001033 deg/s,
cmd heading: 320.551105 deg,
new cmd heading: 320.552327 deg.
2025-06-11T20:51:20.653Z,1749675080.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594694 target range: 300.357361 and range: 303.00 m.
2025-06-11T20:51:20.861Z,1749675080.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517428
2025-06-11T20:51:21.047Z,1749675081.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.36 m.
2025-06-11T20:51:21.074Z,1749675081.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 300.357361 m,
nav range: 288.355194 m,
bearing: 329.827714 deg,
approach rate: -0.433483 m/s,
LOS rate: -0.000374 deg/s,
cmd heading: 320.552334 deg,
new cmd heading: 320.551884 deg.
2025-06-11T20:51:21.075Z,1749675081.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594686 target range: 300.357361 and range: 303.00 m.
2025-06-11T20:51:21.115Z,1749675081.115 [DAT](INFO): DAT read: 20:51:21.8099 LVL= 27232, 32305, 25570, 32755, AGC= 72, IDX= 413,-0.06,-0.144,-1.678,-0.396,-0.806, PHS= 0.750,-0.825, 0.407, RAW= 138.0, -4.7, CAL= 143.6, -14.4, ROT= 6.4, 14.4
2025-06-11T20:51:21.117Z,1749675081.117 [DAT](INFO): got valid direction response:
20:51:21.8099 LVL= 27232, 32305, 25570, 32755, AGC= 72, IDX= 413,-0.06,-0.144,-1.678,-0.396,-0.806, PHS= 0.750,-0.825, 0.407, RAW= 138.0, -4.7, CAL= 143.6, -14.4, ROT= 6.4, 14.4
2025-06-11T20:51:21.118Z,1749675081.118 [DAT](INFO): DAT read: Bearing 6.4, 14.4 (Local)
2025-06-11T20:51:21.118Z,1749675081.118 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.4, 14.4 (Local)
2025-06-11T20:51:21.120Z,1749675081.120 [DAT](INFO): DAT read: Range 10 to 50 : 301.2 m (Round-trip 401.6 ms) speed 0.0 m/s
2025-06-11T20:51:21.120Z,1749675081.120 [DAT](INFO): DAT read: user:525>
2025-06-11T20:51:21.121Z,1749675081.121 [DAT](INFO): DAT read: Tx time:20:51:22.9041
2025-06-11T20:51:21.121Z,1749675081.121 [DAT](INFO): Ping request sent.
2025-06-11T20:51:21.122Z,1749675081.122 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:21.122Z,1749675081.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:21.123Z,1749675081.123 [DAT](INFO): direction in FSK: [0.962547,0.107967,-0.248690]
2025-06-11T20:51:21.123Z,1749675081.123 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:21.123Z,1749675081.123 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:21.127Z,1749675081.127 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:21.127Z,1749675081.127 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:21.361Z,1749675081.361 [DAT](INFO): DAT read: TxSync time:20:51:22.9034
2025-06-11T20:51:21.444Z,1749675081.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 301.200012 m,
deltaT: 3.779984 s,
deltaX: -1.799988 m,
approachRate: -0.476189 m/s,
rangeRepo size: 4
2025-06-11T20:51:21.446Z,1749675081.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 298.577515 m,
bearing: 329.073160 deg,
lat: 36.906404 deg,
lon: -122.115342 deg,
deltaT: 3.779984 s,
deltaX: -1.779846 m,
approachRate: -0.470861 m/s,
posRepo size: 4
2025-06-11T20:51:21.447Z,1749675081.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.58 m.
2025-06-11T20:51:21.450Z,1749675081.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.577515 m,
nav range: 288.191681 m,
bearing: 329.827573 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000374 deg/s,
cmd heading: 320.551897 deg,
new cmd heading: 320.551453 deg.
2025-06-11T20:51:21.451Z,1749675081.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594678 target range: 298.577515 and range: 301.20 m.
2025-06-11T20:51:21.826Z,1749675081.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.58 m.
2025-06-11T20:51:21.829Z,1749675081.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.577515 m,
nav range: 288.030914 m,
bearing: 329.827394 deg,
approach rate: -0.420318 m/s,
LOS rate: -0.000467 deg/s,
cmd heading: 320.551460 deg,
new cmd heading: 320.550924 deg.
2025-06-11T20:51:21.830Z,1749675081.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594669 target range: 298.577515 and range: 301.20 m.
2025-06-11T20:51:22.265Z,1749675082.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.58 m.
2025-06-11T20:51:22.268Z,1749675082.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.577515 m,
nav range: 287.848785 m,
bearing: 329.826273 deg,
approach rate: -0.414682 m/s,
LOS rate: -0.002556 deg/s,
cmd heading: 320.550914 deg,
new cmd heading: 320.547547 deg.
2025-06-11T20:51:22.269Z,1749675082.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594610 target range: 298.577515 and range: 301.20 m.
2025-06-11T20:51:22.634Z,1749675082.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.58 m.
2025-06-11T20:51:22.637Z,1749675082.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.577515 m,
nav range: 287.694794 m,
bearing: 329.825341 deg,
approach rate: -0.416971 m/s,
LOS rate: -0.002524 deg/s,
cmd heading: 320.547553 deg,
new cmd heading: 320.544757 deg.
2025-06-11T20:51:22.638Z,1749675082.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594562 target range: 298.577515 and range: 301.20 m.
2025-06-11T20:51:23.122Z,1749675083.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:23.125Z,1749675083.125 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:23.125Z,1749675083.125 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:23.125Z,1749675083.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:23.127Z,1749675083.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.58 m.
2025-06-11T20:51:23.130Z,1749675083.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.577515 m,
nav range: 287.483429 m,
bearing: 329.823253 deg,
approach rate: -0.431870 m/s,
LOS rate: -0.004270 deg/s,
cmd heading: 320.544767 deg,
new cmd heading: 320.538497 deg.
2025-06-11T20:51:23.131Z,1749675083.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594452 target range: 298.577515 and range: 301.20 m.
2025-06-11T20:51:23.377Z,1749675083.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255172
2025-06-11T20:51:23.448Z,1749675083.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.58 m.
2025-06-11T20:51:23.451Z,1749675083.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.577515 m,
nav range: 287.342896 m,
bearing: 329.821846 deg,
approach rate: -0.433094 m/s,
LOS rate: -0.004337 deg/s,
cmd heading: 320.538510 deg,
new cmd heading: 320.534289 deg.
2025-06-11T20:51:23.452Z,1749675083.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594378 target range: 298.577515 and range: 301.20 m.
2025-06-11T20:51:23.629Z,1749675083.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507185
2025-06-11T20:51:23.870Z,1749675083.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.58 m.
2025-06-11T20:51:23.873Z,1749675083.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.577515 m,
nav range: 287.162933 m,
bearing: 329.820036 deg,
approach rate: -0.426757 m/s,
LOS rate: -0.004295 deg/s,
cmd heading: 320.534275 deg,
new cmd heading: 320.528841 deg.
2025-06-11T20:51:23.874Z,1749675083.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594284 target range: 298.577515 and range: 301.20 m.
2025-06-11T20:51:23.881Z,1749675083.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759373
2025-06-11T20:51:24.133Z,1749675084.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011712
2025-06-11T20:51:24.297Z,1749675084.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.58 m.
2025-06-11T20:51:24.300Z,1749675084.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.577515 m,
nav range: 286.972076 m,
bearing: 329.816977 deg,
approach rate: -0.446975 m/s,
LOS rate: -0.007170 deg/s,
cmd heading: 320.528839 deg,
new cmd heading: 320.519654 deg.
2025-06-11T20:51:24.301Z,1749675084.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594123 target range: 298.577515 and range: 301.20 m.
2025-06-11T20:51:24.386Z,1749675084.386 [DAT](INFO): DAT read: Rx Time:20:51:25.7079
2025-06-11T20:51:24.386Z,1749675084.386 [DAT](INFO): Rx dataTimestamp_ set to:1749675084.385991
2025-06-11T20:51:24.387Z,1749675084.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265264
2025-06-11T20:51:24.637Z,1749675084.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515354
2025-06-11T20:51:24.673Z,1749675084.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.58 m.
2025-06-11T20:51:24.676Z,1749675084.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 298.577515 m,
nav range: 286.814789 m,
bearing: 329.814513 deg,
approach rate: -0.418151 m/s,
LOS rate: -0.006554 deg/s,
cmd heading: 320.519659 deg,
new cmd heading: 320.512263 deg.
2025-06-11T20:51:24.677Z,1749675084.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593994 target range: 298.577515 and range: 301.20 m.
2025-06-11T20:51:24.903Z,1749675084.903 [DAT](INFO): DAT read: 20:51:25.7079 LVL= 24144, 30273, 20178, 31139, AGC= 72, IDX= 423, 0.18,-0.192,-1.675,-0.489,-0.838, PHS= 0.734,-0.791, 0.346, RAW= 135.8, -4.3, CAL= 141.4, -14.3, ROT= 8.6, 14.3
2025-06-11T20:51:24.963Z,1749675084.963 [DAT](INFO): got valid direction response:
20:51:25.7079 LVL= 24144, 30273, 20178, 31139, AGC= 72, IDX= 423, 0.18,-0.192,-1.675,-0.489,-0.838, PHS= 0.734,-0.791, 0.346, RAW= 135.8, -4.3, CAL= 141.4, -14.3, ROT= 8.6, 14.3
2025-06-11T20:51:24.982Z,1749675084.982 [DAT](INFO): DAT read: Bearing 8.6, 14.3 (Local)
2025-06-11T20:51:24.983Z,1749675084.983 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.6, 14.3 (Local)
2025-06-11T20:51:24.993Z,1749675084.993 [DAT](INFO): DAT read: Range 10 to 50 : 299.7 m (Round-trip 399.6 ms) speed 0.4 m/s
2025-06-11T20:51:24.993Z,1749675084.993 [DAT](INFO): DAT read: user:526>
2025-06-11T20:51:24.994Z,1749675084.994 [DAT](INFO): DAT read: Tx time:20:51:26.8041
2025-06-11T20:51:24.994Z,1749675084.994 [DAT](INFO): Ping request sent.
2025-06-11T20:51:24.995Z,1749675084.995 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:24.995Z,1749675084.995 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:24.998Z,1749675084.998 [DAT](INFO): direction in FSK: [0.958120,0.144902,-0.246999]
2025-06-11T20:51:24.998Z,1749675084.998 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:24.999Z,1749675084.999 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:25.054Z,1749675085.054 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:25.054Z,1749675085.054 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:25.141Z,1749675085.141 [DAT](INFO): DAT read: TxSync time:20:51:26.8034
2025-06-11T20:51:25.177Z,1749675085.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 299.700012 m,
deltaT: 3.781173 s,
deltaX: -1.500000 m,
approachRate: -0.396702 m/s,
rangeRepo size: 4
2025-06-11T20:51:25.179Z,1749675085.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 297.093079 m,
bearing: 330.554257 deg,
lat: 36.906422 deg,
lon: -122.115334 deg,
deltaT: 3.781173 s,
deltaX: -1.484436 m,
approachRate: -0.392586 m/s,
posRepo size: 4
2025-06-11T20:51:25.187Z,1749675085.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:25.195Z,1749675085.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 287.999298 m,
bearing: 330.127702 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006554 deg/s,
cmd heading: 320.512255 deg,
new cmd heading: 320.502362 deg.
2025-06-11T20:51:25.200Z,1749675085.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593822 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:25.501Z,1749675085.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:25.503Z,1749675085.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:25.510Z,1749675085.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 287.854034 m,
bearing: 330.125760 deg,
approach rate: -0.445049 m/s,
LOS rate: -0.005951 deg/s,
cmd heading: 320.502365 deg,
new cmd heading: 320.496537 deg.
2025-06-11T20:51:25.511Z,1749675085.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593720 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:25.645Z,1749675085.645 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:25.645Z,1749675085.645 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:25.645Z,1749675085.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:25.899Z,1749675085.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.904001
2025-06-11T20:51:25.909Z,1749675085.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:25.915Z,1749675085.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 287.670532 m,
bearing: 330.123305 deg,
approach rate: -0.451179 m/s,
LOS rate: -0.006041 deg/s,
cmd heading: 320.496545 deg,
new cmd heading: 320.489175 deg.
2025-06-11T20:51:25.919Z,1749675085.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593591 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:26.149Z,1749675086.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.154130
2025-06-11T20:51:26.334Z,1749675086.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:26.341Z,1749675086.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 287.491852 m,
bearing: 330.120678 deg,
approach rate: -0.420517 m/s,
LOS rate: -0.006187 deg/s,
cmd heading: 320.489169 deg,
new cmd heading: 320.481282 deg.
2025-06-11T20:51:26.342Z,1749675086.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593453 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:26.402Z,1749675086.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.406753
2025-06-11T20:51:26.653Z,1749675086.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.658395
2025-06-11T20:51:26.699Z,1749675086.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:26.702Z,1749675086.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 287.318512 m,
bearing: 330.118133 deg,
approach rate: -0.475564 m/s,
LOS rate: -0.006984 deg/s,
cmd heading: 320.481273 deg,
new cmd heading: 320.473636 deg.
2025-06-11T20:51:26.703Z,1749675086.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593320 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:26.905Z,1749675086.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.910174
2025-06-11T20:51:27.131Z,1749675087.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:27.134Z,1749675087.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 287.103882 m,
bearing: 330.115731 deg,
approach rate: -0.496817 m/s,
LOS rate: -0.005564 deg/s,
cmd heading: 320.473623 deg,
new cmd heading: 320.466412 deg.
2025-06-11T20:51:27.135Z,1749675087.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593194 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:27.157Z,1749675087.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.162221
2025-06-11T20:51:27.409Z,1749675087.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.414123
2025-06-11T20:51:27.502Z,1749675087.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:27.504Z,1749675087.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 286.919617 m,
bearing: 330.113678 deg,
approach rate: -0.496966 m/s,
LOS rate: -0.005541 deg/s,
cmd heading: 320.466411 deg,
new cmd heading: 320.460247 deg.
2025-06-11T20:51:27.505Z,1749675087.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593086 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:27.661Z,1749675087.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.666189
2025-06-11T20:51:27.903Z,1749675087.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:27.905Z,1749675087.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:27.908Z,1749675087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 286.719147 m,
bearing: 330.111458 deg,
approach rate: -0.496479 m/s,
LOS rate: -0.005501 deg/s,
cmd heading: 320.460236 deg,
new cmd heading: 320.453572 deg.
2025-06-11T20:51:27.909Z,1749675087.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592970 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:27.914Z,1749675087.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.918764
2025-06-11T20:51:28.165Z,1749675088.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.170059
2025-06-11T20:51:28.329Z,1749675088.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:28.331Z,1749675088.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 286.506653 m,
bearing: 330.109745 deg,
approach rate: -0.502142 m/s,
LOS rate: -0.004052 deg/s,
cmd heading: 320.453570 deg,
new cmd heading: 320.448426 deg.
2025-06-11T20:51:28.348Z,1749675088.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592880 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:28.418Z,1749675088.418 [DAT](INFO): DAT read: Rx Time:20:51:29.6052
2025-06-11T20:51:28.419Z,1749675088.419 [DAT](INFO): Rx dataTimestamp_ set to:1749675088.419043
2025-06-11T20:51:28.420Z,1749675088.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.425464
2025-06-11T20:51:28.669Z,1749675088.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.674110
2025-06-11T20:51:28.715Z,1749675088.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.09 m.
2025-06-11T20:51:28.718Z,1749675088.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 297.093079 m,
nav range: 286.311951 m,
bearing: 330.108186 deg,
approach rate: -0.503288 m/s,
LOS rate: -0.004033 deg/s,
cmd heading: 320.448434 deg,
new cmd heading: 320.443753 deg.
2025-06-11T20:51:28.719Z,1749675088.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592799 target range: 297.093079 and range: 299.70 m.
2025-06-11T20:51:28.927Z,1749675088.927 [DAT](INFO): DAT read: 20:51:29.6052 LVL= 24144, 31537, 25074, 32755, AGC= 71, IDX= 413,-0.40, 2.651, 1.157, 2.408, 1.929, PHS= 0.811,-0.724, 0.476, RAW= 138.0, -8.1, CAL= 144.2, -18.5, ROT= 5.8, 18.5
2025-06-11T20:51:28.928Z,1749675088.928 [DAT](INFO): got valid direction response:
20:51:29.6052 LVL= 24144, 31537, 25074, 32755, AGC= 71, IDX= 413,-0.40, 2.651, 1.157, 2.408, 1.929, PHS= 0.811,-0.724, 0.476, RAW= 138.0, -8.1, CAL= 144.2, -18.5, ROT= 5.8, 18.5
2025-06-11T20:51:28.929Z,1749675088.929 [DAT](INFO): DAT read: Bearing 5.8, 18.5 (Local)
2025-06-11T20:51:28.930Z,1749675088.930 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.8, 18.5 (Local)
2025-06-11T20:51:28.931Z,1749675088.931 [DAT](INFO): DAT read: Range 10 to 50 : 297.6 m (Round-trip 396.9 ms) speed 0.5 m/s
2025-06-11T20:51:28.932Z,1749675088.932 [DAT](INFO): DAT read: user:527>
2025-06-11T20:51:28.933Z,1749675088.933 [DAT](INFO): DAT read: Tx time:20:51:30.7041
2025-06-11T20:51:28.933Z,1749675088.933 [DAT](INFO): Ping request sent.
2025-06-11T20:51:28.933Z,1749675088.933 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:28.933Z,1749675088.933 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:28.934Z,1749675088.934 [DAT](INFO): direction in FSK: [0.943469,0.095834,-0.317305]
2025-06-11T20:51:28.935Z,1749675088.935 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:28.935Z,1749675088.935 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:28.939Z,1749675088.939 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:28.939Z,1749675088.939 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:29.173Z,1749675089.173 [DAT](INFO): DAT read: TxSync time:20:51:30.7034
2025-06-11T20:51:29.217Z,1749675089.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 297.600006 m,
deltaT: 4.031133 s,
deltaX: -2.100006 m,
approachRate: -0.520947 m/s,
rangeRepo size: 4
2025-06-11T20:51:29.219Z,1749675089.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 295.007843 m,
bearing: 327.598017 deg,
lat: 36.906422 deg,
lon: -122.115334 deg,
deltaT: 4.031133 s,
deltaX: -2.085236 m,
approachRate: -0.517283 m/s,
posRepo size: 4
2025-06-11T20:51:29.224Z,1749675089.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.01 m.
2025-06-11T20:51:29.227Z,1749675089.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.007843 m,
nav range: 286.087189 m,
bearing: 330.106963 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004033 deg/s,
cmd heading: 320.443762 deg,
new cmd heading: 320.437754 deg.
2025-06-11T20:51:29.232Z,1749675089.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592694 target range: 295.007843 and range: 297.60 m.
2025-06-11T20:51:29.519Z,1749675089.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.01 m.
2025-06-11T20:51:29.522Z,1749675089.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.007843 m,
nav range: 285.932800 m,
bearing: 330.106200 deg,
approach rate: -0.502159 m/s,
LOS rate: -0.002484 deg/s,
cmd heading: 320.437751 deg,
new cmd heading: 320.435460 deg.
2025-06-11T20:51:29.523Z,1749675089.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592654 target range: 295.007843 and range: 297.60 m.
2025-06-11T20:51:29.978Z,1749675089.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:29.994Z,1749675089.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.01 m.
2025-06-11T20:51:30.011Z,1749675090.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.007843 m,
nav range: 285.720551 m,
bearing: 330.105150 deg,
approach rate: -0.448129 m/s,
LOS rate: -0.002218 deg/s,
cmd heading: 320.435456 deg,
new cmd heading: 320.432305 deg.
2025-06-11T20:51:30.024Z,1749675090.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592599 target range: 295.007843 and range: 297.60 m.
2025-06-11T20:51:30.184Z,1749675090.184 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:30.184Z,1749675090.184 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:30.184Z,1749675090.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:30.353Z,1749675090.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.01 m.
2025-06-11T20:51:30.355Z,1749675090.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.007843 m,
nav range: 285.542999 m,
bearing: 330.106659 deg,
approach rate: -0.494019 m/s,
LOS rate: 0.004201 deg/s,
cmd heading: 320.432314 deg,
new cmd heading: 320.436844 deg.
2025-06-11T20:51:30.356Z,1749675090.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592678 target range: 295.007843 and range: 297.60 m.
2025-06-11T20:51:30.434Z,1749675090.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500533
2025-06-11T20:51:30.686Z,1749675090.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752958
2025-06-11T20:51:30.740Z,1749675090.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.01 m.
2025-06-11T20:51:30.742Z,1749675090.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.007843 m,
nav range: 285.362976 m,
bearing: 330.108158 deg,
approach rate: -0.465087 m/s,
LOS rate: 0.003875 deg/s,
cmd heading: 320.436850 deg,
new cmd heading: 320.441349 deg.
2025-06-11T20:51:30.743Z,1749675090.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592757 target range: 295.007843 and range: 297.60 m.
2025-06-11T20:51:30.938Z,1749675090.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004093
2025-06-11T20:51:31.164Z,1749675091.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.01 m.
2025-06-11T20:51:31.167Z,1749675091.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.007843 m,
nav range: 285.163300 m,
bearing: 330.108254 deg,
approach rate: -0.470698 m/s,
LOS rate: 0.000226 deg/s,
cmd heading: 320.441358 deg,
new cmd heading: 320.441645 deg.
2025-06-11T20:51:31.168Z,1749675091.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592762 target range: 295.007843 and range: 297.60 m.
2025-06-11T20:51:31.189Z,1749675091.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255812
2025-06-11T20:51:31.441Z,1749675091.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507616
2025-06-11T20:51:31.545Z,1749675091.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.01 m.
2025-06-11T20:51:31.548Z,1749675091.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.007843 m,
nav range: 284.983704 m,
bearing: 330.108371 deg,
approach rate: -0.470866 m/s,
LOS rate: 0.000306 deg/s,
cmd heading: 320.441658 deg,
new cmd heading: 320.442008 deg.
2025-06-11T20:51:31.549Z,1749675091.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592768 target range: 295.007843 and range: 297.60 m.
2025-06-11T20:51:31.693Z,1749675091.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759653
2025-06-11T20:51:31.945Z,1749675091.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012181
2025-06-11T20:51:31.971Z,1749675091.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.01 m.
2025-06-11T20:51:31.974Z,1749675091.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.007843 m,
nav range: 284.782990 m,
bearing: 330.108501 deg,
approach rate: -0.471040 m/s,
LOS rate: 0.000307 deg/s,
cmd heading: 320.442013 deg,
new cmd heading: 320.442405 deg.
2025-06-11T20:51:31.975Z,1749675091.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592775 target range: 295.007843 and range: 297.60 m.
2025-06-11T20:51:32.197Z,1749675092.197 [DAT](INFO): DAT read: Rx Time:20:51:33.5029
2025-06-11T20:51:32.197Z,1749675092.197 [DAT](INFO): Rx dataTimestamp_ set to:1749675092.197198
2025-06-11T20:51:32.198Z,1749675092.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264856
2025-06-11T20:51:32.385Z,1749675092.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:32.387Z,1749675092.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.01 m.
2025-06-11T20:51:32.394Z,1749675092.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.007843 m,
nav range: 284.595154 m,
bearing: 330.109623 deg,
approach rate: -0.451306 m/s,
LOS rate: 0.002697 deg/s,
cmd heading: 320.442396 deg,
new cmd heading: 320.445763 deg.
2025-06-11T20:51:32.395Z,1749675092.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592834 target range: 295.007843 and range: 297.60 m.
2025-06-11T20:51:32.450Z,1749675092.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516665
2025-06-11T20:51:32.707Z,1749675092.707 [DAT](INFO): DAT read: 20:51:33.5029 LVL= 27488, 32753, 25698, 32755, AGC= 68, IDX= 420, 0.40,-1.501,-3.051,-1.779,-2.161, PHS= 0.748,-0.844, 0.378, RAW= 137.2, -4.0, CAL= 142.7, -13.7, ROT= 7.3, 13.7
2025-06-11T20:51:32.708Z,1749675092.708 [DAT](INFO): got valid direction response:
20:51:33.5029 LVL= 27488, 32753, 25698, 32755, AGC= 68, IDX= 420, 0.40,-1.501,-3.051,-1.779,-2.161, PHS= 0.748,-0.844, 0.378, RAW= 137.2, -4.0, CAL= 142.7, -13.7, ROT= 7.3, 13.7
2025-06-11T20:51:32.709Z,1749675092.709 [DAT](INFO): DAT read: Bearing 7.3, 13.7 (Local)
2025-06-11T20:51:32.710Z,1749675092.710 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.3, 13.7 (Local)
2025-06-11T20:51:32.711Z,1749675092.711 [DAT](INFO): DAT read: Range 10 to 50 : 295.9 m (Round-trip 394.6 ms) speed -0.1 m/s
2025-06-11T20:51:32.712Z,1749675092.712 [DAT](INFO): DAT read: user:528>
2025-06-11T20:51:32.713Z,1749675092.713 [DAT](INFO): DAT read: Tx time:20:51:34.6041
2025-06-11T20:51:32.713Z,1749675092.713 [DAT](INFO): Ping request sent.
2025-06-11T20:51:32.713Z,1749675092.713 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:32.713Z,1749675092.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:32.714Z,1749675092.714 [DAT](INFO): direction in FSK: [0.963674,0.123450,-0.236838]
2025-06-11T20:51:32.715Z,1749675092.715 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:32.715Z,1749675092.715 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:32.718Z,1749675092.718 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:32.718Z,1749675092.718 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:32.802Z,1749675092.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 295.899994 m,
deltaT: 3.779920 s,
deltaX: -1.700012 m,
approachRate: -0.449748 m/s,
rangeRepo size: 4
2025-06-11T20:51:32.808Z,1749675092.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 293.324890 m,
bearing: 328.433618 deg,
lat: 36.906398 deg,
lon: -122.115387 deg,
deltaT: 3.779920 s,
deltaX: -1.682953 m,
approachRate: -0.445235 m/s,
posRepo size: 4
2025-06-11T20:51:32.809Z,1749675092.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:32.811Z,1749675092.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 284.478058 m,
bearing: 329.022972 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002697 deg/s,
cmd heading: 320.445756 deg,
new cmd heading: 320.449103 deg.
2025-06-11T20:51:32.817Z,1749675092.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592892 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:32.955Z,1749675092.955 [DAT](INFO): DAT read: TxSync time:20:51:34.6035
2025-06-11T20:51:33.231Z,1749675093.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:33.238Z,1749675093.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 284.276276 m,
bearing: 329.025250 deg,
approach rate: -0.469280 m/s,
LOS rate: 0.005301 deg/s,
cmd heading: 320.449117 deg,
new cmd heading: 320.455955 deg.
2025-06-11T20:51:33.239Z,1749675093.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593011 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:33.560Z,1749675093.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:33.562Z,1749675093.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 284.121216 m,
bearing: 329.027072 deg,
approach rate: -0.472173 m/s,
LOS rate: 0.005551 deg/s,
cmd heading: 320.455947 deg,
new cmd heading: 320.461416 deg.
2025-06-11T20:51:33.563Z,1749675093.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593107 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:33.974Z,1749675093.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:33.977Z,1749675093.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 283.930481 m,
bearing: 329.029266 deg,
approach rate: -0.460643 m/s,
LOS rate: 0.005303 deg/s,
cmd heading: 320.461411 deg,
new cmd heading: 320.467998 deg.
2025-06-11T20:51:33.977Z,1749675093.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593222 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:34.392Z,1749675094.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:34.394Z,1749675094.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:34.397Z,1749675094.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 283.741028 m,
bearing: 329.031097 deg,
approach rate: -0.450638 m/s,
LOS rate: 0.004357 deg/s,
cmd heading: 320.467995 deg,
new cmd heading: 320.473490 deg.
2025-06-11T20:51:34.398Z,1749675094.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593318 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:34.465Z,1749675094.465 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:34.465Z,1749675094.465 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:34.465Z,1749675094.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:34.717Z,1749675094.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003572
2025-06-11T20:51:34.817Z,1749675094.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:34.820Z,1749675094.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 283.549896 m,
bearing: 329.032825 deg,
approach rate: -0.451917 m/s,
LOS rate: 0.004089 deg/s,
cmd heading: 320.473487 deg,
new cmd heading: 320.478675 deg.
2025-06-11T20:51:34.821Z,1749675094.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593408 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:34.969Z,1749675094.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256001
2025-06-11T20:51:35.221Z,1749675095.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507721
2025-06-11T20:51:35.294Z,1749675095.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:35.301Z,1749675095.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 283.353729 m,
bearing: 329.035951 deg,
approach rate: -0.411066 m/s,
LOS rate: 0.006556 deg/s,
cmd heading: 320.478678 deg,
new cmd heading: 320.488063 deg.
2025-06-11T20:51:35.302Z,1749675095.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593572 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:35.473Z,1749675095.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760116
2025-06-11T20:51:35.725Z,1749675095.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011767
2025-06-11T20:51:35.772Z,1749675095.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:35.775Z,1749675095.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 283.146210 m,
bearing: 329.039103 deg,
approach rate: -0.434427 m/s,
LOS rate: 0.006602 deg/s,
cmd heading: 320.488076 deg,
new cmd heading: 320.497537 deg.
2025-06-11T20:51:35.776Z,1749675095.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593737 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:35.977Z,1749675095.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264359
2025-06-11T20:51:36.209Z,1749675096.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:36.229Z,1749675096.229 [DAT](INFO): DAT read: Rx Time:20:51:37.4004
2025-06-11T20:51:36.229Z,1749675096.229 [DAT](INFO): Rx dataTimestamp_ set to:1749675096.229126
2025-06-11T20:51:36.230Z,1749675096.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516863
2025-06-11T20:51:36.244Z,1749675096.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 282.951141 m,
bearing: 329.043247 deg,
approach rate: -0.446236 m/s,
LOS rate: 0.009487 deg/s,
cmd heading: 320.497529 deg,
new cmd heading: 320.509970 deg.
2025-06-11T20:51:36.245Z,1749675096.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593954 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:36.481Z,1749675096.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767671
2025-06-11T20:51:36.615Z,1749675096.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:36.617Z,1749675096.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.32 m.
2025-06-11T20:51:36.621Z,1749675096.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.324890 m,
nav range: 282.777496 m,
bearing: 329.047016 deg,
approach rate: -0.425636 m/s,
LOS rate: 0.009245 deg/s,
cmd heading: 320.509960 deg,
new cmd heading: 320.521275 deg.
2025-06-11T20:51:36.622Z,1749675096.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594151 target range: 293.324890 and range: 295.90 m.
2025-06-11T20:51:36.739Z,1749675096.739 [DAT](INFO): DAT read: 20:51:37.4004 LVL= 20560, 24625, 20946, 30195, AGC= 70, IDX= 395,-0.07, 0.609,-0.871, 0.334,-0.063, PHS= 0.760,-0.760, 0.394, RAW= 136.7, -5.8, CAL= 142.4, -16.0, ROT= 7.6, 16.0
2025-06-11T20:51:36.740Z,1749675096.740 [DAT](INFO): got valid direction response:
20:51:37.4004 LVL= 20560, 24625, 20946, 30195, AGC= 70, IDX= 395,-0.07, 0.609,-0.871, 0.334,-0.063, PHS= 0.760,-0.760, 0.394, RAW= 136.7, -5.8, CAL= 142.4, -16.0, ROT= 7.6, 16.0
2025-06-11T20:51:36.741Z,1749675096.741 [DAT](INFO): DAT read: Bearing 7.6, 16.0 (Local)
2025-06-11T20:51:36.742Z,1749675096.742 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.6, 16.0 (Local)
2025-06-11T20:51:36.743Z,1749675096.743 [DAT](INFO): DAT read: Range 10 to 50 : 294.0 m (Round-trip 392.0 ms) speed 0.0 m/s
2025-06-11T20:51:36.744Z,1749675096.744 [DAT](INFO): DAT read: user:529>
2025-06-11T20:51:36.745Z,1749675096.745 [DAT](INFO): DAT read: Tx time:20:51:38.5042
2025-06-11T20:51:36.745Z,1749675096.745 [DAT](INFO): Ping request sent.
2025-06-11T20:51:36.745Z,1749675096.745 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:36.745Z,1749675096.745 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:36.746Z,1749675096.746 [DAT](INFO): direction in FSK: [0.952818,0.127133,-0.275637]
2025-06-11T20:51:36.747Z,1749675096.747 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:36.747Z,1749675096.747 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:36.754Z,1749675096.754 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:36.755Z,1749675096.755 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:36.985Z,1749675096.985 [DAT](INFO): DAT read: TxSync time:20:51:38.5035
2025-06-11T20:51:36.991Z,1749675096.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 294.000000 m,
deltaT: 4.031784 s,
deltaX: -1.899994 m,
approachRate: -0.471254 m/s,
rangeRepo size: 4
2025-06-11T20:51:36.993Z,1749675096.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 291.439697 m,
bearing: 329.246682 deg,
lat: 36.906394 deg,
lon: -122.115387 deg,
deltaT: 4.031784 s,
deltaX: -1.885193 m,
approachRate: -0.467583 m/s,
posRepo size: 4
2025-06-11T20:51:36.994Z,1749675096.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.44 m.
2025-06-11T20:51:36.996Z,1749675096.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 291.439697 m,
nav range: 282.190796 m,
bearing: 328.997988 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009245 deg/s,
cmd heading: 320.521271 deg,
new cmd heading: 320.531615 deg.
2025-06-11T20:51:36.997Z,1749675096.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594332 target range: 291.439697 and range: 294.00 m.
2025-06-11T20:51:37.356Z,1749675097.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:51:37.414Z,1749675097.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.44 m.
2025-06-11T20:51:37.416Z,1749675097.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 291.439697 m,
nav range: 282.014130 m,
bearing: 328.999812 deg,
approach rate: -0.417134 m/s,
LOS rate: 0.004309 deg/s,
cmd heading: 320.531625 deg,
new cmd heading: 320.537100 deg.
2025-06-11T20:51:37.417Z,1749675097.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594428 target range: 291.439697 and range: 294.00 m.
2025-06-11T20:51:37.781Z,1749675097.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.44 m.
2025-06-11T20:51:37.783Z,1749675097.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 291.439697 m,
nav range: 281.863220 m,
bearing: 329.001406 deg,
approach rate: -0.410924 m/s,
LOS rate: 0.004344 deg/s,
cmd heading: 320.537089 deg,
new cmd heading: 320.541875 deg.
2025-06-11T20:51:37.785Z,1749675097.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594511 target range: 291.439697 and range: 294.00 m.
2025-06-11T20:51:38.217Z,1749675098.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.44 m.
2025-06-11T20:51:38.220Z,1749675098.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 291.439697 m,
nav range: 281.689026 m,
bearing: 329.000342 deg,
approach rate: -0.398858 m/s,
LOS rate: -0.002439 deg/s,
cmd heading: 320.541871 deg,
new cmd heading: 320.538675 deg.
2025-06-11T20:51:38.221Z,1749675098.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594455 target range: 291.439697 and range: 294.00 m.
2025-06-11T20:51:38.360Z,1749675098.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:51:38.606Z,1749675098.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.44 m.
2025-06-11T20:51:38.610Z,1749675098.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 291.439697 m,
nav range: 281.534180 m,
bearing: 328.999360 deg,
approach rate: -0.398321 m/s,
LOS rate: -0.002527 deg/s,
cmd heading: 320.538674 deg,
new cmd heading: 320.535727 deg.
2025-06-11T20:51:38.610Z,1749675098.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594404 target range: 291.439697 and range: 294.00 m.
2025-06-11T20:51:39.017Z,1749675099.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:39.019Z,1749675099.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.44 m.
2025-06-11T20:51:39.022Z,1749675099.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 291.439697 m,
nav range: 281.373688 m,
bearing: 328.998342 deg,
approach rate: -0.388992 m/s,
LOS rate: -0.002470 deg/s,
cmd heading: 320.535723 deg,
new cmd heading: 320.532666 deg.
2025-06-11T20:51:39.023Z,1749675099.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594350 target range: 291.439697 and range: 294.00 m.
2025-06-11T20:51:39.257Z,1749675099.257 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:39.258Z,1749675099.258 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:39.259Z,1749675099.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:39.426Z,1749675099.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.44 m.
2025-06-11T20:51:39.429Z,1749675099.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 291.439697 m,
nav range: 281.193848 m,
bearing: 328.996005 deg,
approach rate: -0.441494 m/s,
LOS rate: -0.005739 deg/s,
cmd heading: 320.532663 deg,
new cmd heading: 320.525651 deg.
2025-06-11T20:51:39.430Z,1749675099.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594228 target range: 291.439697 and range: 294.00 m.
2025-06-11T20:51:39.509Z,1749675099.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763790
2025-06-11T20:51:39.761Z,1749675099.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015881
2025-06-11T20:51:39.819Z,1749675099.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.44 m.
2025-06-11T20:51:39.826Z,1749675099.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 291.439697 m,
nav range: 281.033020 m,
bearing: 328.993886 deg,
approach rate: -0.409635 m/s,
LOS rate: -0.005402 deg/s,
cmd heading: 320.525642 deg,
new cmd heading: 320.519279 deg.
2025-06-11T20:51:39.827Z,1749675099.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594117 target range: 291.439697 and range: 294.00 m.
2025-06-11T20:51:40.018Z,1749675100.018 [DAT](INFO): DAT read: Rx Time:20:51:41.2985
2025-06-11T20:51:40.018Z,1749675100.018 [DAT](INFO): Rx dataTimestamp_ set to:1749675100.017871
2025-06-11T20:51:40.019Z,1749675100.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273592
2025-06-11T20:51:40.249Z,1749675100.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.44 m.
2025-06-11T20:51:40.269Z,1749675100.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523651
2025-06-11T20:51:40.284Z,1749675100.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 291.439697 m,
nav range: 280.823639 m,
bearing: 328.995657 deg,
approach rate: -0.486135 m/s,
LOS rate: 0.004116 deg/s,
cmd heading: 320.519276 deg,
new cmd heading: 320.524595 deg.
2025-06-11T20:51:40.285Z,1749675100.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594210 target range: 291.439697 and range: 294.00 m.
2025-06-11T20:51:40.528Z,1749675100.528 [DAT](INFO): DAT read: 20:51:41.2985 LVL= 27440, 32577, 28082, 32755, AGC= 68, IDX= 422, 0.33,-2.061, 2.686,-2.351,-2.772, PHS= 0.798,-0.779, 0.417, RAW= 136.6, -6.2, CAL= 142.4, -16.5, ROT= 7.6, 16.5
2025-06-11T20:51:40.529Z,1749675100.529 [DAT](INFO): got valid direction response:
20:51:41.2985 LVL= 27440, 32577, 28082, 32755, AGC= 68, IDX= 422, 0.33,-2.061, 2.686,-2.351,-2.772, PHS= 0.798,-0.779, 0.417, RAW= 136.6, -6.2, CAL= 142.4, -16.5, ROT= 7.6, 16.5
2025-06-11T20:51:40.531Z,1749675100.531 [DAT](INFO): DAT read: Bearing 7.6, 16.5 (Local)
2025-06-11T20:51:40.531Z,1749675100.531 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.6, 16.5 (Local)
2025-06-11T20:51:40.534Z,1749675100.534 [DAT](INFO): DAT read: Range 10 to 50 : 292.5 m (Round-trip 390.1 ms) speed 0.0 m/s
2025-06-11T20:51:40.535Z,1749675100.535 [DAT](INFO): DAT read: us
2025-06-11T20:51:40.535Z,1749675100.535 [DAT](INFO): unknown deviceResponse_: us
2025-06-11T20:51:40.536Z,1749675100.536 [DAT](INFO): DAT read: Tx time:20:51:42.4042
2025-06-11T20:51:40.537Z,1749675100.537 [DAT](INFO): Ping request sent.
2025-06-11T20:51:40.537Z,1749675100.537 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:40.537Z,1749675100.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:40.538Z,1749675100.538 [DAT](INFO): direction in FSK: [0.950397,0.126810,-0.284015]
2025-06-11T20:51:40.538Z,1749675100.538 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:40.538Z,1749675100.538 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:40.542Z,1749675100.542 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:40.542Z,1749675100.542 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:40.690Z,1749675100.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 292.500000 m,
deltaT: 3.787949 s,
deltaX: -1.500000 m,
approachRate: -0.395993 m/s,
rangeRepo size: 4
2025-06-11T20:51:40.696Z,1749675100.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 289.953583 m,
bearing: 329.284401 deg,
lat: 36.906393 deg,
lon: -122.115369 deg,
deltaT: 3.787949 s,
deltaX: -1.486115 m,
approachRate: -0.392327 m/s,
posRepo size: 4
2025-06-11T20:51:40.697Z,1749675100.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:40.699Z,1749675100.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 279.764008 m,
bearing: 329.278330 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004116 deg/s,
cmd heading: 320.524604 deg,
new cmd heading: 320.529970 deg.
2025-06-11T20:51:40.704Z,1749675100.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594303 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:40.774Z,1749675100.774 [DAT](INFO): DAT read: TxSync time:20:51:42.4035
2025-06-11T20:51:41.034Z,1749675101.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:41.036Z,1749675101.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:41.039Z,1749675101.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 279.583618 m,
bearing: 329.280089 deg,
approach rate: -0.512752 m/s,
LOS rate: 0.005002 deg/s,
cmd heading: 320.529959 deg,
new cmd heading: 320.535238 deg.
2025-06-11T20:51:41.040Z,1749675101.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594395 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:41.276Z,1749675101.276 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:41.277Z,1749675101.277 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:41.277Z,1749675101.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:41.456Z,1749675101.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:41.459Z,1749675101.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 279.410431 m,
bearing: 329.279728 deg,
approach rate: -0.412343 m/s,
LOS rate: -0.000860 deg/s,
cmd heading: 320.535232 deg,
new cmd heading: 320.534148 deg.
2025-06-11T20:51:41.460Z,1749675101.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594376 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:41.530Z,1749675101.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993106
2025-06-11T20:51:41.781Z,1749675101.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244074
2025-06-11T20:51:41.846Z,1749675101.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:41.849Z,1749675101.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 279.249756 m,
bearing: 329.279463 deg,
approach rate: -0.411517 m/s,
LOS rate: -0.000680 deg/s,
cmd heading: 320.534139 deg,
new cmd heading: 320.533342 deg.
2025-06-11T20:51:41.850Z,1749675101.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594362 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:42.033Z,1749675102.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496121
2025-06-11T20:51:42.274Z,1749675102.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:42.290Z,1749675102.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753666
2025-06-11T20:51:42.297Z,1749675102.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 279.040070 m,
bearing: 329.278902 deg,
approach rate: -0.490086 m/s,
LOS rate: -0.001311 deg/s,
cmd heading: 320.533347 deg,
new cmd heading: 320.531664 deg.
2025-06-11T20:51:42.298Z,1749675102.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594333 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:42.541Z,1749675102.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004015
2025-06-11T20:51:42.648Z,1749675102.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:42.650Z,1749675102.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 278.857178 m,
bearing: 329.278378 deg,
approach rate: -0.489623 m/s,
LOS rate: -0.001406 deg/s,
cmd heading: 320.531653 deg,
new cmd heading: 320.530077 deg.
2025-06-11T20:51:42.651Z,1749675102.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594305 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:42.793Z,1749675102.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256756
2025-06-11T20:51:43.045Z,1749675103.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508010
2025-06-11T20:51:43.059Z,1749675103.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:43.061Z,1749675103.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:43.064Z,1749675103.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 278.654785 m,
bearing: 329.277785 deg,
approach rate: -0.489079 m/s,
LOS rate: -0.001434 deg/s,
cmd heading: 320.530068 deg,
new cmd heading: 320.528288 deg.
2025-06-11T20:51:43.065Z,1749675103.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594274 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:43.298Z,1749675103.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760498
2025-06-11T20:51:43.490Z,1749675103.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:43.493Z,1749675103.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 278.456757 m,
bearing: 329.276373 deg,
approach rate: -0.461859 m/s,
LOS rate: -0.003295 deg/s,
cmd heading: 320.528292 deg,
new cmd heading: 320.524053 deg.
2025-06-11T20:51:43.494Z,1749675103.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594200 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:43.550Z,1749675103.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013185
2025-06-11T20:51:43.801Z,1749675103.801 [DAT](INFO): DAT read: Rx Time:20:51:45.1961
2025-06-11T20:51:43.801Z,1749675103.801 [DAT](INFO): Rx dataTimestamp_ set to:1749675103.801042
2025-06-11T20:51:43.802Z,1749675103.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265191
2025-06-11T20:51:43.883Z,1749675103.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:43.886Z,1749675103.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 278.275452 m,
bearing: 329.275038 deg,
approach rate: -0.462019 m/s,
LOS rate: -0.003405 deg/s,
cmd heading: 320.524057 deg,
new cmd heading: 320.520049 deg.
2025-06-11T20:51:43.886Z,1749675103.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594130 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:44.053Z,1749675104.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516116
2025-06-11T20:51:44.305Z,1749675104.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768245
2025-06-11T20:51:44.398Z,1749675104.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-11T20:51:44.405Z,1749675104.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 289.953583 m,
nav range: 278.058929 m,
bearing: 329.273656 deg,
approach rate: -0.419916 m/s,
LOS rate: -0.002682 deg/s,
cmd heading: 320.520041 deg,
new cmd heading: 320.515893 deg.
2025-06-11T20:51:44.406Z,1749675104.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594058 target range: 289.953583 and range: 292.50 m.
2025-06-11T20:51:44.563Z,1749675104.563 [DAT](INFO): DAT read: 20:51:45.1961 LVL= 22624, 27361, 23026, 32755, AGC= 70, IDX= 414,-0.11,-1.132,-2.648,-1.434,-1.822, PHS= 0.777,-0.780, 0.384, RAW= 136.0, -5.5, CAL= 141.6, -15.8, ROT= 8.4, 15.8
2025-06-11T20:51:44.564Z,1749675104.564 [DAT](INFO): got valid direction response:
20:51:45.1961 LVL= 22624, 27361, 23026, 32755, AGC= 70, IDX= 414,-0.11,-1.132,-2.648,-1.434,-1.822, PHS= 0.777,-0.780, 0.384, RAW= 136.0, -5.5, CAL= 141.6, -15.8, ROT= 8.4, 15.8
2025-06-11T20:51:44.565Z,1749675104.565 [DAT](INFO): DAT read: Bearing 8.4, 15.8 (Local)
2025-06-11T20:51:44.565Z,1749675104.565 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.4, 15.8 (Local)
2025-06-11T20:51:44.567Z,1749675104.567 [DAT](INFO): DAT read: Range 10 to 50 : 290.7 m (Round-trip 387.6 ms) speed 0.1 m/s
2025-06-11T20:51:44.567Z,1749675104.567 [DAT](INFO): DAT read: user:531>
2025-06-11T20:51:44.569Z,1749675104.569 [DAT](INFO): DAT read: Tx time:20:51:46.3043
2025-06-11T20:51:44.569Z,1749675104.569 [DAT](INFO): Ping request sent.
2025-06-11T20:51:44.569Z,1749675104.569 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:44.570Z,1749675104.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:44.571Z,1749675104.571 [DAT](INFO): direction in FSK: [0.951896,0.140564,-0.272280]
2025-06-11T20:51:44.571Z,1749675104.571 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:44.571Z,1749675104.571 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:44.574Z,1749675104.574 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:44.574Z,1749675104.574 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:44.715Z,1749675104.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 290.700012 m,
deltaT: 4.035853 s,
deltaX: -1.799988 m,
approachRate: -0.445999 m/s,
rangeRepo size: 4
2025-06-11T20:51:44.721Z,1749675104.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 288.165344 m,
bearing: 329.809372 deg,
lat: 36.906393 deg,
lon: -122.115369 deg,
deltaT: 4.035853 s,
deltaX: -1.788239 m,
approachRate: -0.443088 m/s,
posRepo size: 4
2025-06-11T20:51:44.722Z,1749675104.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.17 m.
2025-06-11T20:51:44.729Z,1749675104.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.165344 m,
nav range: 277.890808 m,
bearing: 329.272528 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002682 deg/s,
cmd heading: 320.515889 deg,
new cmd heading: 320.513397 deg.
2025-06-11T20:51:44.730Z,1749675104.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594014 target range: 288.165344 and range: 290.70 m.
2025-06-11T20:51:44.809Z,1749675104.809 [DAT](INFO): DAT read: TxSync time:20:51:46.3036
2025-06-11T20:51:45.086Z,1749675105.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:45.089Z,1749675105.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.17 m.
2025-06-11T20:51:45.112Z,1749675105.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.165344 m,
nav range: 277.702637 m,
bearing: 329.271226 deg,
approach rate: -0.493692 m/s,
LOS rate: -0.003416 deg/s,
cmd heading: 320.513402 deg,
new cmd heading: 320.509496 deg.
2025-06-11T20:51:45.113Z,1749675105.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593946 target range: 288.165344 and range: 290.70 m.
2025-06-11T20:51:45.315Z,1749675105.315 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:45.315Z,1749675105.316 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:45.316Z,1749675105.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:45.523Z,1749675105.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.17 m.
2025-06-11T20:51:45.526Z,1749675105.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.165344 m,
nav range: 277.499695 m,
bearing: 329.270234 deg,
approach rate: -0.467969 m/s,
LOS rate: -0.002289 deg/s,
cmd heading: 320.509495 deg,
new cmd heading: 320.506517 deg.
2025-06-11T20:51:45.527Z,1749675105.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593894 target range: 288.165344 and range: 290.70 m.
2025-06-11T20:51:45.565Z,1749675105.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995952
2025-06-11T20:51:45.817Z,1749675105.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247507
2025-06-11T20:51:45.903Z,1749675105.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.17 m.
2025-06-11T20:51:45.906Z,1749675105.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.165344 m,
nav range: 277.326294 m,
bearing: 329.269366 deg,
approach rate: -0.456078 m/s,
LOS rate: -0.002287 deg/s,
cmd heading: 320.506518 deg,
new cmd heading: 320.503909 deg.
2025-06-11T20:51:45.907Z,1749675105.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593849 target range: 288.165344 and range: 290.70 m.
2025-06-11T20:51:46.069Z,1749675106.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499472
2025-06-11T20:51:46.321Z,1749675106.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751381
2025-06-11T20:51:46.351Z,1749675106.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.17 m.
2025-06-11T20:51:46.354Z,1749675106.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.165344 m,
nav range: 277.109436 m,
bearing: 329.268708 deg,
approach rate: -0.483721 m/s,
LOS rate: -0.001468 deg/s,
cmd heading: 320.503922 deg,
new cmd heading: 320.501948 deg.
2025-06-11T20:51:46.355Z,1749675106.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593814 target range: 288.165344 and range: 290.70 m.
2025-06-11T20:51:46.574Z,1749675106.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004602
2025-06-11T20:51:46.696Z,1749675106.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.17 m.
2025-06-11T20:51:46.698Z,1749675106.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.165344 m,
nav range: 276.947235 m,
bearing: 329.268140 deg,
approach rate: -0.471290 m/s,
LOS rate: -0.001652 deg/s,
cmd heading: 320.501955 deg,
new cmd heading: 320.500249 deg.
2025-06-11T20:51:46.699Z,1749675106.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593785 target range: 288.165344 and range: 290.70 m.
2025-06-11T20:51:46.825Z,1749675106.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255530
2025-06-11T20:51:47.077Z,1749675107.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507863
2025-06-11T20:51:47.120Z,1749675107.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:47.122Z,1749675107.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.17 m.
2025-06-11T20:51:47.129Z,1749675107.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.165344 m,
nav range: 276.755737 m,
bearing: 329.267411 deg,
approach rate: -0.448999 m/s,
LOS rate: -0.001710 deg/s,
cmd heading: 320.500261 deg,
new cmd heading: 320.498073 deg.
2025-06-11T20:51:47.130Z,1749675107.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593747 target range: 288.165344 and range: 290.70 m.
2025-06-11T20:51:47.329Z,1749675107.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759551
2025-06-11T20:51:47.566Z,1749675107.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.17 m.
2025-06-11T20:51:47.569Z,1749675107.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.165344 m,
nav range: 276.543457 m,
bearing: 329.267031 deg,
approach rate: -0.478406 m/s,
LOS rate: -0.000856 deg/s,
cmd heading: 320.498075 deg,
new cmd heading: 320.496936 deg.
2025-06-11T20:51:47.570Z,1749675107.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593727 target range: 288.165344 and range: 290.70 m.
2025-06-11T20:51:47.581Z,1749675107.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011466
2025-06-11T20:51:47.834Z,1749675107.834 [DAT](INFO): DAT read: Rx Time:20:51:49.0934
2025-06-11T20:51:47.834Z,1749675107.834 [DAT](INFO): Rx dataTimestamp_ set to:1749675107.833721
2025-06-11T20:51:47.835Z,1749675107.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265308
2025-06-11T20:51:47.910Z,1749675107.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.17 m.
2025-06-11T20:51:47.915Z,1749675107.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 288.165344 m,
nav range: 276.371094 m,
bearing: 329.266728 deg,
approach rate: -0.500646 m/s,
LOS rate: -0.000881 deg/s,
cmd heading: 320.496928 deg,
new cmd heading: 320.496018 deg.
2025-06-11T20:51:47.917Z,1749675107.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593711 target range: 288.165344 and range: 290.70 m.
2025-06-11T20:51:48.085Z,1749675108.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515497
2025-06-11T20:51:48.353Z,1749675108.353 [DAT](INFO): DAT read: 20:51:49.0935 LVL= 25904, 29681, 22818, 32755, AGC= 69, IDX= 418, 0.17, 0.538,-1.042, 0.244,-0.161, PHS= 0.787,-0.834, 0.402, RAW= 136.8, -4.9, CAL= 142.4, -14.9, ROT= 7.6, 14.9
2025-06-11T20:51:48.354Z,1749675108.354 [DAT](INFO): got valid direction response:
20:51:49.0935 LVL= 25904, 29681, 22818, 32755, AGC= 69, IDX= 418, 0.17, 0.538,-1.042, 0.244,-0.161, PHS= 0.787,-0.834, 0.402, RAW= 136.8, -4.9, CAL= 142.4, -14.9, ROT= 7.6, 14.9
2025-06-11T20:51:48.355Z,1749675108.355 [DAT](INFO): DAT read: Bearing 7.6, 14.9 (Local)
2025-06-11T20:51:48.355Z,1749675108.355 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.6, 14.9 (Local)
2025-06-11T20:51:48.365Z,1749675108.365 [DAT](INFO): DAT read: Range 10 to 50 : 288.7 m (Round-trip 385.0 ms) speed 0.1 m/s
2025-06-11T20:51:48.366Z,1749675108.366 [DAT](INFO): DAT read: user:532>
2025-06-11T20:51:48.367Z,1749675108.367 [DAT](INFO): DAT read: Tx time:20:51:50.2043
2025-06-11T20:51:48.367Z,1749675108.367 [DAT](INFO): Ping request sent.
2025-06-11T20:51:48.367Z,1749675108.367 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:48.367Z,1749675108.367 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:48.377Z,1749675108.377 [DAT](INFO): direction in FSK: [0.957887,0.127809,-0.257133]
2025-06-11T20:51:48.377Z,1749675108.377 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:48.377Z,1749675108.377 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:48.401Z,1749675108.401 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:48.401Z,1749675108.401 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:48.454Z,1749675108.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 288.700012 m,
deltaT: 3.782622 s,
deltaX: -2.000000 m,
approachRate: -0.528734 m/s,
rangeRepo size: 4
2025-06-11T20:51:48.460Z,1749675108.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 286.189545 m,
bearing: 329.328344 deg,
lat: 36.906394 deg,
lon: -122.115369 deg,
deltaT: 3.782622 s,
deltaX: -1.975800 m,
approachRate: -0.522336 m/s,
posRepo size: 4
2025-06-11T20:51:48.461Z,1749675108.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:48.463Z,1749675108.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 276.182861 m,
bearing: 329.270838 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000881 deg/s,
cmd heading: 320.496026 deg,
new cmd heading: 320.494591 deg.
2025-06-11T20:51:48.469Z,1749675108.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593686 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:48.589Z,1749675108.589 [DAT](INFO): DAT read: TxSync time:20:51:50.2036
2025-06-11T20:51:48.801Z,1749675108.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:48.809Z,1749675108.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 276.019531 m,
bearing: 329.270346 deg,
approach rate: -0.469234 m/s,
LOS rate: -0.001413 deg/s,
cmd heading: 320.494578 deg,
new cmd heading: 320.493103 deg.
2025-06-11T20:51:48.810Z,1749675108.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593660 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:49.175Z,1749675109.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:49.177Z,1749675109.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:49.180Z,1749675109.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 275.842438 m,
bearing: 329.269866 deg,
approach rate: -0.471582 m/s,
LOS rate: -0.001280 deg/s,
cmd heading: 320.493103 deg,
new cmd heading: 320.491662 deg.
2025-06-11T20:51:49.181Z,1749675109.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593635 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:49.345Z,1749675109.345 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:49.345Z,1749675109.345 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:49.345Z,1749675109.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:49.597Z,1749675109.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229639
2025-06-11T20:51:49.621Z,1749675109.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:49.628Z,1749675109.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 275.648041 m,
bearing: 329.270176 deg,
approach rate: -0.437771 m/s,
LOS rate: 0.000698 deg/s,
cmd heading: 320.491655 deg,
new cmd heading: 320.492585 deg.
2025-06-11T20:51:49.629Z,1749675109.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593651 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:49.851Z,1749675109.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484204
2025-06-11T20:51:49.995Z,1749675109.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:49.998Z,1749675109.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 275.463776 m,
bearing: 329.270471 deg,
approach rate: -0.492880 m/s,
LOS rate: 0.000789 deg/s,
cmd heading: 320.492584 deg,
new cmd heading: 320.493469 deg.
2025-06-11T20:51:49.999Z,1749675109.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593666 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:50.101Z,1749675110.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733635
2025-06-11T20:51:50.353Z,1749675110.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985606
2025-06-11T20:51:50.434Z,1749675110.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:50.441Z,1749675110.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 275.263397 m,
bearing: 329.270866 deg,
approach rate: -0.455953 m/s,
LOS rate: 0.000899 deg/s,
cmd heading: 320.493458 deg,
new cmd heading: 320.494643 deg.
2025-06-11T20:51:50.442Z,1749675110.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593687 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:50.605Z,1749675110.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237516
2025-06-11T20:51:50.794Z,1749675110.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:50.798Z,1749675110.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 275.093170 m,
bearing: 329.271183 deg,
approach rate: -0.472836 m/s,
LOS rate: 0.000882 deg/s,
cmd heading: 320.494633 deg,
new cmd heading: 320.495585 deg.
2025-06-11T20:51:50.799Z,1749675110.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593703 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:50.857Z,1749675110.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489693
2025-06-11T20:51:51.110Z,1749675111.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742051
2025-06-11T20:51:51.214Z,1749675111.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:51.216Z,1749675111.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:51.218Z,1749675111.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 274.898071 m,
bearing: 329.271529 deg,
approach rate: -0.463084 m/s,
LOS rate: 0.000823 deg/s,
cmd heading: 320.495589 deg,
new cmd heading: 320.496629 deg.
2025-06-11T20:51:51.219Z,1749675111.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593721 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:51.364Z,1749675111.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996121
2025-06-11T20:51:51.613Z,1749675111.613 [DAT](INFO): DAT read: Rx Time:20:51:52.9913
2025-06-11T20:51:51.613Z,1749675111.613 [DAT](INFO): Rx dataTimestamp_ set to:1749675111.613133
2025-06-11T20:51:51.614Z,1749675111.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246783
2025-06-11T20:51:51.630Z,1749675111.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:51.633Z,1749675111.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 274.707977 m,
bearing: 329.271928 deg,
approach rate: -0.458904 m/s,
LOS rate: 0.000963 deg/s,
cmd heading: 320.496627 deg,
new cmd heading: 320.497824 deg.
2025-06-11T20:51:51.634Z,1749675111.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593742 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:51.865Z,1749675111.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497646
2025-06-11T20:51:52.023Z,1749675112.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-06-11T20:51:52.030Z,1749675112.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 286.189545 m,
nav range: 274.535004 m,
bearing: 329.272275 deg,
approach rate: -0.439922 m/s,
LOS rate: 0.000883 deg/s,
cmd heading: 320.497830 deg,
new cmd heading: 320.498871 deg.
2025-06-11T20:51:52.031Z,1749675112.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593760 target range: 286.189545 and range: 288.70 m.
2025-06-11T20:51:52.118Z,1749675112.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750225
2025-06-11T20:51:52.390Z,1749675112.390 [DAT](INFO): DAT read: 20:51:52.9913 LVL= 25072, 32049, 21874, 32755, AGC= 64, IDX= 411, 0.03, 2.430, 0.668, 2.127, 1.645, PHS= 0.873,-0.930, 0.479, RAW= 138.0, -5.2, CAL= 143.7, -15.1, ROT= 6.3, 15.1
2025-06-11T20:51:52.391Z,1749675112.391 [DAT](INFO): got valid direction response:
20:51:52.9913 LVL= 25072, 32049, 21874, 32755, AGC= 64, IDX= 411, 0.03, 2.430, 0.668, 2.127, 1.645, PHS= 0.873,-0.930, 0.479, RAW= 138.0, -5.2, CAL= 143.7, -15.1, ROT= 6.3, 15.1
2025-06-11T20:51:52.400Z,1749675112.400 [DAT](INFO): DAT read: Bearing 6.3, 15.1 (Local)
2025-06-11T20:51:52.400Z,1749675112.400 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.3, 15.1 (Local)
2025-06-11T20:51:52.402Z,1749675112.402 [DAT](INFO): DAT read: Range 10 to 50 : 287.1 m (Round-trip 382.8 ms) speed 0.3 m/s
2025-06-11T20:51:52.403Z,1749675112.403 [DAT](INFO): DAT read: user:533>
2025-06-11T20:51:52.412Z,1749675112.412 [DAT](INFO): DAT read: Tx time:20:51:54.1043
2025-06-11T20:51:52.412Z,1749675112.412 [DAT](INFO): Ping request sent.
2025-06-11T20:51:52.412Z,1749675112.412 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:52.413Z,1749675112.413 [DAT](INFO): DAT read: TxSync time:20:51:54.1036
2025-06-11T20:51:52.414Z,1749675112.414 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:52.415Z,1749675112.415 [DAT](INFO): direction in FSK: [0.959642,0.105945,-0.260505]
2025-06-11T20:51:52.415Z,1749675112.415 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:52.415Z,1749675112.415 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:52.430Z,1749675112.430 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:52.431Z,1749675112.431 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:52.541Z,1749675112.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 287.100006 m,
deltaT: 4.030918 s,
deltaX: -1.600006 m,
approachRate: -0.396933 m/s,
rangeRepo size: 4
2025-06-11T20:51:52.543Z,1749675112.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 284.602570 m,
bearing: 327.961928 deg,
lat: 36.906393 deg,
lon: -122.115369 deg,
deltaT: 4.030918 s,
deltaX: -1.586975 m,
approachRate: -0.393701 m/s,
posRepo size: 4
2025-06-11T20:51:52.543Z,1749675112.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:52.550Z,1749675112.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 274.271942 m,
bearing: 329.268067 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000883 deg/s,
cmd heading: 320.498868 deg,
new cmd heading: 320.500216 deg.
2025-06-11T20:51:52.551Z,1749675112.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593784 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:52.858Z,1749675112.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:52.865Z,1749675112.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 274.122009 m,
bearing: 329.268491 deg,
approach rate: -0.459748 m/s,
LOS rate: 0.001298 deg/s,
cmd heading: 320.500206 deg,
new cmd heading: 320.501477 deg.
2025-06-11T20:51:52.866Z,1749675112.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593806 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:53.284Z,1749675113.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:53.286Z,1749675113.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:53.305Z,1749675113.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 273.928009 m,
bearing: 329.269033 deg,
approach rate: -0.452806 m/s,
LOS rate: 0.001266 deg/s,
cmd heading: 320.501463 deg,
new cmd heading: 320.503091 deg.
2025-06-11T20:51:53.306Z,1749675113.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593834 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:53.379Z,1749675113.379 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:53.379Z,1749675113.379 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:53.380Z,1749675113.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:53.629Z,1749675113.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216382
2025-06-11T20:51:53.679Z,1749675113.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:53.682Z,1749675113.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 273.757080 m,
bearing: 329.269296 deg,
approach rate: -0.435658 m/s,
LOS rate: 0.000671 deg/s,
cmd heading: 320.503102 deg,
new cmd heading: 320.503892 deg.
2025-06-11T20:51:53.683Z,1749675113.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593848 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:53.881Z,1749675113.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468272
2025-06-11T20:51:54.053Z,1749675114.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:54.056Z,1749675114.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 273.594299 m,
bearing: 329.269484 deg,
approach rate: -0.434751 m/s,
LOS rate: 0.000502 deg/s,
cmd heading: 320.503895 deg,
new cmd heading: 320.504459 deg.
2025-06-11T20:51:54.057Z,1749675114.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593858 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:54.133Z,1749675114.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720549
2025-06-11T20:51:54.388Z,1749675114.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975095
2025-06-11T20:51:54.494Z,1749675114.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:54.501Z,1749675114.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 273.406677 m,
bearing: 329.269646 deg,
approach rate: -0.425873 m/s,
LOS rate: 0.000369 deg/s,
cmd heading: 320.504468 deg,
new cmd heading: 320.504957 deg.
2025-06-11T20:51:54.502Z,1749675114.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593867 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:54.637Z,1749675114.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224572
2025-06-11T20:51:54.861Z,1749675114.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:54.864Z,1749675114.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 273.245453 m,
bearing: 329.269765 deg,
approach rate: -0.439221 m/s,
LOS rate: 0.000325 deg/s,
cmd heading: 320.504960 deg,
new cmd heading: 320.505318 deg.
2025-06-11T20:51:54.865Z,1749675114.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593873 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:54.889Z,1749675114.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476461
2025-06-11T20:51:55.141Z,1749675115.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728267
2025-06-11T20:51:55.302Z,1749675115.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:55.316Z,1749675115.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:55.319Z,1749675115.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 273.062805 m,
bearing: 329.269874 deg,
approach rate: -0.412316 m/s,
LOS rate: 0.000246 deg/s,
cmd heading: 320.505315 deg,
new cmd heading: 320.505643 deg.
2025-06-11T20:51:55.324Z,1749675115.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593879 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:55.397Z,1749675115.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983968
2025-06-11T20:51:55.646Z,1749675115.646 [DAT](INFO): DAT read: Rx Time:20:51:56.8890
2025-06-11T20:51:55.646Z,1749675115.646 [DAT](INFO): Rx dataTimestamp_ set to:1749675115.646047
2025-06-11T20:51:55.647Z,1749675115.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234675
2025-06-11T20:51:55.729Z,1749675115.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:55.731Z,1749675115.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 272.872192 m,
bearing: 329.270600 deg,
approach rate: -0.448797 m/s,
LOS rate: 0.001710 deg/s,
cmd heading: 320.505643 deg,
new cmd heading: 320.507822 deg.
2025-06-11T20:51:55.740Z,1749675115.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593917 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:55.897Z,1749675115.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484275
2025-06-11T20:51:56.111Z,1749675116.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.60 m.
2025-06-11T20:51:56.114Z,1749675116.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 284.602570 m,
nav range: 272.709229 m,
bearing: 329.271204 deg,
approach rate: -0.426388 m/s,
LOS rate: 0.001580 deg/s,
cmd heading: 320.507829 deg,
new cmd heading: 320.509640 deg.
2025-06-11T20:51:56.115Z,1749675116.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593948 target range: 284.602570 and range: 287.10 m.
2025-06-11T20:51:56.158Z,1749675116.158 [DAT](INFO): DAT read: 20:51:56.8890 LVL= 22864, 28545, 22130, 32467, AGC= 68, IDX= 420, 0.23, 1.033,-0.576, 0.696, 0.236, PHS= 0.885,-0.764, 0.457, RAW= 135.5, -7.9, CAL= 141.4, -18.9, ROT= 8.6, 18.9
2025-06-11T20:51:56.160Z,1749675116.160 [DAT](INFO): got valid direction response:
20:51:56.8890 LVL= 22864, 28545, 22130, 32467, AGC= 68, IDX= 420, 0.23, 1.033,-0.576, 0.696, 0.236, PHS= 0.885,-0.764, 0.457, RAW= 135.5, -7.9, CAL= 141.4, -18.9, ROT= 8.6, 18.9
2025-06-11T20:51:56.161Z,1749675116.161 [DAT](INFO): DAT read: Bearing 8.6, 18.9 (Local)
2025-06-11T20:51:56.162Z,1749675116.162 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.6, 18.9 (Local)
2025-06-11T20:51:56.164Z,1749675116.164 [DAT](INFO): DAT read: Range 10 to 50 : 285.3 m (Round-trip 380.5 ms) speed 0.0 m/s
2025-06-11T20:51:56.165Z,1749675116.165 [DAT](INFO): DAT read: user:534>
2025-06-11T20:51:56.166Z,1749675116.166 [DAT](INFO): DAT read: Tx time:20:51:58.0043
2025-06-11T20:51:56.167Z,1749675116.167 [DAT](INFO): Ping request sent.
2025-06-11T20:51:56.167Z,1749675116.167 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:51:56.167Z,1749675116.167 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:51:56.173Z,1749675116.173 [DAT](INFO): direction in FSK: [0.935448,0.141473,-0.323917]
2025-06-11T20:51:56.173Z,1749675116.173 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:56.173Z,1749675116.173 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:56.185Z,1749675116.185 [DAT](INFO): publishing transmit ping time
2025-06-11T20:51:56.185Z,1749675116.185 [DAT](INFO): publishing direction and range info
2025-06-11T20:51:56.404Z,1749675116.404 [DAT](INFO): DAT read: TxSync time:20:51:58.0036
2025-06-11T20:51:56.537Z,1749675116.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 285.299988 m,
deltaT: 3.778958 s,
deltaX: -1.800018 m,
approachRate: -0.476327 m/s,
rangeRepo size: 4
2025-06-11T20:51:56.539Z,1749675116.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 282.822968 m,
bearing: 330.846773 deg,
lat: 36.906419 deg,
lon: -122.115368 deg,
deltaT: 3.778958 s,
deltaX: -1.779602 m,
approachRate: -0.470924 m/s,
posRepo size: 4
2025-06-11T20:51:56.539Z,1749675116.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:51:56.542Z,1749675116.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 274.926208 m,
bearing: 329.577455 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001580 deg/s,
cmd heading: 320.509632 deg,
new cmd heading: 320.511646 deg.
2025-06-11T20:51:56.543Z,1749675116.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593984 target range: 282.822968 and range: 285.30 m.
2025-06-11T20:51:56.926Z,1749675116.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:51:56.930Z,1749675116.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 274.759155 m,
bearing: 329.577866 deg,
approach rate: -0.428080 m/s,
LOS rate: 0.001053 deg/s,
cmd heading: 320.511654 deg,
new cmd heading: 320.512887 deg.
2025-06-11T20:51:56.932Z,1749675116.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594005 target range: 282.822968 and range: 285.30 m.
2025-06-11T20:51:57.303Z,1749675117.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:57.306Z,1749675117.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:51:57.309Z,1749675117.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 274.594513 m,
bearing: 329.578324 deg,
approach rate: -0.433483 m/s,
LOS rate: 0.001207 deg/s,
cmd heading: 320.512883 deg,
new cmd heading: 320.514258 deg.
2025-06-11T20:51:57.309Z,1749675117.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594029 target range: 282.822968 and range: 285.30 m.
2025-06-11T20:51:57.412Z,1749675117.412 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:51:57.413Z,1749675117.413 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:51:57.414Z,1749675117.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:51:57.661Z,1749675117.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494025
2025-06-11T20:51:57.735Z,1749675117.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:51:57.739Z,1749675117.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 274.410797 m,
bearing: 329.578573 deg,
approach rate: -0.428331 m/s,
LOS rate: 0.000580 deg/s,
cmd heading: 320.514249 deg,
new cmd heading: 320.514996 deg.
2025-06-11T20:51:57.741Z,1749675117.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594042 target range: 282.822968 and range: 285.30 m.
2025-06-11T20:51:57.914Z,1749675117.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746537
2025-06-11T20:51:58.140Z,1749675118.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:51:58.143Z,1749675118.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 274.245697 m,
bearing: 329.578854 deg,
approach rate: -0.407481 m/s,
LOS rate: 0.000694 deg/s,
cmd heading: 320.514987 deg,
new cmd heading: 320.515831 deg.
2025-06-11T20:51:58.144Z,1749675118.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594057 target range: 282.822968 and range: 285.30 m.
2025-06-11T20:51:58.165Z,1749675118.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998074
2025-06-11T20:51:58.421Z,1749675118.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254057
2025-06-11T20:51:58.555Z,1749675118.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:51:58.558Z,1749675118.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 274.063843 m,
bearing: 329.579229 deg,
approach rate: -0.437859 m/s,
LOS rate: 0.000902 deg/s,
cmd heading: 320.515834 deg,
new cmd heading: 320.516958 deg.
2025-06-11T20:51:58.559Z,1749675118.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594076 target range: 282.822968 and range: 285.30 m.
2025-06-11T20:51:58.669Z,1749675118.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502067
2025-06-11T20:51:58.921Z,1749675118.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754480
2025-06-11T20:51:58.998Z,1749675118.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:51:59.001Z,1749675119.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 273.866669 m,
bearing: 329.579604 deg,
approach rate: -0.445032 m/s,
LOS rate: 0.000849 deg/s,
cmd heading: 320.516954 deg,
new cmd heading: 320.518082 deg.
2025-06-11T20:51:59.002Z,1749675119.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594096 target range: 282.822968 and range: 285.30 m.
2025-06-11T20:51:59.173Z,1749675119.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006033
2025-06-11T20:51:59.428Z,1749675119.428 [DAT](INFO): DAT read: Rx Time:20:52:00.7867
2025-06-11T20:51:59.430Z,1749675119.430 [DAT](INFO): Rx dataTimestamp_ set to:1749675119.428824
2025-06-11T20:51:59.432Z,1749675119.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264730
2025-06-11T20:51:59.419Z,1749675119.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:51:59.451Z,1749675119.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:51:59.481Z,1749675119.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 273.692078 m,
bearing: 329.579908 deg,
approach rate: -0.386692 m/s,
LOS rate: 0.000674 deg/s,
cmd heading: 320.518074 deg,
new cmd heading: 320.518987 deg.
2025-06-11T20:51:59.489Z,1749675119.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594111 target range: 282.822968 and range: 285.30 m.
2025-06-11T20:51:59.678Z,1749675119.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510790
2025-06-11T20:51:59.983Z,1749675119.983 [DAT](INFO): DAT read: 20:52:00.7867 LVL= 25520, 28977, 21746, 32755, AGC= 69, IDX= 412, 0.18,-0.631,-2.060,-0.910,-1.363, PHS= 0.820,-0.650, 0.450, RAW= 136., CAL= 142.0, -20.4, ROT= 8.0, 20.4
2025-06-11T20:51:59.992Z,1749675119.992 [DAT](INFO): unknown deviceResponse_: 20:52:00.7867 LVL= 25520, 28977, 21746, 32755, AGC= 69, IDX= 412, 0.18,-0.631,-2.060,-0.910,-1.363, PHS= 0.820,-0.650, 0.450, RAW= 136., CAL= 142.0, -20.4, ROT= 8.0, 20.4
2025-06-11T20:51:59.994Z,1749675119.994 [DAT](INFO): DAT read: Bearing 8.0, 20.4 (Local)
2025-06-11T20:51:59.995Z,1749675119.995 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.0, 20.4 (Local)
2025-06-11T20:52:00.007Z,1749675120.007 [DAT](INFO): DAT read: Range 10 to 50 : 283.5 m (Round-trip 378.1 ms) speed 0.3 m/s
2025-06-11T20:52:00.016Z,1749675120.016 [DAT](INFO): DAT read: user:535>
2025-06-11T20:52:00.018Z,1749675120.018 [DAT](INFO): DAT read: Tx time:20:52:01.9044
2025-06-11T20:52:00.018Z,1749675120.018 [DAT](INFO): Ping request sent.
2025-06-11T20:52:00.019Z,1749675120.019 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:00.019Z,1749675120.019 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:52:00.019Z,1749675120.019 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:00.023Z,1749675120.023 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:00.051Z,1749675120.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 283.500000 m,
deltaT: 3.802514 s,
deltaX: -1.799988 m,
approachRate: -0.473368 m/s,
rangeRepo size: 4
2025-06-11T20:52:00.057Z,1749675120.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:00.059Z,1749675120.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 273.409607 m,
bearing: 329.578889 deg,
approach rate: -0.470125 m/s,
LOS rate: -0.001699 deg/s,
cmd heading: 320.518976 deg,
new cmd heading: 320.515914 deg.
2025-06-11T20:52:00.063Z,1749675120.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594058 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:00.193Z,1749675120.193 [DAT](INFO): DAT read: TxSync time:20:52:01.9037
2025-06-11T20:52:00.541Z,1749675120.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:00.544Z,1749675120.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 273.187378 m,
bearing: 329.577358 deg,
approach rate: -0.452829 m/s,
LOS rate: -0.003121 deg/s,
cmd heading: 320.515916 deg,
new cmd heading: 320.511321 deg.
2025-06-11T20:52:00.545Z,1749675120.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593978 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:00.876Z,1749675120.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:00.879Z,1749675120.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 273.040619 m,
bearing: 329.576369 deg,
approach rate: -0.438883 m/s,
LOS rate: -0.002959 deg/s,
cmd heading: 320.511326 deg,
new cmd heading: 320.508358 deg.
2025-06-11T20:52:00.880Z,1749675120.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593926 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:01.278Z,1749675121.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:01.282Z,1749675121.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 272.862885 m,
bearing: 329.575152 deg,
approach rate: -0.444114 m/s,
LOS rate: -0.003044 deg/s,
cmd heading: 320.508348 deg,
new cmd heading: 320.504693 deg.
2025-06-11T20:52:01.283Z,1749675121.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593862 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:01.707Z,1749675121.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:01.709Z,1749675121.709 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:01.709Z,1749675121.709 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:01.709Z,1749675121.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:01.712Z,1749675121.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:01.715Z,1749675121.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 272.663605 m,
bearing: 329.573586 deg,
approach rate: -0.456560 m/s,
LOS rate: -0.003590 deg/s,
cmd heading: 320.504687 deg,
new cmd heading: 320.499986 deg.
2025-06-11T20:52:01.716Z,1749675121.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593780 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:01.961Z,1749675121.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942264
2025-06-11T20:52:02.104Z,1749675122.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:02.107Z,1749675122.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 272.490509 m,
bearing: 329.572122 deg,
approach rate: -0.465855 m/s,
LOS rate: -0.003942 deg/s,
cmd heading: 320.499988 deg,
new cmd heading: 320.495594 deg.
2025-06-11T20:52:02.112Z,1749675122.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593703 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:02.213Z,1749675122.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194044
2025-06-11T20:52:02.467Z,1749675122.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.447919
2025-06-11T20:52:02.575Z,1749675122.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:02.578Z,1749675122.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 272.254913 m,
bearing: 329.569169 deg,
approach rate: -0.479814 m/s,
LOS rate: -0.006021 deg/s,
cmd heading: 320.495589 deg,
new cmd heading: 320.486721 deg.
2025-06-11T20:52:02.579Z,1749675122.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593548 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:02.717Z,1749675122.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698113
2025-06-11T20:52:02.895Z,1749675122.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:02.903Z,1749675122.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 272.101410 m,
bearing: 329.567220 deg,
approach rate: -0.479782 m/s,
LOS rate: -0.006095 deg/s,
cmd heading: 320.486710 deg,
new cmd heading: 320.480860 deg.
2025-06-11T20:52:02.904Z,1749675122.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593446 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:02.970Z,1749675122.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951461
2025-06-11T20:52:03.221Z,1749675123.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202236
2025-06-11T20:52:03.340Z,1749675123.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:03.343Z,1749675123.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 271.904449 m,
bearing: 329.564727 deg,
approach rate: -0.446433 m/s,
LOS rate: -0.005655 deg/s,
cmd heading: 320.480863 deg,
new cmd heading: 320.473379 deg.
2025-06-11T20:52:03.348Z,1749675123.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593316 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:03.473Z,1749675123.473 [DAT](INFO): DAT read: Rx Time:20:52:04.6841
2025-06-11T20:52:03.473Z,1749675123.473 [DAT](INFO): Rx dataTimestamp_ set to:1749675123.472967
2025-06-11T20:52:03.474Z,1749675123.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455221
2025-06-11T20:52:03.725Z,1749675123.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.706285
2025-06-11T20:52:03.725Z,1749675123.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:03.727Z,1749675123.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.82 m.
2025-06-11T20:52:03.752Z,1749675123.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 282.822968 m,
nav range: 271.700958 m,
bearing: 329.562306 deg,
approach rate: -0.519879 m/s,
LOS rate: -0.006191 deg/s,
cmd heading: 320.473377 deg,
new cmd heading: 320.466108 deg.
2025-06-11T20:52:03.753Z,1749675123.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593189 target range: 282.822968 and range: 283.50 m.
2025-06-11T20:52:03.984Z,1749675123.984 [DAT](INFO): DAT read: 20:52:04.6841 LVL= 21584, 28321, 21170, 30147, AGC= 67, IDX= 418, 0.03, 2.478, 0.934, 2.205, 1.710, PHS= 0.856,-0.728, 0.492, RAW= 137.3, -8.7, CAL= 143.5, -19.4, ROT= 6.5, 19.4
2025-06-11T20:52:03.986Z,1749675123.986 [DAT](INFO): got valid direction response:
20:52:04.6841 LVL= 21584, 28321, 21170, 30147, AGC= 67, IDX= 418, 0.03, 2.478, 0.934, 2.205, 1.710, PHS= 0.856,-0.728, 0.492, RAW= 137.3, -8.7, CAL= 143.5, -19.4, ROT= 6.5, 19.4
2025-06-11T20:52:03.987Z,1749675123.987 [DAT](INFO): DAT read: Bearing 6.5, 19.4 (Local)
2025-06-11T20:52:03.988Z,1749675123.988 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.5, 19.4 (Local)
2025-06-11T20:52:03.990Z,1749675123.990 [DAT](INFO): DAT read: Range 10 to 50 : 281.6 m (Round-trip 375.5 ms) speed 0.4 m/s
2025-06-11T20:52:03.991Z,1749675123.991 [DAT](INFO): DAT read: user:536>
2025-06-11T20:52:03.993Z,1749675123.993 [DAT](INFO): DAT read: Tx time:20:52:05.8044
2025-06-11T20:52:03.993Z,1749675123.993 [DAT](INFO): Ping request sent.
2025-06-11T20:52:03.993Z,1749675123.993 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:03.994Z,1749675123.994 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:03.995Z,1749675123.995 [DAT](INFO): direction in FSK: [0.937159,0.106776,-0.332161]
2025-06-11T20:52:03.996Z,1749675123.996 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:03.996Z,1749675123.996 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:03.999Z,1749675123.999 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:03.000Z,1749675124.000 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:04.187Z,1749675124.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 281.600006 m,
deltaT: 4.026324 s,
deltaX: -1.899994 m,
approachRate: -0.471893 m/s,
rangeRepo size: 4
2025-06-11T20:52:04.193Z,1749675124.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 279.152771 m,
bearing: 329.134487 deg,
lat: 36.906419 deg,
lon: -122.115365 deg,
deltaT: 7.828838 s,
deltaX: -3.670197 m,
approachRate: -0.468805 m/s,
posRepo size: 4
2025-06-11T20:52:04.194Z,1749675124.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.15 m.
2025-06-11T20:52:04.201Z,1749675124.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.152771 m,
nav range: 271.347534 m,
bearing: 329.610886 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006191 deg/s,
cmd heading: 320.466110 deg,
new cmd heading: 320.457596 deg.
2025-06-11T20:52:04.202Z,1749675124.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593040 target range: 279.152771 and range: 281.60 m.
2025-06-11T20:52:04.232Z,1749675124.232 [DAT](INFO): DAT read: TxSync time:20:52:05.8037
2025-06-11T20:52:04.589Z,1749675124.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.15 m.
2025-06-11T20:52:04.592Z,1749675124.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.152771 m,
nav range: 271.136292 m,
bearing: 329.609238 deg,
approach rate: -0.523613 m/s,
LOS rate: -0.004089 deg/s,
cmd heading: 320.457586 deg,
new cmd heading: 320.452637 deg.
2025-06-11T20:52:04.593Z,1749675124.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592954 target range: 279.152771 and range: 281.60 m.
2025-06-11T20:52:04.988Z,1749675124.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.15 m.
2025-06-11T20:52:04.991Z,1749675124.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.152771 m,
nav range: 270.962280 m,
bearing: 329.607877 deg,
approach rate: -0.437387 m/s,
LOS rate: -0.003421 deg/s,
cmd heading: 320.452641 deg,
new cmd heading: 320.448558 deg.
2025-06-11T20:52:04.993Z,1749675124.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592883 target range: 279.152771 and range: 281.60 m.
2025-06-11T20:52:05.323Z,1749675125.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.15 m.
2025-06-11T20:52:05.342Z,1749675125.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.152771 m,
nav range: 270.775085 m,
bearing: 329.606513 deg,
approach rate: -0.557194 m/s,
LOS rate: -0.004062 deg/s,
cmd heading: 320.448570 deg,
new cmd heading: 320.444476 deg.
2025-06-11T20:52:05.343Z,1749675125.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592811 target range: 279.152771 and range: 281.60 m.
2025-06-11T20:52:05.765Z,1749675125.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:05.767Z,1749675125.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.15 m.
2025-06-11T20:52:05.771Z,1749675125.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.152771 m,
nav range: 270.554962 m,
bearing: 329.605032 deg,
approach rate: -0.495639 m/s,
LOS rate: -0.003339 deg/s,
cmd heading: 320.444472 deg,
new cmd heading: 320.440023 deg.
2025-06-11T20:52:05.772Z,1749675125.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592733 target range: 279.152771 and range: 281.60 m.
2025-06-11T20:52:05.993Z,1749675125.993 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:05.993Z,1749675125.993 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:05.994Z,1749675125.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:06.141Z,1749675126.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.15 m.
2025-06-11T20:52:06.143Z,1749675126.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.152771 m,
nav range: 270.374298 m,
bearing: 329.603971 deg,
approach rate: -0.484871 m/s,
LOS rate: -0.002849 deg/s,
cmd heading: 320.440019 deg,
new cmd heading: 320.436834 deg.
2025-06-11T20:52:06.144Z,1749675126.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592678 target range: 279.152771 and range: 281.60 m.
2025-06-11T20:52:06.245Z,1749675126.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251626
2025-06-11T20:52:06.499Z,1749675126.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505711
2025-06-11T20:52:06.606Z,1749675126.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.15 m.
2025-06-11T20:52:06.613Z,1749675126.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.152771 m,
nav range: 270.145721 m,
bearing: 329.602659 deg,
approach rate: -0.490539 m/s,
LOS rate: -0.002818 deg/s,
cmd heading: 320.436822 deg,
new cmd heading: 320.432882 deg.
2025-06-11T20:52:06.614Z,1749675126.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592609 target range: 279.152771 and range: 281.60 m.
2025-06-11T20:52:06.749Z,1749675126.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755694
2025-06-11T20:52:07.001Z,1749675127.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007647
2025-06-11T20:52:07.005Z,1749675127.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.15 m.
2025-06-11T20:52:07.007Z,1749675127.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.152771 m,
nav range: 269.950378 m,
bearing: 329.602573 deg,
approach rate: -0.489736 m/s,
LOS rate: -0.000214 deg/s,
cmd heading: 320.432888 deg,
new cmd heading: 320.432632 deg.
2025-06-11T20:52:07.008Z,1749675127.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592605 target range: 279.152771 and range: 281.60 m.
2025-06-11T20:52:07.253Z,1749675127.253 [DAT](INFO): DAT read: Rx Time:20:52:08.5818
2025-06-11T20:52:07.253Z,1749675127.253 [DAT](INFO): Rx dataTimestamp_ set to:1749675127.253023
2025-06-11T20:52:07.254Z,1749675127.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260590
2025-06-11T20:52:07.362Z,1749675127.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.15 m.
2025-06-11T20:52:07.369Z,1749675127.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.152771 m,
nav range: 269.786621 m,
bearing: 329.602525 deg,
approach rate: -0.458291 m/s,
LOS rate: -0.000135 deg/s,
cmd heading: 320.432642 deg,
new cmd heading: 320.432498 deg.
2025-06-11T20:52:07.370Z,1749675127.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592602 target range: 279.152771 and range: 281.60 m.
2025-06-11T20:52:07.505Z,1749675127.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511416
2025-06-11T20:52:07.773Z,1749675127.773 [DAT](INFO): DAT read: 20:52:08.5818 LVL= 25232, 32753, 24018, 32755, AGC= 70, IDX= 409, 0.38,-2.722, 1.903,-3.014, 2.763, PHS= 0.886,-0.813, 0.504, RAW= 137.6, -7.5, CAL= 143.6, -17.9, ROT= 6.4, 17.9
2025-06-11T20:52:07.774Z,1749675127.774 [DAT](INFO): got valid direction response:
20:52:08.5818 LVL= 25232, 32753, 24018, 32755, AGC= 70, IDX= 409, 0.38,-2.722, 1.903,-3.014, 2.763, PHS= 0.886,-0.813, 0.504, RAW= 137.6, -7.5, CAL= 143.6, -17.9, ROT= 6.4, 17.9
2025-06-11T20:52:07.775Z,1749675127.775 [DAT](INFO): DAT read: Bearing 6.4, 17.9 (Local)
2025-06-11T20:52:07.775Z,1749675127.775 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.4, 17.9 (Local)
2025-06-11T20:52:07.791Z,1749675127.791 [DAT](INFO): DAT read: Range 10 to 50 : 279.9 m (Round-trip 373.2 ms) speed 0.4 m/s
2025-06-11T20:52:07.792Z,1749675127.792 [DAT](INFO): DAT read: user:537>
2025-06-11T20:52:07.793Z,1749675127.793 [DAT](INFO): DAT read: Tx time:20:52:09.7044
2025-06-11T20:52:07.793Z,1749675127.793 [DAT](INFO): Ping request sent.
2025-06-11T20:52:07.793Z,1749675127.793 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:07.793Z,1749675127.793 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:07.794Z,1749675127.794 [DAT](INFO): direction in FSK: [0.945664,0.106073,-0.307357]
2025-06-11T20:52:07.795Z,1749675127.795 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:07.795Z,1749675127.795 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:07.830Z,1749675127.830 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:07.831Z,1749675127.831 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:07.959Z,1749675127.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 279.899994 m,
deltaT: 3.780932 s,
deltaX: -1.700012 m,
approachRate: -0.449628 m/s,
rangeRepo size: 4
2025-06-11T20:52:07.965Z,1749675127.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 277.466034 m,
bearing: 327.789255 deg,
lat: 36.906393 deg,
lon: -122.115384 deg,
deltaT: 3.780932 s,
deltaX: -1.686737 m,
approachRate: -0.446117 m/s,
posRepo size: 4
2025-06-11T20:52:07.966Z,1749675127.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:07.973Z,1749675127.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 267.908539 m,
bearing: 328.977368 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000135 deg/s,
cmd heading: 320.432506 deg,
new cmd heading: 320.432265 deg.
2025-06-11T20:52:07.974Z,1749675127.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592598 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:08.009Z,1749675128.009 [DAT](INFO): DAT read: TxSync time:20:52:09.7037
2025-06-11T20:52:08.274Z,1749675128.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:08.276Z,1749675128.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:08.278Z,1749675128.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 267.750366 m,
bearing: 328.977584 deg,
approach rate: -0.498379 m/s,
LOS rate: 0.000682 deg/s,
cmd heading: 320.432260 deg,
new cmd heading: 320.432909 deg.
2025-06-11T20:52:08.279Z,1749675128.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592609 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:08.480Z,1749675128.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:52:08.513Z,1749675128.513 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:08.513Z,1749675128.513 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:08.513Z,1749675128.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:08.707Z,1749675128.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:08.710Z,1749675128.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 267.556610 m,
bearing: 328.978864 deg,
approach rate: -0.448708 m/s,
LOS rate: 0.002966 deg/s,
cmd heading: 320.432915 deg,
new cmd heading: 320.436758 deg.
2025-06-11T20:52:08.711Z,1749675128.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592677 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:08.765Z,1749675128.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971948
2025-06-11T20:52:09.018Z,1749675129.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224638
2025-06-11T20:52:09.118Z,1749675129.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:09.121Z,1749675129.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 267.372314 m,
bearing: 328.980091 deg,
approach rate: -0.448496 m/s,
LOS rate: 0.002988 deg/s,
cmd heading: 320.436768 deg,
new cmd heading: 320.440451 deg.
2025-06-11T20:52:09.122Z,1749675129.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592741 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:09.269Z,1749675129.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475941
2025-06-11T20:52:09.484Z,1749675129.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:52:09.521Z,1749675129.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727892
2025-06-11T20:52:09.542Z,1749675129.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:09.548Z,1749675129.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 267.186249 m,
bearing: 328.981250 deg,
approach rate: -0.439650 m/s,
LOS rate: 0.002741 deg/s,
cmd heading: 320.440456 deg,
new cmd heading: 320.443936 deg.
2025-06-11T20:52:09.549Z,1749675129.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592802 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:09.774Z,1749675129.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980473
2025-06-11T20:52:10.025Z,1749675130.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231906
2025-06-11T20:52:10.071Z,1749675130.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:10.073Z,1749675130.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 266.954559 m,
bearing: 328.983426 deg,
approach rate: -0.437966 m/s,
LOS rate: 0.004115 deg/s,
cmd heading: 320.443926 deg,
new cmd heading: 320.450456 deg.
2025-06-11T20:52:10.074Z,1749675130.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592916 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:10.277Z,1749675130.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483818
2025-06-11T20:52:10.498Z,1749675130.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:10.516Z,1749675130.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:10.518Z,1749675130.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 266.769592 m,
bearing: 328.985045 deg,
approach rate: -0.431131 m/s,
LOS rate: 0.003778 deg/s,
cmd heading: 320.450455 deg,
new cmd heading: 320.455318 deg.
2025-06-11T20:52:10.519Z,1749675130.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593000 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:10.529Z,1749675130.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735869
2025-06-11T20:52:10.781Z,1749675130.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987870
2025-06-11T20:52:10.919Z,1749675130.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:10.943Z,1749675130.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 266.595581 m,
bearing: 328.987317 deg,
approach rate: -0.415383 m/s,
LOS rate: 0.005426 deg/s,
cmd heading: 320.455318 deg,
new cmd heading: 320.462137 deg.
2025-06-11T20:52:10.949Z,1749675130.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593120 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:11.033Z,1749675131.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239966
2025-06-11T20:52:11.286Z,1749675131.286 [DAT](INFO): DAT read: Rx Time:20:52:12.4795
2025-06-11T20:52:11.287Z,1749675131.287 [DAT](INFO): Rx dataTimestamp_ set to:1749675131.286106
2025-06-11T20:52:11.288Z,1749675131.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495025
2025-06-11T20:52:11.351Z,1749675131.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:11.358Z,1749675131.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 266.416962 m,
bearing: 328.989608 deg,
approach rate: -0.412774 m/s,
LOS rate: 0.005299 deg/s,
cmd heading: 320.462149 deg,
new cmd heading: 320.469028 deg.
2025-06-11T20:52:11.359Z,1749675131.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593240 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:11.537Z,1749675131.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743895
2025-06-11T20:52:11.729Z,1749675131.729 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0. +0.00, +0.00, 20.00,1063.80
2025-06-11T20:52:11.744Z,1749675131.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.47 m.
2025-06-11T20:52:11.747Z,1749675131.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.466034 m,
nav range: 266.249268 m,
bearing: 328.991763 deg,
approach rate: -0.427247 m/s,
LOS rate: 0.005493 deg/s,
cmd heading: 320.469033 deg,
new cmd heading: 320.475501 deg.
2025-06-11T20:52:11.747Z,1749675131.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593353 target range: 277.466034 and range: 279.90 m.
2025-06-11T20:52:11.799Z,1749675131.799 [DAT](INFO): DAT read: 20:52:12.4795 LVL= 21328, 30097, 23442, 30563, AGC= 68, IDX= 418,-0.07,-2.895, 1.766, 3.019, 2.567, PHS= 0.909,-0.754, 0.449, RAW= 134.5, -8.2, CAL= 140.1, -19.7, ROT= 9.9, 19.7
2025-06-11T20:52:11.800Z,1749675131.800 [DAT](INFO): got valid direction response:
20:52:12.4795 LVL= 21328, 30097, 23442, 30563, AGC= 68, IDX= 418,-0.07,-2.895, 1.766, 3.019, 2.567, PHS= 0.909,-0.754, 0.449, RAW= 134.5, -8.2, CAL= 140.1, -19.7, ROT= 9.9, 19.7
2025-06-11T20:52:11.802Z,1749675131.802 [DAT](INFO): DAT read: Bearing 9.9, 19.7 (Local)
2025-06-11T20:52:11.802Z,1749675131.802 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.9, 19.7 (Local)
2025-06-11T20:52:11.814Z,1749675131.814 [DAT](INFO): DAT read: Range 10 to 50 : 278.1 m (Round-trip 370.8 ms) speed 0.0 m/s
2025-06-11T20:52:11.814Z,1749675131.814 [DAT](INFO): DAT read: user:538>
2025-06-11T20:52:11.815Z,1749675131.815 [DAT](INFO): DAT read: Tx time:20:52:13.6045
2025-06-11T20:52:11.815Z,1749675131.815 [DAT](INFO): Ping request sent.
2025-06-11T20:52:11.820Z,1749675131.820 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:11.820Z,1749675131.820 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:11.821Z,1749675131.821 [DAT](INFO): direction in FSK: [0.927451,0.161866,-0.337095]
2025-06-11T20:52:11.821Z,1749675131.821 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:11.822Z,1749675131.822 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:11.831Z,1749675131.831 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:11.831Z,1749675131.831 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:12.041Z,1749675132.041 [DAT](INFO): DAT read: TxSync time:20:52:13.6038
2025-06-11T20:52:12.125Z,1749675132.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 278.100006 m,
deltaT: 4.030277 s,
deltaX: -1.799988 m,
approachRate: -0.446616 m/s,
rangeRepo size: 4
2025-06-11T20:52:12.127Z,1749675132.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 275.672211 m,
bearing: 331.934136 deg,
lat: 36.906393 deg,
lon: -122.115365 deg,
deltaT: 4.030277 s,
deltaX: -1.793823 m,
approachRate: -0.445087 m/s,
posRepo size: 4
2025-06-11T20:52:12.127Z,1749675132.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.67 m.
2025-06-11T20:52:12.130Z,1749675132.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 275.672211 m,
nav range: 265.217529 m,
bearing: 329.309565 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005493 deg/s,
cmd heading: 320.475508 deg,
new cmd heading: 320.481771 deg.
2025-06-11T20:52:12.131Z,1749675132.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593462 target range: 275.672211 and range: 278.10 m.
2025-06-11T20:52:12.543Z,1749675132.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:12.545Z,1749675132.545 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:12.545Z,1749675132.545 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:12.545Z,1749675132.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:12.549Z,1749675132.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.67 m.
2025-06-11T20:52:12.560Z,1749675132.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 275.672211 m,
nav range: 265.048767 m,
bearing: 329.312025 deg,
approach rate: -0.396696 m/s,
LOS rate: 0.005787 deg/s,
cmd heading: 320.481765 deg,
new cmd heading: 320.489151 deg.
2025-06-11T20:52:12.561Z,1749675132.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593591 target range: 275.672211 and range: 278.10 m.
2025-06-11T20:52:12.797Z,1749675132.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981375
2025-06-11T20:52:12.967Z,1749675132.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.67 m.
2025-06-11T20:52:12.974Z,1749675132.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 275.672211 m,
nav range: 264.866211 m,
bearing: 329.314893 deg,
approach rate: -0.436985 m/s,
LOS rate: 0.006870 deg/s,
cmd heading: 320.489142 deg,
new cmd heading: 320.497751 deg.
2025-06-11T20:52:12.975Z,1749675132.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593741 target range: 275.672211 and range: 278.10 m.
2025-06-11T20:52:13.050Z,1749675133.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234005
2025-06-11T20:52:13.301Z,1749675133.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484994
2025-06-11T20:52:13.328Z,1749675133.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.67 m.
2025-06-11T20:52:13.330Z,1749675133.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 275.672211 m,
nav range: 264.711823 m,
bearing: 329.317356 deg,
approach rate: -0.428080 m/s,
LOS rate: 0.006835 deg/s,
cmd heading: 320.497748 deg,
new cmd heading: 320.505143 deg.
2025-06-11T20:52:13.331Z,1749675133.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593870 target range: 275.672211 and range: 278.10 m.
2025-06-11T20:52:13.554Z,1749675133.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737473
2025-06-11T20:52:13.774Z,1749675133.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.67 m.
2025-06-11T20:52:13.781Z,1749675133.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 275.672211 m,
nav range: 264.520599 m,
bearing: 329.320769 deg,
approach rate: -0.428333 m/s,
LOS rate: 0.007649 deg/s,
cmd heading: 320.505151 deg,
new cmd heading: 320.515396 deg.
2025-06-11T20:52:13.782Z,1749675133.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594049 target range: 275.672211 and range: 278.10 m.
2025-06-11T20:52:13.805Z,1749675133.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989251
2025-06-11T20:52:14.057Z,1749675134.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240997
2025-06-11T20:52:14.129Z,1749675134.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.67 m.
2025-06-11T20:52:14.133Z,1749675134.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 275.672211 m,
nav range: 264.362122 m,
bearing: 329.323593 deg,
approach rate: -0.445876 m/s,
LOS rate: 0.007951 deg/s,
cmd heading: 320.515397 deg,
new cmd heading: 320.523875 deg.
2025-06-11T20:52:14.134Z,1749675134.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594197 target range: 275.672211 and range: 278.10 m.
2025-06-11T20:52:14.309Z,1749675134.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493055
2025-06-11T20:52:14.532Z,1749675134.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.67 m.
2025-06-11T20:52:14.535Z,1749675134.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 275.672211 m,
nav range: 264.186493 m,
bearing: 329.326703 deg,
approach rate: -0.435829 m/s,
LOS rate: 0.007723 deg/s,
cmd heading: 320.523866 deg,
new cmd heading: 320.533203 deg.
2025-06-11T20:52:14.552Z,1749675134.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594360 target range: 275.672211 and range: 278.10 m.
2025-06-11T20:52:14.561Z,1749675134.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745266
2025-06-11T20:52:14.813Z,1749675134.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997153
2025-06-11T20:52:15.014Z,1749675135.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:15.021Z,1749675135.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.67 m.
2025-06-11T20:52:15.023Z,1749675135.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 275.672211 m,
nav range: 263.975464 m,
bearing: 329.329361 deg,
approach rate: -0.436846 m/s,
LOS rate: 0.005506 deg/s,
cmd heading: 320.533210 deg,
new cmd heading: 320.541190 deg.
2025-06-11T20:52:15.024Z,1749675135.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594499 target range: 275.672211 and range: 278.10 m.
2025-06-11T20:52:15.065Z,1749675135.065 [DAT](INFO): DAT read: Rx Time:20:52:16.3775
2025-06-11T20:52:15.066Z,1749675135.066 [DAT](INFO): Rx dataTimestamp_ set to:1749675135.065440
2025-06-11T20:52:15.066Z,1749675135.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250644
2025-06-11T20:52:15.317Z,1749675135.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501267
2025-06-11T20:52:15.357Z,1749675135.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.67 m.
2025-06-11T20:52:15.361Z,1749675135.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 275.672211 m,
nav range: 263.832764 m,
bearing: 329.331113 deg,
approach rate: -0.417569 m/s,
LOS rate: 0.005129 deg/s,
cmd heading: 320.541188 deg,
new cmd heading: 320.546446 deg.
2025-06-11T20:52:15.362Z,1749675135.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594591 target range: 275.672211 and range: 278.10 m.
2025-06-11T20:52:15.580Z,1749675135.580 [DAT](INFO): DAT read: 20:52:16.3775 LVL= 18000, 19953, 15986, 25123, AGC= 70, IDX= 413,-0.38, 0.779,-0.784, 0.531, 0.050, PHS= 0.817,-0.788, 0.478, RAW= 138.4, -7.0, CAL= 144.4, -17.1, ROT= 5.6, 17.1
2025-06-11T20:52:15.581Z,1749675135.581 [DAT](INFO): got valid direction response:
20:52:16.3775 LVL= 18000, 19953, 15986, 25123, AGC= 70, IDX= 413,-0.38, 0.779,-0.784, 0.531, 0.050, PHS= 0.817,-0.788, 0.478, RAW= 138.4, -7.0, CAL= 144.4, -17.1, ROT= 5.6, 17.1
2025-06-11T20:52:15.582Z,1749675135.582 [DAT](INFO): DAT read: Bearing 5.6, 17.1 (Local)
2025-06-11T20:52:15.582Z,1749675135.582 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.6, 17.1 (Local)
2025-06-11T20:52:15.587Z,1749675135.587 [DAT](INFO): DAT read: Range 10 to 50 : 276.6 m (Round-trip 368.8 ms) speed 0.2 m/s
2025-06-11T20:52:15.590Z,1749675135.590 [DAT](INFO): DAT read: user:539>
2025-06-11T20:52:15.591Z,1749675135.591 [DAT](INFO): DAT read: Tx time:20:52:17.4545
2025-06-11T20:52:15.591Z,1749675135.591 [DAT](INFO): Ping request sent.
2025-06-11T20:52:15.591Z,1749675135.591 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:15.591Z,1749675135.591 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:15.593Z,1749675135.593 [DAT](INFO): direction in FSK: [0.951231,0.093269,-0.294040]
2025-06-11T20:52:15.593Z,1749675135.593 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:15.593Z,1749675135.593 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:15.597Z,1749675135.597 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:15.597Z,1749675135.597 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:15.821Z,1749675135.821 [DAT](INFO): DAT read: TxSync time:20:52:17.4538
2025-06-11T20:52:15.869Z,1749675135.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 276.600006 m,
deltaT: 3.779593 s,
deltaX: -1.500000 m,
approachRate: -0.396868 m/s,
rangeRepo size: 4
2025-06-11T20:52:15.871Z,1749675135.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 274.186005 m,
bearing: 327.621006 deg,
lat: 36.906379 deg,
lon: -122.115365 deg,
deltaT: 3.779593 s,
deltaX: -1.486206 m,
approachRate: -0.393219 m/s,
posRepo size: 4
2025-06-11T20:52:15.876Z,1749675135.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:15.882Z,1749675135.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 262.305420 m,
bearing: 329.163838 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005129 deg/s,
cmd heading: 320.546433 deg,
new cmd heading: 320.554231 deg.
2025-06-11T20:52:15.883Z,1749675135.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594727 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:16.181Z,1749675136.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:16.183Z,1749675136.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 262.159271 m,
bearing: 329.164505 deg,
approach rate: -0.461408 m/s,
LOS rate: 0.002106 deg/s,
cmd heading: 320.554220 deg,
new cmd heading: 320.556221 deg.
2025-06-11T20:52:16.185Z,1749675136.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594761 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:16.557Z,1749675136.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:16.561Z,1749675136.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 261.991425 m,
bearing: 329.165211 deg,
approach rate: -0.446256 m/s,
LOS rate: 0.001879 deg/s,
cmd heading: 320.556214 deg,
new cmd heading: 320.558334 deg.
2025-06-11T20:52:16.562Z,1749675136.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594799 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:16.994Z,1749675136.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:16.997Z,1749675136.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 261.792816 m,
bearing: 329.164868 deg,
approach rate: -0.454648 m/s,
LOS rate: -0.000786 deg/s,
cmd heading: 320.558345 deg,
new cmd heading: 320.557315 deg.
2025-06-11T20:52:16.998Z,1749675136.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594780 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:17.374Z,1749675137.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:17.376Z,1749675137.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:17.379Z,1749675137.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 261.618713 m,
bearing: 329.164491 deg,
approach rate: -0.455397 m/s,
LOS rate: -0.000987 deg/s,
cmd heading: 320.557307 deg,
new cmd heading: 320.556175 deg.
2025-06-11T20:52:17.380Z,1749675137.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594761 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:17.593Z,1749675137.593 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:17.593Z,1749675137.593 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:17.593Z,1749675137.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:17.824Z,1749675137.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:17.827Z,1749675137.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 261.413208 m,
bearing: 329.162525 deg,
approach rate: -0.458908 m/s,
LOS rate: -0.004396 deg/s,
cmd heading: 320.556187 deg,
new cmd heading: 320.550281 deg.
2025-06-11T20:52:17.828Z,1749675137.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594658 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:17.846Z,1749675137.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255224
2025-06-11T20:52:18.097Z,1749675138.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505664
2025-06-11T20:52:18.206Z,1749675138.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:18.209Z,1749675138.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 261.238068 m,
bearing: 329.160833 deg,
approach rate: -0.458620 m/s,
LOS rate: -0.004432 deg/s,
cmd heading: 320.550285 deg,
new cmd heading: 320.545208 deg.
2025-06-11T20:52:18.210Z,1749675138.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594569 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:18.350Z,1749675138.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758472
2025-06-11T20:52:18.579Z,1749675138.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:18.582Z,1749675138.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 261.066956 m,
bearing: 329.159194 deg,
approach rate: -0.458379 m/s,
LOS rate: -0.004393 deg/s,
cmd heading: 320.545204 deg,
new cmd heading: 320.540284 deg.
2025-06-11T20:52:18.583Z,1749675138.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594483 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:18.601Z,1749675138.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009604
2025-06-11T20:52:18.853Z,1749675138.853 [DAT](INFO): DAT read: Rx Time:20:52:20.2250
2025-06-11T20:52:18.854Z,1749675138.854 [DAT](INFO): Rx dataTimestamp_ set to:1749675138.853315
2025-06-11T20:52:18.854Z,1749675138.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263133
2025-06-11T20:52:19.013Z,1749675139.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:19.015Z,1749675139.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 260.865356 m,
bearing: 329.157657 deg,
approach rate: -0.464978 m/s,
LOS rate: -0.003548 deg/s,
cmd heading: 320.540286 deg,
new cmd heading: 320.535671 deg.
2025-06-11T20:52:19.016Z,1749675139.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594403 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:19.105Z,1749675139.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514089
2025-06-11T20:52:19.361Z,1749675139.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768904
2025-06-11T20:52:19.447Z,1749675139.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:19.449Z,1749675139.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.19 m.
2025-06-11T20:52:19.452Z,1749675139.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.186005 m,
nav range: 260.662659 m,
bearing: 329.156101 deg,
approach rate: -0.464163 m/s,
LOS rate: -0.003566 deg/s,
cmd heading: 320.535669 deg,
new cmd heading: 320.530996 deg.
2025-06-11T20:52:19.453Z,1749675139.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594321 target range: 274.186005 and range: 276.60 m.
2025-06-11T20:52:19.615Z,1749675139.615 [DAT](INFO): DAT read: 20:52:20.2250 LVL= 25472, 32625, 26290, 32755, AGC= 68, IDX= 419,-0.06, 2.081, 0.553, 1.825, 1.365, PHS= 0.804,-0.766, 0.457, RAW= 137.9, -7.0, CAL= 143.8, -17.2, ROT= 6.2, 17.2
2025-06-11T20:52:19.616Z,1749675139.616 [DAT](INFO): got valid direction response:
20:52:20.2250 LVL= 25472, 32625, 26290, 32755, AGC= 68, IDX= 419,-0.06, 2.081, 0.553, 1.825, 1.365, PHS= 0.804,-0.766, 0.457, RAW= 137.9, -7.0, CAL= 143.8, -17.2, ROT= 6.2, 17.2
2025-06-11T20:52:19.617Z,1749675139.617 [DAT](INFO): DAT read: Bearing 6.2, 17.2 (Local)
2025-06-11T20:52:19.618Z,1749675139.618 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.2, 17.2 (Local)
2025-06-11T20:52:19.619Z,1749675139.619 [DAT](INFO): DAT read: Range 10 to 50 : 274.7 m (Round-trip 366.3 ms) speed 0.4 m/s
2025-06-11T20:52:19.620Z,1749675139.620 [DAT](INFO): DAT read: user:540>
2025-06-11T20:52:19.621Z,1749675139.621 [DAT](INFO): DAT read: Tx time:20:52:21.3045
2025-06-11T20:52:19.621Z,1749675139.621 [DAT](INFO): Ping request sent.
2025-06-11T20:52:19.621Z,1749675139.621 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:19.622Z,1749675139.622 [DAT](INFO): DAT read: TxSync time:20:52:21.3038
2025-06-11T20:52:19.623Z,1749675139.623 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:19.624Z,1749675139.624 [DAT](INFO): direction in FSK: [0.949691,0.103169,-0.295708]
2025-06-11T20:52:19.624Z,1749675139.624 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:19.624Z,1749675139.624 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:19.627Z,1749675139.627 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:19.628Z,1749675139.628 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:19.901Z,1749675139.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 274.700012 m,
deltaT: 4.039943 s,
deltaX: -1.899994 m,
approachRate: -0.470302 m/s,
rangeRepo size: 4
2025-06-11T20:52:19.903Z,1749675139.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 272.305267 m,
bearing: 328.532897 deg,
lat: 36.906368 deg,
lon: -122.115394 deg,
deltaT: 4.039943 s,
deltaX: -1.880737 m,
approachRate: -0.465536 m/s,
posRepo size: 4
2025-06-11T20:52:19.908Z,1749675139.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.31 m.
2025-06-11T20:52:19.911Z,1749675139.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.305267 m,
nav range: 260.781982 m,
bearing: 328.533691 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003566 deg/s,
cmd heading: 320.530997 deg,
new cmd heading: 320.526260 deg.
2025-06-11T20:52:19.919Z,1749675139.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594239 target range: 272.305267 and range: 274.70 m.
2025-06-11T20:52:20.198Z,1749675140.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.31 m.
2025-06-11T20:52:20.217Z,1749675140.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.305267 m,
nav range: 260.633698 m,
bearing: 328.531633 deg,
approach rate: -0.485338 m/s,
LOS rate: -0.006741 deg/s,
cmd heading: 320.526270 deg,
new cmd heading: 320.520092 deg.
2025-06-11T20:52:20.218Z,1749675140.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594131 target range: 272.305267 and range: 274.70 m.
2025-06-11T20:52:20.615Z,1749675140.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.31 m.
2025-06-11T20:52:20.622Z,1749675140.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.305267 m,
nav range: 260.441956 m,
bearing: 328.528963 deg,
approach rate: -0.458953 m/s,
LOS rate: -0.006395 deg/s,
cmd heading: 320.520096 deg,
new cmd heading: 320.512081 deg.
2025-06-11T20:52:20.623Z,1749675140.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593991 target range: 272.305267 and range: 274.70 m.
2025-06-11T20:52:21.040Z,1749675141.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.31 m.
2025-06-11T20:52:21.042Z,1749675141.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.305267 m,
nav range: 260.238708 m,
bearing: 328.527576 deg,
approach rate: -0.479126 m/s,
LOS rate: -0.003273 deg/s,
cmd heading: 320.512091 deg,
new cmd heading: 320.507926 deg.
2025-06-11T20:52:21.043Z,1749675141.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593919 target range: 272.305267 and range: 274.70 m.
2025-06-11T20:52:21.417Z,1749675141.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.31 m.
2025-06-11T20:52:21.420Z,1749675141.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.305267 m,
nav range: 260.061096 m,
bearing: 328.526310 deg,
approach rate: -0.470250 m/s,
LOS rate: -0.003354 deg/s,
cmd heading: 320.507938 deg,
new cmd heading: 320.504138 deg.
2025-06-11T20:52:21.421Z,1749675141.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593853 target range: 272.305267 and range: 274.70 m.
2025-06-11T20:52:21.864Z,1749675141.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:21.866Z,1749675141.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.31 m.
2025-06-11T20:52:21.869Z,1749675141.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.305267 m,
nav range: 259.844879 m,
bearing: 328.525816 deg,
approach rate: -0.481502 m/s,
LOS rate: -0.001100 deg/s,
cmd heading: 320.504141 deg,
new cmd heading: 320.502659 deg.
2025-06-11T20:52:21.870Z,1749675141.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593827 target range: 272.305267 and range: 274.70 m.
2025-06-11T20:52:21.877Z,1749675141.877 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:21.877Z,1749675141.877 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:21.877Z,1749675141.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:22.129Z,1749675142.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507887
2025-06-11T20:52:22.223Z,1749675142.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.31 m.
2025-06-11T20:52:22.226Z,1749675142.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.305267 m,
nav range: 259.678223 m,
bearing: 328.525443 deg,
approach rate: -0.466896 m/s,
LOS rate: -0.001048 deg/s,
cmd heading: 320.502665 deg,
new cmd heading: 320.501543 deg.
2025-06-11T20:52:22.227Z,1749675142.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593807 target range: 272.305267 and range: 274.70 m.
2025-06-11T20:52:22.381Z,1749675142.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759236
2025-06-11T20:52:22.622Z,1749675142.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.31 m.
2025-06-11T20:52:22.625Z,1749675142.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.305267 m,
nav range: 259.480347 m,
bearing: 328.524983 deg,
approach rate: -0.495991 m/s,
LOS rate: -0.001152 deg/s,
cmd heading: 320.501545 deg,
new cmd heading: 320.500167 deg.
2025-06-11T20:52:22.626Z,1749675142.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593783 target range: 272.305267 and range: 274.70 m.
2025-06-11T20:52:22.633Z,1749675142.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011445
2025-06-11T20:52:22.885Z,1749675142.885 [DAT](INFO): DAT read: Rx Time:20:52:24.0726
2025-06-11T20:52:22.885Z,1749675142.885 [DAT](INFO): Rx dataTimestamp_ set to:1749675142.885113
2025-06-11T20:52:22.886Z,1749675142.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264515
2025-06-11T20:52:23.066Z,1749675143.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.31 m.
2025-06-11T20:52:23.075Z,1749675143.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.305267 m,
nav range: 259.278290 m,
bearing: 328.524671 deg,
approach rate: -0.455503 m/s,
LOS rate: -0.000705 deg/s,
cmd heading: 320.500179 deg,
new cmd heading: 320.499241 deg.
2025-06-11T20:52:23.082Z,1749675143.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593767 target range: 272.305267 and range: 274.70 m.
2025-06-11T20:52:23.137Z,1749675143.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515471
2025-06-11T20:52:23.401Z,1749675143.401 [DAT](INFO): DAT read: 20:52:24.0726 LVL= 26128, 31985, 23858, 32755, AGC= 67, IDX= 409, 0.32, 1.873, 0.254, 1.611, 1.209, PHS= 0.752,-0.907, 0.399, RAW= 138.4, -3.3, CAL= 143.7, -12.8, ROT= 6.3, 12.8
2025-06-11T20:52:23.402Z,1749675143.402 [DAT](INFO): got valid direction response:
20:52:24.0726 LVL= 26128, 31985, 23858, 32755, AGC= 67, IDX= 409, 0.32, 1.873, 0.254, 1.611, 1.209, PHS= 0.752,-0.907, 0.399, RAW= 138.4, -3.3, CAL= 143.7, -12.8, ROT= 6.3, 12.8
2025-06-11T20:52:23.403Z,1749675143.403 [DAT](INFO): DAT read: Bearing 6.3, 12.8 (Local)
2025-06-11T20:52:23.403Z,1749675143.403 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.3, 12.8 (Local)
2025-06-11T20:52:23.413Z,1749675143.413 [DAT](INFO): DAT read: Range 10 to 50 : 272.8 m (Round-trip 363.8 ms) speed 0.3 m/s
2025-06-11T20:52:23.414Z,1749675143.414 [DAT](INFO): DAT read: user:541>
2025-06-11T20:52:23.415Z,1749675143.415 [DAT](INFO): DAT read: Tx time:20:52:25.1546
2025-06-11T20:52:23.415Z,1749675143.415 [DAT](INFO): Ping request sent.
2025-06-11T20:52:23.415Z,1749675143.415 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:23.415Z,1749675143.415 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:23.425Z,1749675143.425 [DAT](INFO): direction in FSK: [0.969260,0.107007,-0.221548]
2025-06-11T20:52:23.425Z,1749675143.425 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:23.425Z,1749675143.425 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:23.454Z,1749675143.454 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:23.454Z,1749675143.454 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:23.545Z,1749675143.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 272.799988 m,
deltaT: 3.780004 s,
deltaX: -1.900024 m,
approachRate: -0.502651 m/s,
rangeRepo size: 4
2025-06-11T20:52:23.547Z,1749675143.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 270.426880 m,
bearing: 328.341538 deg,
lat: 36.906368 deg,
lon: -122.115431 deg,
deltaT: 3.780004 s,
deltaX: -1.878387 m,
approachRate: -0.496927 m/s,
posRepo size: 4
2025-06-11T20:52:23.547Z,1749675143.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.43 m.
2025-06-11T20:52:23.554Z,1749675143.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 270.426880 m,
nav range: 260.768707 m,
bearing: 327.912121 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000705 deg/s,
cmd heading: 320.499250 deg,
new cmd heading: 320.498247 deg.
2025-06-11T20:52:23.555Z,1749675143.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593750 target range: 270.426880 and range: 272.80 m.
2025-06-11T20:52:23.641Z,1749675143.641 [DAT](INFO): DAT read: TxSync time:20:52:25.1539
2025-06-11T20:52:23.943Z,1749675143.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:23.946Z,1749675143.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.43 m.
2025-06-11T20:52:23.950Z,1749675143.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 270.426880 m,
nav range: 260.567871 m,
bearing: 327.912518 deg,
approach rate: -0.494505 m/s,
LOS rate: 0.000978 deg/s,
cmd heading: 320.498239 deg,
new cmd heading: 320.499431 deg.
2025-06-11T20:52:23.951Z,1749675143.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593771 target range: 270.426880 and range: 272.80 m.
2025-06-11T20:52:24.144Z,1749675144.144 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:24.145Z,1749675144.145 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:24.145Z,1749675144.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:24.275Z,1749675144.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.43 m.
2025-06-11T20:52:24.278Z,1749675144.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 270.426880 m,
nav range: 260.406616 m,
bearing: 327.912837 deg,
approach rate: -0.489834 m/s,
LOS rate: 0.000970 deg/s,
cmd heading: 320.499441 deg,
new cmd heading: 320.500399 deg.
2025-06-11T20:52:24.279Z,1749675144.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593787 target range: 270.426880 and range: 272.80 m.
2025-06-11T20:52:24.397Z,1749675144.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981807
2025-06-11T20:52:24.653Z,1749675144.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237282
2025-06-11T20:52:24.670Z,1749675144.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.43 m.
2025-06-11T20:52:24.672Z,1749675144.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 270.426880 m,
nav range: 260.217621 m,
bearing: 327.913203 deg,
approach rate: -0.479248 m/s,
LOS rate: 0.000928 deg/s,
cmd heading: 320.500398 deg,
new cmd heading: 320.501496 deg.
2025-06-11T20:52:24.673Z,1749675144.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593806 target range: 270.426880 and range: 272.80 m.
2025-06-11T20:52:24.901Z,1749675144.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486010
2025-06-11T20:52:25.090Z,1749675145.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.43 m.
2025-06-11T20:52:25.093Z,1749675145.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 270.426880 m,
nav range: 260.019287 m,
bearing: 327.913322 deg,
approach rate: -0.471397 m/s,
LOS rate: 0.000283 deg/s,
cmd heading: 320.501491 deg,
new cmd heading: 320.501847 deg.
2025-06-11T20:52:25.094Z,1749675145.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593812 target range: 270.426880 and range: 272.80 m.
2025-06-11T20:52:25.154Z,1749675145.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738804
2025-06-11T20:52:25.405Z,1749675145.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989549
2025-06-11T20:52:25.480Z,1749675145.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.43 m.
2025-06-11T20:52:25.483Z,1749675145.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 270.426880 m,
nav range: 259.835571 m,
bearing: 327.913322 deg,
approach rate: -0.471721 m/s,
LOS rate: -0.000001 deg/s,
cmd heading: 320.501846 deg,
new cmd heading: 320.501845 deg.
2025-06-11T20:52:25.484Z,1749675145.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593812 target range: 270.426880 and range: 272.80 m.
2025-06-11T20:52:25.657Z,1749675145.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241641
2025-06-11T20:52:25.902Z,1749675145.902 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V
2025-06-11T20:52:25.909Z,1749675145.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493827
2025-06-11T20:52:25.926Z,1749675145.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.43 m.
2025-06-11T20:52:25.931Z,1749675145.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 270.426880 m,
nav range: 259.628662 m,
bearing: 327.913291 deg,
approach rate: -0.466599 m/s,
LOS rate: -0.000069 deg/s,
cmd heading: 320.501846 deg,
new cmd heading: 320.501753 deg.
2025-06-11T20:52:25.933Z,1749675145.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593811 target range: 270.426880 and range: 272.80 m.
2025-06-11T20:52:26.161Z,1749675146.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745994
2025-06-11T20:52:26.279Z,1749675146.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:26.281Z,1749675146.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.43 m.
2025-06-11T20:52:26.284Z,1749675146.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 270.426880 m,
nav range: 259.457825 m,
bearing: 327.913281 deg,
approach rate: -0.477127 m/s,
LOS rate: -0.000027 deg/s,
cmd heading: 320.501764 deg,
new cmd heading: 320.501735 deg.
2025-06-11T20:52:26.285Z,1749675146.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593811 target range: 270.426880 and range: 272.80 m.
2025-06-11T20:52:26.413Z,1749675146.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997616
2025-06-11T20:52:26.665Z,1749675146.665 [DAT](INFO): DAT read: Rx Time:20:52:27.9399
2025-06-11T20:52:26.665Z,1749675146.665 [DAT](INFO): Rx dataTimestamp_ set to:1749675146.665194
2025-06-11T20:52:26.666Z,1749675146.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250917
2025-06-11T20:52:26.680Z,1749675146.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.43 m.
2025-06-11T20:52:26.682Z,1749675146.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 270.426880 m,
nav range: 259.269775 m,
bearing: 327.913267 deg,
approach rate: -0.471996 m/s,
LOS rate: -0.000036 deg/s,
cmd heading: 320.501736 deg,
new cmd heading: 320.501693 deg.
2025-06-11T20:52:26.683Z,1749675146.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593810 target range: 270.426880 and range: 272.80 m.
2025-06-11T20:52:26.917Z,1749675146.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501905
2025-06-11T20:52:27.175Z,1749675147.175 [DAT](INFO): DAT read: 20:52:27.9399 LVL= 24288, 32753, 27058, 32755, AGC= 70, IDX= 106, 0.27, 1.944, 0.309, 1.686, 1.247, PHS= 0.785,-0.891, 0.436, RAW= 138.6, -4.4, CAL= 144.1, -14.0, ROT= 5.9, 14.0
2025-06-11T20:52:27.176Z,1749675147.176 [DAT](INFO): got valid direction response:
20:52:27.9399 LVL= 24288, 32753, 27058, 32755, AGC= 70, IDX= 106, 0.27, 1.944, 0.309, 1.686, 1.247, PHS= 0.785,-0.891, 0.436, RAW= 138.6, -4.4, CAL= 144.1, -14.0, ROT= 5.9, 14.0
2025-06-11T20:52:27.177Z,1749675147.177 [DAT](INFO): DAT read: Bearing 5.9, 14.0 (Local)
2025-06-11T20:52:27.178Z,1749675147.178 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.9, 14.0 (Local)
2025-06-11T20:52:27.179Z,1749675147.179 [DAT](INFO): DAT read: Range 10 to 50 : 285.8 m (Round-trip 381.1 ms) speed 0.1 m/s
2025-06-11T20:52:27.180Z,1749675147.180 [DAT](INFO): DAT read: user:542>
2025-06-11T20:52:27.181Z,1749675147.181 [DAT](INFO): DAT read: Tx time:20:52:29.0546
2025-06-11T20:52:27.181Z,1749675147.181 [DAT](INFO): Ping request sent.
2025-06-11T20:52:27.181Z,1749675147.181 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:27.182Z,1749675147.182 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:27.183Z,1749675147.183 [DAT](INFO): direction in FSK: [0.965156,0.099739,-0.241922]
2025-06-11T20:52:27.183Z,1749675147.183 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:27.183Z,1749675147.183 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:27.186Z,1749675147.186 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:27.187Z,1749675147.187 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:27.290Z,1749675147.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 285.799988 m,
deltaT: 3.780340 s,
deltaX: 13.000000 m,
approachRate: 3.438844 m/s,
rangeRepo size: 4
2025-06-11T20:52:27.304Z,1749675147.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 283.316711 m,
bearing: 328.013682 deg,
lat: 36.906402 deg,
lon: -122.115431 deg,
deltaT: 3.780340 s,
deltaX: 12.889832 m,
approachRate: 3.409702 m/s,
posRepo size: 4
2025-06-11T20:52:27.305Z,1749675147.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:27.307Z,1749675147.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 262.170135 m,
bearing: 328.346140 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000036 deg/s,
cmd heading: 320.501682 deg,
new cmd heading: 320.501615 deg.
2025-06-11T20:52:27.317Z,1749675147.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593809 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:27.421Z,1749675147.421 [DAT](INFO): DAT read: TxSync time:20:52:29.0539
2025-06-11T20:52:27.635Z,1749675147.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:27.642Z,1749675147.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 262.000336 m,
bearing: 328.346266 deg,
approach rate: -0.490708 m/s,
LOS rate: 0.000364 deg/s,
cmd heading: 320.501627 deg,
new cmd heading: 320.502005 deg.
2025-06-11T20:52:27.643Z,1749675147.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593815 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:28.097Z,1749675148.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:28.140Z,1749675148.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 261.812225 m,
bearing: 328.346565 deg,
approach rate: -0.407203 m/s,
LOS rate: 0.000649 deg/s,
cmd heading: 320.502010 deg,
new cmd heading: 320.502909 deg.
2025-06-11T20:52:28.141Z,1749675148.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593831 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:28.499Z,1749675148.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:28.501Z,1749675148.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:28.504Z,1749675148.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 261.597656 m,
bearing: 328.346896 deg,
approach rate: -0.530829 m/s,
LOS rate: 0.000819 deg/s,
cmd heading: 320.502911 deg,
new cmd heading: 320.503904 deg.
2025-06-11T20:52:28.505Z,1749675148.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593848 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:28.681Z,1749675148.681 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:28.681Z,1749675148.681 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:28.681Z,1749675148.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:28.934Z,1749675148.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752045
2025-06-11T20:52:29.027Z,1749675149.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:29.030Z,1749675149.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 261.360443 m,
bearing: 328.346285 deg,
approach rate: -0.451163 m/s,
LOS rate: -0.001164 deg/s,
cmd heading: 320.503895 deg,
new cmd heading: 320.502059 deg.
2025-06-11T20:52:29.031Z,1749675149.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593816 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:29.185Z,1749675149.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003332
2025-06-11T20:52:29.330Z,1749675149.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:29.344Z,1749675149.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 261.229797 m,
bearing: 328.345921 deg,
approach rate: -0.431053 m/s,
LOS rate: -0.001201 deg/s,
cmd heading: 320.502064 deg,
new cmd heading: 320.500972 deg.
2025-06-11T20:52:29.347Z,1749675149.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593797 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:29.437Z,1749675149.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255515
2025-06-11T20:52:29.689Z,1749675149.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507370
2025-06-11T20:52:29.721Z,1749675149.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:29.724Z,1749675149.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 261.047607 m,
bearing: 328.345397 deg,
approach rate: -0.466263 m/s,
LOS rate: -0.001341 deg/s,
cmd heading: 320.500971 deg,
new cmd heading: 320.499399 deg.
2025-06-11T20:52:29.725Z,1749675149.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593770 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:29.943Z,1749675149.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761162
2025-06-11T20:52:30.153Z,1749675150.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:30.156Z,1749675150.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 260.855347 m,
bearing: 328.345243 deg,
approach rate: -0.445202 m/s,
LOS rate: -0.000358 deg/s,
cmd heading: 320.499387 deg,
new cmd heading: 320.498924 deg.
2025-06-11T20:52:30.157Z,1749675150.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593761 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:30.194Z,1749675150.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012502
2025-06-11T20:52:30.445Z,1749675150.445 [DAT](INFO): DAT read: Rx Time:20:52:31.8180
2025-06-11T20:52:30.446Z,1749675150.446 [DAT](INFO): Rx dataTimestamp_ set to:1749675150.445224
2025-06-11T20:52:30.446Z,1749675150.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264654
2025-06-11T20:52:30.542Z,1749675150.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:30.544Z,1749675150.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:30.547Z,1749675150.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 260.681488 m,
bearing: 328.345103 deg,
approach rate: -0.444988 m/s,
LOS rate: -0.000358 deg/s,
cmd heading: 320.498922 deg,
new cmd heading: 320.498503 deg.
2025-06-11T20:52:30.548Z,1749675150.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593754 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:30.697Z,1749675150.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515342
2025-06-11T20:52:30.962Z,1749675150.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779845
2025-06-11T20:52:31.045Z,1749675151.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.32 m.
2025-06-11T20:52:31.048Z,1749675151.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.316711 m,
nav range: 260.465637 m,
bearing: 328.344950 deg,
approach rate: -0.430192 m/s,
LOS rate: -0.000304 deg/s,
cmd heading: 320.498513 deg,
new cmd heading: 320.498054 deg.
2025-06-11T20:52:31.049Z,1749675151.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593746 target range: 283.316711 and range: 285.80 m.
2025-06-11T20:52:31.215Z,1749675151.215 [DAT](INFO): DAT read: 20:52:31.8180 LVL= 23424, 25473, 22514, 32755, AGC= 73, IDX= 219,-0.36,-0.740,-2.068,-0.886,-1.246, PHS= 0.595,-0.774, 0.357, RAW= 140.6, -2.8, CAL= 145.7, -12.1, ROT= 4.3, 12.1
2025-06-11T20:52:31.216Z,1749675151.216 [DAT](INFO): got valid direction response:
20:52:31.8180 LVL= 23424, 25473, 22514, 32755, AGC= 73, IDX= 219,-0.36,-0.740,-2.068,-0.886,-1.246, PHS= 0.595,-0.774, 0.357, RAW= 140.6, -2.8, CAL= 145.7, -12.1, ROT= 4.3, 12.1
2025-06-11T20:52:31.217Z,1749675151.217 [DAT](INFO): DAT read: Bearing 4.3, 12.1 (Local)
2025-06-11T20:52:31.218Z,1749675151.218 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.3, 12.1 (Local)
2025-06-11T20:52:31.219Z,1749675151.219 [DAT](INFO): DAT read: Range 10 to 50 : 269.4 m (Round-trip 359.2 ms) speed 0.4 m/s
2025-06-11T20:52:31.220Z,1749675151.220 [DAT](INFO): DAT read: user:543>
2025-06-11T20:52:31.221Z,1749675151.221 [DAT](INFO): DAT read: Tx time:20:52:32.9046
2025-06-11T20:52:31.222Z,1749675151.222 [DAT](INFO): Ping request sent.
2025-06-11T20:52:31.222Z,1749675151.222 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:31.222Z,1749675151.222 [DAT](INFO): DAT read: TxSync time:20:52:32.9039
2025-06-11T20:52:31.223Z,1749675151.223 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:31.224Z,1749675151.224 [DAT](INFO): direction in FSK: [0.975031,0.073313,-0.209619]
2025-06-11T20:52:31.224Z,1749675151.224 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:31.224Z,1749675151.224 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:31.227Z,1749675151.227 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:31.228Z,1749675151.228 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:31.403Z,1749675151.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 269.399994 m,
deltaT: 4.039684 s,
deltaX: -16.399994 m,
approachRate: -4.059722 m/s,
rangeRepo size: 4
2025-06-11T20:52:31.410Z,1749675151.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 267.060608 m,
bearing: 326.074809 deg,
lat: 36.906368 deg,
lon: -122.115439 deg,
deltaT: 4.039684 s,
deltaX: -16.256104 m,
approachRate: -4.024103 m/s,
posRepo size: 4
2025-06-11T20:52:31.410Z,1749675151.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.06 m.
2025-06-11T20:52:31.417Z,1749675151.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.060608 m,
nav range: 257.524841 m,
bearing: 327.776099 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000304 deg/s,
cmd heading: 320.498048 deg,
new cmd heading: 320.497723 deg.
2025-06-11T20:52:31.418Z,1749675151.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593740 target range: 267.060608 and range: 269.40 m.
2025-06-11T20:52:31.747Z,1749675151.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.06 m.
2025-06-11T20:52:31.750Z,1749675151.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.060608 m,
nav range: 257.369934 m,
bearing: 327.775694 deg,
approach rate: -0.449331 m/s,
LOS rate: -0.001177 deg/s,
cmd heading: 320.497720 deg,
new cmd heading: 320.496503 deg.
2025-06-11T20:52:31.751Z,1749675151.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593719 target range: 267.060608 and range: 269.40 m.
2025-06-11T20:52:32.179Z,1749675152.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.06 m.
2025-06-11T20:52:32.182Z,1749675152.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.060608 m,
nav range: 257.185272 m,
bearing: 327.775649 deg,
approach rate: -0.427537 m/s,
LOS rate: -0.000105 deg/s,
cmd heading: 320.496491 deg,
new cmd heading: 320.496355 deg.
2025-06-11T20:52:32.182Z,1749675152.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593717 target range: 267.060608 and range: 269.40 m.
2025-06-11T20:52:32.564Z,1749675152.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:32.566Z,1749675152.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.06 m.
2025-06-11T20:52:32.569Z,1749675152.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.060608 m,
nav range: 257.019592 m,
bearing: 327.775608 deg,
approach rate: -0.427400 m/s,
LOS rate: -0.000105 deg/s,
cmd heading: 320.496354 deg,
new cmd heading: 320.496232 deg.
2025-06-11T20:52:32.570Z,1749675152.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593715 target range: 267.060608 and range: 269.40 m.
2025-06-11T20:52:32.734Z,1749675152.734 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:32.734Z,1749675152.734 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:32.734Z,1749675152.734 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:32.985Z,1749675152.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763055
2025-06-11T20:52:33.081Z,1749675153.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.06 m.
2025-06-11T20:52:33.101Z,1749675153.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.060608 m,
nav range: 256.822113 m,
bearing: 327.775227 deg,
approach rate: -0.383394 m/s,
LOS rate: -0.000741 deg/s,
cmd heading: 320.496245 deg,
new cmd heading: 320.495100 deg.
2025-06-11T20:52:33.102Z,1749675153.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593695 target range: 267.060608 and range: 269.40 m.
2025-06-11T20:52:33.237Z,1749675153.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015050
2025-06-11T20:52:33.390Z,1749675153.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.06 m.
2025-06-11T20:52:33.393Z,1749675153.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.060608 m,
nav range: 256.676971 m,
bearing: 327.774879 deg,
approach rate: -0.470138 m/s,
LOS rate: -0.001126 deg/s,
cmd heading: 320.495097 deg,
new cmd heading: 320.494055 deg.
2025-06-11T20:52:33.394Z,1749675153.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593677 target range: 267.060608 and range: 269.40 m.
2025-06-11T20:52:33.489Z,1749675153.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267229
2025-06-11T20:52:33.745Z,1749675153.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523089
2025-06-11T20:52:33.773Z,1749675153.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.06 m.
2025-06-11T20:52:33.776Z,1749675153.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.060608 m,
nav range: 256.505310 m,
bearing: 327.774430 deg,
approach rate: -0.448230 m/s,
LOS rate: -0.001174 deg/s,
cmd heading: 320.494059 deg,
new cmd heading: 320.492710 deg.
2025-06-11T20:52:33.777Z,1749675153.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593653 target range: 267.060608 and range: 269.40 m.
2025-06-11T20:52:33.000Z,1749675154.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777395
2025-06-11T20:52:34.207Z,1749675154.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.06 m.
2025-06-11T20:52:34.210Z,1749675154.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.060608 m,
nav range: 256.320160 m,
bearing: 327.774198 deg,
approach rate: -0.426537 m/s,
LOS rate: -0.000534 deg/s,
cmd heading: 320.492721 deg,
new cmd heading: 320.492025 deg.
2025-06-11T20:52:34.211Z,1749675154.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593641 target range: 267.060608 and range: 269.40 m.
2025-06-11T20:52:34.250Z,1749675154.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028018
2025-06-11T20:52:34.501Z,1749675154.501 [DAT](INFO): DAT read: Rx Time:20:52:35.6657
2025-06-11T20:52:34.501Z,1749675154.501 [DAT](INFO): Rx dataTimestamp_ set to:1749675154.501012
2025-06-11T20:52:34.502Z,1749675154.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280157
2025-06-11T20:52:34.587Z,1749675154.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:34.594Z,1749675154.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.06 m.
2025-06-11T20:52:34.601Z,1749675154.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 267.060608 m,
nav range: 256.159149 m,
bearing: 327.773991 deg,
approach rate: -0.416523 m/s,
LOS rate: -0.000538 deg/s,
cmd heading: 320.492038 deg,
new cmd heading: 320.491414 deg.
2025-06-11T20:52:34.602Z,1749675154.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593630 target range: 267.060608 and range: 269.40 m.
2025-06-11T20:52:34.753Z,1749675154.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531140
2025-06-11T20:52:35.012Z,1749675155.012 [DAT](INFO): DAT read: 20:52:35.6657 LVL= 22384, 30625, 25906, 32755, AGC= 67, IDX= 418, 0.02,-2.780, 2.186,-2.941, 3.047, PHS= 0.545,-0.814, 0.292, RAW= 139.9, -0.4, CAL= 144.6, -9.4, ROT= 5.4, 9.4
2025-06-11T20:52:35.013Z,1749675155.013 [DAT](INFO): got valid direction response:
20:52:35.6657 LVL= 22384, 30625, 25906, 32755, AGC= 67, IDX= 418, 0.02,-2.780, 2.186,-2.941, 3.047, PHS= 0.545,-0.814, 0.292, RAW= 139.9, -0.4, CAL= 144.6, -9.4, ROT= 5.4, 9.4
2025-06-11T20:52:35.014Z,1749675155.014 [DAT](INFO): DAT read: Bearing 5.4, 9.4 (Local)
2025-06-11T20:52:35.014Z,1749675155.014 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.4, 9.4 (Local)
2025-06-11T20:52:35.016Z,1749675155.016 [DAT](INFO): DAT read: Range 10 to 50 : 267.6 m (Round-trip 356.8 ms) speed 0.3 m/s
2025-06-11T20:52:35.017Z,1749675155.017 [DAT](INFO): DAT read: user:544>
2025-06-11T20:52:35.017Z,1749675155.017 [DAT](INFO): DAT read: Tx time:20:52:36.7547
2025-06-11T20:52:35.018Z,1749675155.018 [DAT](INFO): Ping request sent.
2025-06-11T20:52:35.018Z,1749675155.018 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:35.018Z,1749675155.018 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:35.019Z,1749675155.019 [DAT](INFO): direction in FSK: [0.982194,0.092845,-0.163326]
2025-06-11T20:52:35.019Z,1749675155.019 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:35.019Z,1749675155.019 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:35.023Z,1749675155.023 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:35.023Z,1749675155.023 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:35.144Z,1749675155.144 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +65, +434,
2025-06-11T20:52:35.181Z,1749675155.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 267.600006 m,
deltaT: 3.796853 s,
deltaX: -1.799988 m,
approachRate: -0.474074 m/s,
rangeRepo size: 4
2025-06-11T20:52:35.183Z,1749675155.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 265.272888 m,
bearing: 327.104168 deg,
lat: 36.906391 deg,
lon: -122.115497 deg,
deltaT: 3.796853 s,
deltaX: -1.787720 m,
approachRate: -0.470842 m/s,
posRepo size: 4
2025-06-11T20:52:35.193Z,1749675155.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:35.195Z,1749675155.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 260.851074 m,
bearing: 327.104985 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000538 deg/s,
cmd heading: 320.491409 deg,
new cmd heading: 320.490462 deg.
2025-06-11T20:52:35.200Z,1749675155.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593614 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:35.258Z,1749675155.258 [DAT](INFO): DAT read: TxSync time:20:52:36.7540
2025-06-11T20:52:35.516Z,1749675155.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:35.519Z,1749675155.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 260.701416 m,
bearing: 327.104440 deg,
approach rate: -0.446384 m/s,
LOS rate: -0.001627 deg/s,
cmd heading: 320.490453 deg,
new cmd heading: 320.488817 deg.
2025-06-11T20:52:35.520Z,1749675155.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593585 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:35.896Z,1749675155.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:35.899Z,1749675155.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 260.538788 m,
bearing: 327.103933 deg,
approach rate: -0.427342 m/s,
LOS rate: -0.001332 deg/s,
cmd heading: 320.488814 deg,
new cmd heading: 320.487293 deg.
2025-06-11T20:52:35.900Z,1749675155.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593558 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:36.330Z,1749675156.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:36.333Z,1749675156.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 260.349243 m,
bearing: 327.102890 deg,
approach rate: -0.437372 m/s,
LOS rate: -0.002409 deg/s,
cmd heading: 320.487284 deg,
new cmd heading: 320.484152 deg.
2025-06-11T20:52:36.334Z,1749675156.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593503 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:36.704Z,1749675156.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:36.706Z,1749675156.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:36.709Z,1749675156.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 260.184875 m,
bearing: 327.101949 deg,
approach rate: -0.436742 m/s,
LOS rate: -0.002502 deg/s,
cmd heading: 320.484142 deg,
new cmd heading: 320.481317 deg.
2025-06-11T20:52:36.710Z,1749675156.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593454 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:36.769Z,1749675156.769 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:36.769Z,1749675156.769 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:36.769Z,1749675156.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:37.024Z,1749675157.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006193
2025-06-11T20:52:37.145Z,1749675157.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:37.148Z,1749675157.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 259.982330 m,
bearing: 327.100919 deg,
approach rate: -0.461484 m/s,
LOS rate: -0.002347 deg/s,
cmd heading: 320.481328 deg,
new cmd heading: 320.478237 deg.
2025-06-11T20:52:37.149Z,1749675157.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593400 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:37.273Z,1749675157.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255186
2025-06-11T20:52:37.515Z,1749675157.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:37.518Z,1749675157.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 259.811462 m,
bearing: 327.099997 deg,
approach rate: -0.461304 m/s,
LOS rate: -0.002491 deg/s,
cmd heading: 320.478241 deg,
new cmd heading: 320.475472 deg.
2025-06-11T20:52:37.519Z,1749675157.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593352 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:37.529Z,1749675157.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511116
2025-06-11T20:52:37.781Z,1749675157.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763061
2025-06-11T20:52:37.935Z,1749675157.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:37.952Z,1749675157.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 259.625183 m,
bearing: 327.098989 deg,
approach rate: -0.443596 m/s,
LOS rate: -0.002403 deg/s,
cmd heading: 320.475481 deg,
new cmd heading: 320.472453 deg.
2025-06-11T20:52:37.954Z,1749675157.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593299 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:38.035Z,1749675158.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016991
2025-06-11T20:52:38.285Z,1749675158.285 [DAT](INFO): DAT read: Rx Time:20:52:39.5329
2025-06-11T20:52:38.285Z,1749675158.285 [DAT](INFO): Rx dataTimestamp_ set to:1749675158.285113
2025-06-11T20:52:38.286Z,1749675158.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268256
2025-06-11T20:52:38.389Z,1749675158.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:38.391Z,1749675158.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 259.397583 m,
bearing: 327.097805 deg,
approach rate: -0.502259 m/s,
LOS rate: -0.002615 deg/s,
cmd heading: 320.472449 deg,
new cmd heading: 320.468893 deg.
2025-06-11T20:52:38.392Z,1749675158.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593237 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:38.537Z,1749675158.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519068
2025-06-11T20:52:38.761Z,1749675158.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:38.763Z,1749675158.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.27 m.
2025-06-11T20:52:38.766Z,1749675158.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 265.272888 m,
nav range: 259.215973 m,
bearing: 327.096863 deg,
approach rate: -0.484944 m/s,
LOS rate: -0.002515 deg/s,
cmd heading: 320.468897 deg,
new cmd heading: 320.466071 deg.
2025-06-11T20:52:38.767Z,1749675158.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593188 target range: 265.272888 and range: 267.60 m.
2025-06-11T20:52:38.801Z,1749675158.801 [DAT](INFO): DAT read: 20:52:39.5329 LVL= 20256, 24561, 18994, 27875, AGC= 70, IDX= 98,-0.33, 0.585,-0.904, 0.353, 0.044, PHS= 0.629,-0.901, 0.306, RAW= 138.4, -0.5, CAL= 143.3, -9.5, ROT= 6.7, 9.5
2025-06-11T20:52:38.803Z,1749675158.803 [DAT](INFO): got valid direction response:
20:52:39.5329 LVL= 20256, 24561, 18994, 27875, AGC= 70, IDX= 98,-0.33, 0.585,-0.904, 0.353, 0.044, PHS= 0.629,-0.901, 0.306, RAW= 138.4, -0.5, CAL= 143.3, -9.5, ROT= 6.7, 9.5
2025-06-11T20:52:38.813Z,1749675158.813 [DAT](INFO): DAT read: Bearing 6.7, 9.5 (Local)
2025-06-11T20:52:38.814Z,1749675158.814 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.7, 9.5 (Local)
2025-06-11T20:52:38.816Z,1749675158.816 [DAT](INFO): DAT read: Range 10 to 50 : 280.5 m (Round-trip 374.0 ms) speed 0.0 m/s
2025-06-11T20:52:38.817Z,1749675158.817 [DAT](INFO): DAT read: user:545>
2025-06-11T20:52:38.819Z,1749675158.819 [DAT](INFO): DAT read: Tx time:20:52:40.6547
2025-06-11T20:52:38.819Z,1749675158.819 [DAT](INFO): Ping request sent.
2025-06-11T20:52:38.819Z,1749675158.819 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:38.832Z,1749675158.832 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:38.833Z,1749675158.833 [DAT](INFO): direction in FSK: [0.979550,0.115071,-0.165048]
2025-06-11T20:52:38.833Z,1749675158.833 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:38.833Z,1749675158.833 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:38.837Z,1749675158.837 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:38.838Z,1749675158.838 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:39.045Z,1749675159.045 [DAT](INFO): DAT read: TxSync time:20:52:40.6540
2025-06-11T20:52:39.207Z,1749675159.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 280.500000 m,
deltaT: 3.783207 s,
deltaX: 12.899994 m,
approachRate: 3.409804 m/s,
rangeRepo size: 4
2025-06-11T20:52:39.214Z,1749675159.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 278.063507 m,
bearing: 328.213162 deg,
lat: 36.906402 deg,
lon: -122.115519 deg,
deltaT: 3.783207 s,
deltaX: 12.790619 m,
approachRate: 3.380893 m/s,
posRepo size: 4
2025-06-11T20:52:39.215Z,1749675159.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:39.222Z,1749675159.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 261.067383 m,
bearing: 326.878951 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002515 deg/s,
cmd heading: 320.466083 deg,
new cmd heading: 320.462736 deg.
2025-06-11T20:52:39.223Z,1749675159.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593130 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:39.585Z,1749675159.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:39.592Z,1749675159.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 260.882050 m,
bearing: 326.877509 deg,
approach rate: -0.489600 m/s,
LOS rate: -0.003811 deg/s,
cmd heading: 320.462722 deg,
new cmd heading: 320.458394 deg.
2025-06-11T20:52:39.593Z,1749675159.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593054 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:39.604Z,1749675159.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:52:39.992Z,1749675159.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:39.995Z,1749675159.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 260.693298 m,
bearing: 326.876198 deg,
approach rate: -0.463536 m/s,
LOS rate: -0.003223 deg/s,
cmd heading: 320.458406 deg,
new cmd heading: 320.454468 deg.
2025-06-11T20:52:40.000Z,1749675160.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592986 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:40.378Z,1749675160.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:40.397Z,1749675160.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 260.477844 m,
bearing: 326.874447 deg,
approach rate: -0.558284 m/s,
LOS rate: -0.004541 deg/s,
cmd heading: 320.454471 deg,
new cmd heading: 320.449215 deg.
2025-06-11T20:52:40.398Z,1749675160.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592894 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:40.609Z,1749675160.609 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:52:40.752Z,1749675160.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:40.754Z,1749675160.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 260.289490 m,
bearing: 326.873014 deg,
approach rate: -0.504592 m/s,
LOS rate: -0.003843 deg/s,
cmd heading: 320.449226 deg,
new cmd heading: 320.444922 deg.
2025-06-11T20:52:40.755Z,1749675160.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592819 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:41.184Z,1749675161.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:41.186Z,1749675161.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:41.194Z,1749675161.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 260.082703 m,
bearing: 326.869203 deg,
approach rate: -0.475463 m/s,
LOS rate: -0.008768 deg/s,
cmd heading: 320.444909 deg,
new cmd heading: 320.433469 deg.
2025-06-11T20:52:41.195Z,1749675161.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592619 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:41.309Z,1749675161.309 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:41.309Z,1749675161.309 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:41.309Z,1749675161.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:41.561Z,1749675161.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741806
2025-06-11T20:52:41.563Z,1749675161.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:41.566Z,1749675161.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 259.889099 m,
bearing: 326.865608 deg,
approach rate: -0.513964 m/s,
LOS rate: -0.009551 deg/s,
cmd heading: 320.433462 deg,
new cmd heading: 320.422669 deg.
2025-06-11T20:52:41.567Z,1749675161.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592431 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:41.813Z,1749675161.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993696
2025-06-11T20:52:41.966Z,1749675161.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:41.969Z,1749675161.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 259.689026 m,
bearing: 326.861838 deg,
approach rate: -0.496128 m/s,
LOS rate: -0.009357 deg/s,
cmd heading: 320.422670 deg,
new cmd heading: 320.411350 deg.
2025-06-11T20:52:41.970Z,1749675161.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592233 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:42.068Z,1749675162.068 [DAT](INFO): DAT read: Rx Time:20:52:43.4108
2025-06-11T20:52:42.069Z,1749675162.069 [DAT](INFO): Rx dataTimestamp_ set to:1749675162.068649
2025-06-11T20:52:42.071Z,1749675162.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251655
2025-06-11T20:52:42.317Z,1749675162.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497725
2025-06-11T20:52:42.396Z,1749675162.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:42.399Z,1749675162.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 259.480408 m,
bearing: 326.856771 deg,
approach rate: -0.485117 m/s,
LOS rate: -0.011791 deg/s,
cmd heading: 320.411359 deg,
new cmd heading: 320.396147 deg.
2025-06-11T20:52:42.400Z,1749675162.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591968 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:42.572Z,1749675162.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752624
2025-06-11T20:52:42.775Z,1749675162.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.06 m.
2025-06-11T20:52:42.782Z,1749675162.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.063507 m,
nav range: 259.296295 m,
bearing: 326.852251 deg,
approach rate: -0.485786 m/s,
LOS rate: -0.011934 deg/s,
cmd heading: 320.396142 deg,
new cmd heading: 320.382573 deg.
2025-06-11T20:52:42.784Z,1749675162.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591731 target range: 278.063507 and range: 280.50 m.
2025-06-11T20:52:42.830Z,1749675162.830 [DAT](INFO): DAT read: 20:52:43.4108 LVL= 30144, 32753, 29922, 32755, AGC= 71, IDX= 208,-0.08, 2.271, 0.587, 2.049, 1.668, PHS= 0.691,-1.034, 0.378, RAW= 140.2, -0.4, CAL= 144.8, -9.5, ROT= 5.2, 9.5
2025-06-11T20:52:42.832Z,1749675162.832 [DAT](INFO): got valid direction response:
20:52:43.4108 LVL= 30144, 32753, 29922, 32755, AGC= 71, IDX= 208,-0.08, 2.271, 0.587, 2.049, 1.668, PHS= 0.691,-1.034, 0.378, RAW= 140.2, -0.4, CAL= 144.8, -9.5, ROT= 5.2, 9.5
2025-06-11T20:52:42.834Z,1749675162.834 [DAT](INFO): DAT read: Bearing 5.2, 9.5 (Local)
2025-06-11T20:52:42.834Z,1749675162.834 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.2, 9.5 (Local)
2025-06-11T20:52:42.837Z,1749675162.837 [DAT](INFO): DAT read: Range 10 to 50 : 263.9 m (Round-trip 351.9 ms) speed 0.4 m/s
2025-06-11T20:52:42.838Z,1749675162.838 [DAT](INFO): DAT read: user:546>
2025-06-11T20:52:42.839Z,1749675162.839 [DAT](INFO): DAT read: Tx time:20:52:44.5047
2025-06-11T20:52:42.852Z,1749675162.852 [DAT](INFO): Ping request sent.
2025-06-11T20:52:42.853Z,1749675162.853 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:42.853Z,1749675162.853 [DAT](INFO): DAT read: TxSync time:20:52:44.5040
2025-06-11T20:52:42.854Z,1749675162.854 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:42.855Z,1749675162.855 [DAT](INFO): direction in FSK: [0.982226,0.089390,-0.165048]
2025-06-11T20:52:42.855Z,1749675162.855 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:42.856Z,1749675162.856 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:42.867Z,1749675162.867 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:42.876Z,1749675162.876 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:43.265Z,1749675163.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 263.899994 m,
deltaT: 4.032282 s,
deltaX: -16.600006 m,
approachRate: -4.116777 m/s,
rangeRepo size: 4
2025-06-11T20:52:43.267Z,1749675163.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 261.612152 m,
bearing: 326.691320 deg,
lat: 36.906391 deg,
lon: -122.115519 deg,
deltaT: 4.032282 s,
deltaX: -16.451355 m,
approachRate: -4.079912 m/s,
posRepo size: 4
2025-06-11T20:52:43.267Z,1749675163.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:43.274Z,1749675163.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 258.077515 m,
bearing: 326.701017 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.011934 deg/s,
cmd heading: 320.382563 deg,
new cmd heading: 320.365077 deg.
2025-06-11T20:52:43.275Z,1749675163.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591425 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:43.583Z,1749675163.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:43.585Z,1749675163.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:43.588Z,1749675163.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 257.917999 m,
bearing: 326.696177 deg,
approach rate: -0.496243 m/s,
LOS rate: -0.015067 deg/s,
cmd heading: 320.365078 deg,
new cmd heading: 320.350548 deg.
2025-06-11T20:52:43.589Z,1749675163.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591172 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:43.829Z,1749675163.829 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:43.829Z,1749675163.829 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:43.829Z,1749675163.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:43.984Z,1749675163.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:44.009Z,1749675164.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 257.728668 m,
bearing: 326.690395 deg,
approach rate: -0.475654 m/s,
LOS rate: -0.014536 deg/s,
cmd heading: 320.350543 deg,
new cmd heading: 320.333186 deg.
2025-06-11T20:52:44.011Z,1749675164.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590869 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:44.084Z,1749675164.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243853
2025-06-11T20:52:44.333Z,1749675164.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493172
2025-06-11T20:52:44.418Z,1749675164.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:44.421Z,1749675164.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 257.532654 m,
bearing: 326.684179 deg,
approach rate: -0.451078 m/s,
LOS rate: -0.014315 deg/s,
cmd heading: 320.333195 deg,
new cmd heading: 320.314532 deg.
2025-06-11T20:52:44.422Z,1749675164.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590543 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:44.585Z,1749675164.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745210
2025-06-11T20:52:44.808Z,1749675164.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:44.810Z,1749675164.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 257.356140 m,
bearing: 326.678575 deg,
approach rate: -0.452891 m/s,
LOS rate: -0.014391 deg/s,
cmd heading: 320.314535 deg,
new cmd heading: 320.297708 deg.
2025-06-11T20:52:44.811Z,1749675164.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590250 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:44.837Z,1749675164.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997410
2025-06-11T20:52:45.091Z,1749675165.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251342
2025-06-11T20:52:45.219Z,1749675165.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:45.221Z,1749675165.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 257.177277 m,
bearing: 326.673209 deg,
approach rate: -0.435299 m/s,
LOS rate: -0.013068 deg/s,
cmd heading: 320.297705 deg,
new cmd heading: 320.281596 deg.
2025-06-11T20:52:45.222Z,1749675165.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589968 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:45.341Z,1749675165.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501296
2025-06-11T20:52:45.593Z,1749675165.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753362
2025-06-11T20:52:45.607Z,1749675165.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:45.609Z,1749675165.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:45.612Z,1749675165.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 257.007202 m,
bearing: 326.668097 deg,
approach rate: -0.435031 m/s,
LOS rate: -0.013084 deg/s,
cmd heading: 320.281586 deg,
new cmd heading: 320.266240 deg.
2025-06-11T20:52:45.613Z,1749675165.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589700 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:45.846Z,1749675165.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006048
2025-06-11T20:52:46.028Z,1749675166.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:46.031Z,1749675166.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 256.832916 m,
bearing: 326.662852 deg,
approach rate: -0.416591 m/s,
LOS rate: -0.012544 deg/s,
cmd heading: 320.266231 deg,
new cmd heading: 320.250487 deg.
2025-06-11T20:52:46.032Z,1749675166.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589426 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:46.099Z,1749675166.099 [DAT](INFO): DAT read: Rx Time:20:52:47.2999
2025-06-11T20:52:46.099Z,1749675166.099 [DAT](INFO): Rx dataTimestamp_ set to:1749675166.099106
2025-06-11T20:52:46.100Z,1749675166.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260493
2025-06-11T20:52:46.349Z,1749675166.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509244
2025-06-11T20:52:46.450Z,1749675166.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:46.475Z,1749675166.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 256.652588 m,
bearing: 326.659239 deg,
approach rate: -0.446637 m/s,
LOS rate: -0.008956 deg/s,
cmd heading: 320.250495 deg,
new cmd heading: 320.239647 deg.
2025-06-11T20:52:46.488Z,1749675166.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589236 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:46.607Z,1749675166.607 [DAT](INFO): DAT read: 20:52:47.2999 LVL= 26080, 26289, 23026, 32659, AGC= 69, IDX= 127,-0.06, 2.051, 0.585, 1.788, 1.494, PHS= 0.645,-0.862, 0.292, RAW= 137.1, -1.1, CAL= 142.1, -10.3, ROT= 7.9, 10.3
2025-06-11T20:52:46.608Z,1749675166.608 [DAT](INFO): got valid direction response:
20:52:47.2999 LVL= 26080, 26289, 23026, 32659, AGC= 69, IDX= 127,-0.06, 2.051, 0.585, 1.788, 1.494, PHS= 0.645,-0.862, 0.292, RAW= 137.1, -1.1, CAL= 142.1, -10.3, ROT= 7.9, 10.3
2025-06-11T20:52:46.609Z,1749675166.609 [DAT](INFO): DAT read: Bearing 7.9, 10.3 (Local)
2025-06-11T20:52:46.609Z,1749675166.609 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.9, 10.3 (Local)
2025-06-11T20:52:46.611Z,1749675166.611 [DAT](INFO): DAT read: Range 10 to 50 : 293.1 m (Round-trip 390.9 ms) speed 0.1 m/s
2025-06-11T20:52:46.612Z,1749675166.612 [DAT](INFO): DAT read: user:547>
2025-06-11T20:52:46.613Z,1749675166.613 [DAT](INFO): DAT read: Tx time:20:52:48.4048
2025-06-11T20:52:46.613Z,1749675166.613 [DAT](INFO): Ping request sent.
2025-06-11T20:52:46.613Z,1749675166.613 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:46.613Z,1749675166.613 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:52:46.614Z,1749675166.614 [DAT](INFO): direction in FSK: [0.974547,0.135230,-0.178802]
2025-06-11T20:52:46.615Z,1749675166.615 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:46.615Z,1749675166.615 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:46.619Z,1749675166.619 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:46.619Z,1749675166.619 [DAT](INFO): publishing direction and range info
2025-06-11T20:52:46.837Z,1749675166.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 293.100006 m,
deltaT: 3.779735 s,
deltaX: 29.200012 m,
approachRate: 7.725412 m/s,
rangeRepo size: 4
2025-06-11T20:52:46.838Z,1749675166.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:46.844Z,1749675166.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 256.485687 m,
bearing: 326.655908 deg,
approach rate: -0.416865 m/s,
LOS rate: -0.008325 deg/s,
cmd heading: 320.239648 deg,
new cmd heading: 320.229649 deg.
2025-06-11T20:52:46.845Z,1749675166.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589062 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:46.853Z,1749675166.853 [DAT](INFO): DAT read: TxSync time:20:52:48.4041
2025-06-11T20:52:47.239Z,1749675167.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:47.243Z,1749675167.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 256.304138 m,
bearing: 326.654823 deg,
approach rate: -0.446085 m/s,
LOS rate: -0.002667 deg/s,
cmd heading: 320.229649 deg,
new cmd heading: 320.226392 deg.
2025-06-11T20:52:47.243Z,1749675167.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589005 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:47.615Z,1749675167.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:47.617Z,1749675167.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:47.620Z,1749675167.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 256.142365 m,
bearing: 326.653958 deg,
approach rate: -0.427573 m/s,
LOS rate: -0.002288 deg/s,
cmd heading: 320.226398 deg,
new cmd heading: 320.223801 deg.
2025-06-11T20:52:47.621Z,1749675167.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588960 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:47.861Z,1749675167.861 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:47.861Z,1749675167.861 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:47.861Z,1749675167.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:48.113Z,1749675168.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499747
2025-06-11T20:52:48.223Z,1749675168.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:48.226Z,1749675168.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 255.881424 m,
bearing: 326.652624 deg,
approach rate: -0.430967 m/s,
LOS rate: -0.002206 deg/s,
cmd heading: 320.223802 deg,
new cmd heading: 320.219796 deg.
2025-06-11T20:52:48.227Z,1749675168.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588890 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:48.365Z,1749675168.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752276
2025-06-11T20:52:48.617Z,1749675168.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003873
2025-06-11T20:52:48.691Z,1749675168.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:48.699Z,1749675168.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 255.693634 m,
bearing: 326.653902 deg,
approach rate: -0.400909 m/s,
LOS rate: 0.002731 deg/s,
cmd heading: 320.219786 deg,
new cmd heading: 320.223625 deg.
2025-06-11T20:52:48.704Z,1749675168.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588956 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:48.870Z,1749675168.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256964
2025-06-11T20:52:49.119Z,1749675169.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:49.126Z,1749675169.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512027
2025-06-11T20:52:49.131Z,1749675169.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 255.506424 m,
bearing: 326.655126 deg,
approach rate: -0.437963 m/s,
LOS rate: 0.002864 deg/s,
cmd heading: 320.223611 deg,
new cmd heading: 320.227284 deg.
2025-06-11T20:52:49.148Z,1749675169.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589020 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:49.373Z,1749675169.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759860
2025-06-11T20:52:49.563Z,1749675169.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:49.566Z,1749675169.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 255.314865 m,
bearing: 326.657671 deg,
approach rate: -0.430931 m/s,
LOS rate: 0.005731 deg/s,
cmd heading: 320.227272 deg,
new cmd heading: 320.234915 deg.
2025-06-11T20:52:49.567Z,1749675169.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589154 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:49.627Z,1749675169.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013801
2025-06-11T20:52:49.877Z,1749675169.877 [DAT](INFO): DAT read: Rx Time:20:52:51.1564
2025-06-11T20:52:49.878Z,1749675169.878 [DAT](INFO): Rx dataTimestamp_ set to:1749675169.877320
2025-06-11T20:52:49.878Z,1749675169.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265137
2025-06-11T20:52:49.964Z,1749675169.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:49.966Z,1749675169.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:49.992Z,1749675169.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 255.156296 m,
bearing: 326.659770 deg,
approach rate: -0.393388 m/s,
LOS rate: 0.005209 deg/s,
cmd heading: 320.234922 deg,
new cmd heading: 320.241220 deg.
2025-06-11T20:52:49.999Z,1749675169.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589264 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:50.129Z,1749675170.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515791
2025-06-11T20:52:50.374Z,1749675170.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:50.377Z,1749675170.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 254.965515 m,
bearing: 326.663963 deg,
approach rate: -0.467529 m/s,
LOS rate: 0.010284 deg/s,
cmd heading: 320.241233 deg,
new cmd heading: 320.253823 deg.
2025-06-11T20:52:50.378Z,1749675170.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589484 target range: 261.612152 and range: 263.90 m.
2025-06-11T20:52:50.390Z,1749675170.390 [DAT](INFO): DAT read: Range 10 to 50 : 260.5 m (Round-trip 347.4 ms) speed 0.5 m/s
2025-06-11T20:52:50.391Z,1749675170.391 [DAT](INFO): DAT read: user:548>
2025-06-11T20:52:50.391Z,1749675170.391 [DAT](INFO): DAT read: Tx time:20:52:52.2548
2025-06-11T20:52:50.392Z,1749675170.392 [DAT](INFO): Ping request sent.
2025-06-11T20:52:50.392Z,1749675170.392 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:50.392Z,1749675170.392 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:52:50.392Z,1749675170.392 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:50.393Z,1749675170.393 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:50.642Z,1749675170.642 [DAT](INFO): DAT read: TxSync time:20:52:52.2541
2025-06-11T20:52:50.739Z,1749675170.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 260.500000 m,
deltaT: 7.567661 s,
deltaX: -3.399994 m,
approachRate: -0.449279 m/s,
rangeRepo size: 4
2025-06-11T20:52:50.740Z,1749675170.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:50.743Z,1749675170.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 254.808609 m,
bearing: 326.667445 deg,
approach rate: -0.430778 m/s,
LOS rate: 0.009565 deg/s,
cmd heading: 320.253828 deg,
new cmd heading: 320.264280 deg.
2025-06-11T20:52:50.744Z,1749675170.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589666 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:51.136Z,1749675171.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:51.138Z,1749675171.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 254.637604 m,
bearing: 326.671334 deg,
approach rate: -0.430761 m/s,
LOS rate: 0.009804 deg/s,
cmd heading: 320.264292 deg,
new cmd heading: 320.275968 deg.
2025-06-11T20:52:51.139Z,1749675171.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589870 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:51.578Z,1749675171.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:51.596Z,1749675171.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 254.448181 m,
bearing: 326.674101 deg,
approach rate: -0.428515 m/s,
LOS rate: 0.006264 deg/s,
cmd heading: 320.275958 deg,
new cmd heading: 320.284264 deg.
2025-06-11T20:52:51.597Z,1749675171.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590015 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:51.965Z,1749675171.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:51.968Z,1749675171.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 254.282028 m,
bearing: 326.676557 deg,
approach rate: -0.428630 m/s,
LOS rate: 0.006340 deg/s,
cmd heading: 320.284263 deg,
new cmd heading: 320.291636 deg.
2025-06-11T20:52:51.969Z,1749675171.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590144 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:52.391Z,1749675172.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:52.394Z,1749675172.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:52.401Z,1749675172.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 254.101089 m,
bearing: 326.676964 deg,
approach rate: -0.422336 m/s,
LOS rate: 0.000950 deg/s,
cmd heading: 320.291640 deg,
new cmd heading: 320.292860 deg.
2025-06-11T20:52:52.401Z,1749675172.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590165 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:52.405Z,1749675172.405 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:52.405Z,1749675172.405 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:52.405Z,1749675172.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:52.657Z,1749675172.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264774
2025-06-11T20:52:52.760Z,1749675172.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:52.763Z,1749675172.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 253.940262 m,
bearing: 326.677311 deg,
approach rate: -0.439187 m/s,
LOS rate: 0.000949 deg/s,
cmd heading: 320.292869 deg,
new cmd heading: 320.293912 deg.
2025-06-11T20:52:52.764Z,1749675172.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590183 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:52.909Z,1749675172.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516846
2025-06-11T20:52:53.165Z,1749675173.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772805
2025-06-11T20:52:53.174Z,1749675173.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:53.181Z,1749675173.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 253.767975 m,
bearing: 326.677674 deg,
approach rate: -0.415968 m/s,
LOS rate: 0.000876 deg/s,
cmd heading: 320.293907 deg,
new cmd heading: 320.294996 deg.
2025-06-11T20:52:53.182Z,1749675173.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590202 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:53.417Z,1749675173.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024873
2025-06-11T20:52:53.607Z,1749675173.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:53.614Z,1749675173.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 253.575409 m,
bearing: 326.675712 deg,
approach rate: -0.444720 m/s,
LOS rate: -0.004533 deg/s,
cmd heading: 320.295000 deg,
new cmd heading: 320.289111 deg.
2025-06-11T20:52:53.615Z,1749675173.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590099 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:53.670Z,1749675173.670 [DAT](INFO): DAT read: Rx Time:20:52:55.0447
2025-06-11T20:52:53.671Z,1749675173.671 [DAT](INFO): Rx dataTimestamp_ set to:1749675173.670361
2025-06-11T20:52:53.672Z,1749675173.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279639
2025-06-11T20:52:53.921Z,1749675173.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529532
2025-06-11T20:52:53.975Z,1749675173.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:53.978Z,1749675173.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 253.410446 m,
bearing: 326.674026 deg,
approach rate: -0.447913 m/s,
LOS rate: -0.004582 deg/s,
cmd heading: 320.289099 deg,
new cmd heading: 320.284037 deg.
2025-06-11T20:52:53.979Z,1749675173.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590011 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:54.176Z,1749675174.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783578
2025-06-11T20:52:54.400Z,1749675174.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:54.402Z,1749675174.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:54.405Z,1749675174.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 253.221329 m,
bearing: 326.669376 deg,
approach rate: -0.443214 m/s,
LOS rate: -0.010905 deg/s,
cmd heading: 320.284045 deg,
new cmd heading: 320.270085 deg.
2025-06-11T20:52:54.406Z,1749675174.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589767 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:54.426Z,1749675174.426 [DAT](INFO): DAT read: Range 10 to 50 : 289.2 m (Round-trip 385.7 ms) speed -0.1 m/s
2025-06-11T20:52:54.427Z,1749675174.427 [DAT](INFO): DAT read: user:549>
2025-06-11T20:52:54.427Z,1749675174.427 [DAT](INFO): DAT read: Tx time:20:52:56.1548
2025-06-11T20:52:54.429Z,1749675174.429 [DAT](INFO): Ping request sent.
2025-06-11T20:52:54.430Z,1749675174.430 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:54.431Z,1749675174.431 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:52:54.432Z,1749675174.432 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:54.434Z,1749675174.434 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:54.677Z,1749675174.677 [DAT](INFO): DAT read: TxSync time:20:52:56.1541
2025-06-11T20:52:54.781Z,1749675174.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 289.200012 m,
deltaT: 4.036096 s,
deltaX: 28.700012 m,
approachRate: 7.110835 m/s,
rangeRepo size: 4
2025-06-11T20:52:54.782Z,1749675174.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:54.800Z,1749675174.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 253.053467 m,
bearing: 326.665252 deg,
approach rate: -0.444233 m/s,
LOS rate: -0.010922 deg/s,
cmd heading: 320.270084 deg,
new cmd heading: 320.257703 deg.
2025-06-11T20:52:54.801Z,1749675174.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589551 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:55.178Z,1749675175.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:55.182Z,1749675175.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 252.877167 m,
bearing: 326.661016 deg,
approach rate: -0.443073 m/s,
LOS rate: -0.010654 deg/s,
cmd heading: 320.257707 deg,
new cmd heading: 320.244989 deg.
2025-06-11T20:52:55.183Z,1749675175.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589329 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:55.614Z,1749675175.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:55.617Z,1749675175.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 252.674377 m,
bearing: 326.654510 deg,
approach rate: -0.465186 m/s,
LOS rate: -0.014935 deg/s,
cmd heading: 320.244976 deg,
new cmd heading: 320.225444 deg.
2025-06-11T20:52:55.618Z,1749675175.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588988 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:55.989Z,1749675175.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:55.991Z,1749675175.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 252.499908 m,
bearing: 326.648914 deg,
approach rate: -0.465232 m/s,
LOS rate: -0.014932 deg/s,
cmd heading: 320.225442 deg,
new cmd heading: 320.208642 deg.
2025-06-11T20:52:55.994Z,1749675175.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588695 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:56.442Z,1749675176.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:56.445Z,1749675176.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:56.447Z,1749675176.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 252.282074 m,
bearing: 326.641305 deg,
approach rate: -0.477764 m/s,
LOS rate: -0.016704 deg/s,
cmd heading: 320.208639 deg,
new cmd heading: 320.185791 deg.
2025-06-11T20:52:56.449Z,1749675176.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588296 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:56.693Z,1749675176.693 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:56.693Z,1749675176.693 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:56.694Z,1749675176.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:56.797Z,1749675176.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:56.799Z,1749675176.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 252.112350 m,
bearing: 326.635334 deg,
approach rate: -0.482083 m/s,
LOS rate: -0.016970 deg/s,
cmd heading: 320.185799 deg,
new cmd heading: 320.167876 deg.
2025-06-11T20:52:56.801Z,1749675176.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587984 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:56.945Z,1749675176.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516348
2025-06-11T20:52:57.197Z,1749675177.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767923
2025-06-11T20:52:57.198Z,1749675177.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:57.201Z,1749675177.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 251.921021 m,
bearing: 326.628564 deg,
approach rate: -0.479255 m/s,
LOS rate: -0.016971 deg/s,
cmd heading: 320.167877 deg,
new cmd heading: 320.147551 deg.
2025-06-11T20:52:57.202Z,1749675177.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587629 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:57.449Z,1749675177.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019976
2025-06-11T20:52:57.631Z,1749675177.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:57.634Z,1749675177.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 251.701996 m,
bearing: 326.620958 deg,
approach rate: -0.503231 m/s,
LOS rate: -0.017492 deg/s,
cmd heading: 320.147550 deg,
new cmd heading: 320.124710 deg.
2025-06-11T20:52:57.635Z,1749675177.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587230 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:57.702Z,1749675177.702 [DAT](INFO): DAT read: Rx Time:20:52:58.9016
2025-06-11T20:52:57.703Z,1749675177.703 [DAT](INFO): Rx dataTimestamp_ set to:1749675177.702436
2025-06-11T20:52:57.704Z,1749675177.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274526
2025-06-11T20:52:57.953Z,1749675177.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523640
2025-06-11T20:52:58.014Z,1749675178.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:58.017Z,1749675178.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 251.509308 m,
bearing: 326.614252 deg,
approach rate: -0.502957 m/s,
LOS rate: -0.017517 deg/s,
cmd heading: 320.124710 deg,
new cmd heading: 320.104577 deg.
2025-06-11T20:52:58.018Z,1749675178.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586879 target range: 261.612152 and range: 260.50 m.
2025-06-11T20:52:58.206Z,1749675178.206 [DAT](INFO): DAT read: Range 10 to 50 : 256.9 m (Round-trip 342.6 ms) speed 0.3 m/s
2025-06-11T20:52:58.207Z,1749675178.207 [DAT](INFO): DAT read: user:550>
2025-06-11T20:52:58.208Z,1749675178.208 [DAT](INFO): DAT read: Tx time:20:53:00.0048
2025-06-11T20:52:58.208Z,1749675178.208 [DAT](INFO): Ping request sent.
2025-06-11T20:52:58.208Z,1749675178.208 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:52:58.208Z,1749675178.208 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:52:58.209Z,1749675178.209 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:58.209Z,1749675178.209 [DAT](INFO): publishing transmit ping time
2025-06-11T20:52:58.435Z,1749675178.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 256.899994 m,
deltaT: 7.816177 s,
deltaX: -3.600006 m,
approachRate: -0.460584 m/s,
rangeRepo size: 4
2025-06-11T20:52:58.436Z,1749675178.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:58.439Z,1749675178.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 251.294693 m,
bearing: 326.608392 deg,
approach rate: -0.510929 m/s,
LOS rate: -0.013963 deg/s,
cmd heading: 320.104575 deg,
new cmd heading: 320.086980 deg.
2025-06-11T20:52:58.439Z,1749675178.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586572 target range: 261.612152 and range: 256.90 m.
2025-06-11T20:52:58.457Z,1749675178.457 [DAT](INFO): DAT read: TxSync time:20:53:00.0041
2025-06-11T20:52:58.830Z,1749675178.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:52:58.832Z,1749675178.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:58.834Z,1749675178.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 251.091843 m,
bearing: 326.602844 deg,
approach rate: -0.510710 m/s,
LOS rate: -0.013979 deg/s,
cmd heading: 320.086980 deg,
new cmd heading: 320.070322 deg.
2025-06-11T20:52:58.835Z,1749675178.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586281 target range: 261.612152 and range: 256.90 m.
2025-06-11T20:52:58.961Z,1749675178.961 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:52:58.961Z,1749675178.961 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:52:58.961Z,1749675178.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:52:59.213Z,1749675179.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004878
2025-06-11T20:52:59.238Z,1749675179.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:59.241Z,1749675179.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 250.883774 m,
bearing: 326.597231 deg,
approach rate: -0.511569 m/s,
LOS rate: -0.013811 deg/s,
cmd heading: 320.070314 deg,
new cmd heading: 320.053462 deg.
2025-06-11T20:52:59.242Z,1749675179.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585987 target range: 261.612152 and range: 256.90 m.
2025-06-11T20:52:59.465Z,1749675179.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257055
2025-06-11T20:52:59.657Z,1749675179.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:52:59.660Z,1749675179.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 250.670639 m,
bearing: 326.592417 deg,
approach rate: -0.508935 m/s,
LOS rate: -0.011506 deg/s,
cmd heading: 320.053457 deg,
new cmd heading: 320.039002 deg.
2025-06-11T20:52:59.661Z,1749675179.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585734 target range: 261.612152 and range: 256.90 m.
2025-06-11T20:52:59.718Z,1749675179.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509219
2025-06-11T20:52:59.969Z,1749675179.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760711
2025-06-11T20:53:00.050Z,1749675180.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:53:00.053Z,1749675180.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 250.470627 m,
bearing: 326.587849 deg,
approach rate: -0.509180 m/s,
LOS rate: -0.011639 deg/s,
cmd heading: 320.039005 deg,
new cmd heading: 320.025289 deg.
2025-06-11T20:53:00.054Z,1749675180.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585495 target range: 261.612152 and range: 256.90 m.
2025-06-11T20:53:00.221Z,1749675180.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012656
2025-06-11T20:53:00.466Z,1749675180.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:53:00.473Z,1749675180.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264757
2025-06-11T20:53:00.475Z,1749675180.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 250.273026 m,
bearing: 326.584728 deg,
approach rate: -0.474651 m/s,
LOS rate: -0.007502 deg/s,
cmd heading: 320.025290 deg,
new cmd heading: 320.015920 deg.
2025-06-11T20:53:00.480Z,1749675180.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585331 target range: 261.612152 and range: 256.90 m.
2025-06-11T20:53:00.725Z,1749675180.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516835
2025-06-11T20:53:00.840Z,1749675180.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:00.842Z,1749675180.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:53:00.845Z,1749675180.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 250.079742 m,
bearing: 326.581646 deg,
approach rate: -0.514578 m/s,
LOS rate: -0.008212 deg/s,
cmd heading: 320.015919 deg,
new cmd heading: 320.006666 deg.
2025-06-11T20:53:00.846Z,1749675180.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585170 target range: 261.612152 and range: 256.90 m.
2025-06-11T20:53:00.977Z,1749675180.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768728
2025-06-11T20:53:01.229Z,1749675181.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020757
2025-06-11T20:53:01.261Z,1749675181.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:53:01.263Z,1749675181.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 249.882080 m,
bearing: 326.578487 deg,
approach rate: -0.471753 m/s,
LOS rate: -0.007546 deg/s,
cmd heading: 320.006657 deg,
new cmd heading: 319.997172 deg.
2025-06-11T20:53:01.269Z,1749675181.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585004 target range: 261.612152 and range: 256.90 m.
2025-06-11T20:53:01.481Z,1749675181.481 [DAT](INFO): DAT read: Rx Time:20:53:02.7700
2025-06-11T20:53:01.481Z,1749675181.481 [DAT](INFO): Rx dataTimestamp_ set to:1749675181.481081
2025-06-11T20:53:01.482Z,1749675181.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273815
2025-06-11T20:53:01.684Z,1749675181.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.61 m.
2025-06-11T20:53:01.687Z,1749675181.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.612152 m,
nav range: 249.676300 m,
bearing: 326.574984 deg,
approach rate: -0.485731 m/s,
LOS rate: -0.008274 deg/s,
cmd heading: 319.997177 deg,
new cmd heading: 319.986661 deg.
2025-06-11T20:53:01.688Z,1749675181.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584821 target range: 261.612152 and range: 256.90 m.
2025-06-11T20:53:01.734Z,1749675181.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525461
2025-06-11T20:53:01.991Z,1749675181.991 [DAT](INFO): DAT read: 20:53:02.7700 LVL= 30304, 24241, 29330, 32643, AGC= 69, IDX= 124,-0.44, 1.418, 0.074, 1.164, 0.847, PHS= 0.659,-0.726, 0.314, RAW= 136.1, -4.0, CAL= 141.6, -13.9, ROT= 8.4, 13.9
2025-06-11T20:53:01.995Z,1749675181.995 [DAT](INFO): got valid direction response:
20:53:02.7700 LVL= 30304, 24241, 29330, 32643, AGC= 69, IDX= 124,-0.44, 1.418, 0.074, 1.164, 0.847, PHS= 0.659,-0.726, 0.314, RAW= 136.1, -4.0, CAL= 141.6, -13.9, ROT= 8.4, 13.9
2025-06-11T20:53:02.005Z,1749675182.005 [DAT](INFO): DAT read: Bearing 8.4, 13.9 (Local)
2025-06-11T20:53:02.005Z,1749675182.005 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.4, 13.9 (Local)
2025-06-11T20:53:02.007Z,1749675182.007 [DAT](INFO): DAT read: Range 10 to 50 : 270.6 m (Round-trip 360.9 ms) speed 0.4 m/s
2025-06-11T20:53:02.008Z,1749675182.008 [DAT](INFO): DAT read: user:551>
2025-06-11T20:53:02.008Z,1749675182.008 [DAT](INFO): DAT read: Tx time:20:53:03.8549
2025-06-11T20:53:02.009Z,1749675182.009 [DAT](INFO): Ping request sent.
2025-06-11T20:53:02.009Z,1749675182.009 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:02.009Z,1749675182.009 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:02.010Z,1749675182.010 [DAT](INFO): direction in FSK: [0.960303,0.141805,-0.240228]
2025-06-11T20:53:02.010Z,1749675182.010 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:02.011Z,1749675182.011 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:02.072Z,1749675182.072 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:02.072Z,1749675182.072 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:02.114Z,1749675182.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 270.600006 m,
deltaT: 3.779791 s,
deltaX: 13.700012 m,
approachRate: 3.624542 m/s,
rangeRepo size: 4
2025-06-11T20:53:02.125Z,1749675182.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 268.245789 m,
bearing: 329.912686 deg,
lat: 36.906526 deg,
lon: -122.115515 deg,
deltaT: 19.163629 s,
deltaX: 6.633636 m,
approachRate: 0.346158 m/s,
posRepo size: 4
2025-06-11T20:53:02.125Z,1749675182.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.25 m.
2025-06-11T20:53:02.140Z,1749675182.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.245789 m,
nav range: 261.993866 m,
bearing: 328.441775 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008274 deg/s,
cmd heading: 319.986658 deg,
new cmd heading: 319.976006 deg.
2025-06-11T20:53:02.141Z,1749675182.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584635 target range: 268.245789 and range: 270.60 m.
2025-06-11T20:53:02.237Z,1749675182.237 [DAT](INFO): DAT read: TxSync time:20:53:03.8541
2025-06-11T20:53:02.519Z,1749675182.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.25 m.
2025-06-11T20:53:02.525Z,1749675182.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.245789 m,
nav range: 261.809296 m,
bearing: 328.440597 deg,
approach rate: -0.455832 m/s,
LOS rate: -0.002912 deg/s,
cmd heading: 319.976003 deg,
new cmd heading: 319.972466 deg.
2025-06-11T20:53:02.526Z,1749675182.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584573 target range: 268.245789 and range: 270.60 m.
2025-06-11T20:53:02.854Z,1749675182.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:02.872Z,1749675182.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.25 m.
2025-06-11T20:53:02.875Z,1749675182.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.245789 m,
nav range: 261.659393 m,
bearing: 328.439706 deg,
approach rate: -0.444338 m/s,
LOS rate: -0.002642 deg/s,
cmd heading: 319.972479 deg,
new cmd heading: 319.969805 deg.
2025-06-11T20:53:02.876Z,1749675182.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584527 target range: 268.245789 and range: 270.60 m.
2025-06-11T20:53:02.993Z,1749675182.993 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:02.993Z,1749675182.993 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:02.993Z,1749675182.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:03.245Z,1749675183.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235978
2025-06-11T20:53:03.426Z,1749675183.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.25 m.
2025-06-11T20:53:03.439Z,1749675183.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.245789 m,
nav range: 261.458984 m,
bearing: 328.438503 deg,
approach rate: -0.351292 m/s,
LOS rate: -0.002112 deg/s,
cmd heading: 319.969801 deg,
new cmd heading: 319.966187 deg.
2025-06-11T20:53:03.441Z,1749675183.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584464 target range: 268.245789 and range: 270.60 m.
2025-06-11T20:53:03.497Z,1749675183.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488252
2025-06-11T20:53:03.733Z,1749675183.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.25 m.
2025-06-11T20:53:03.736Z,1749675183.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.245789 m,
nav range: 261.289673 m,
bearing: 328.438561 deg,
approach rate: -0.551408 m/s,
LOS rate: 0.000190 deg/s,
cmd heading: 319.966195 deg,
new cmd heading: 319.966370 deg.
2025-06-11T20:53:03.737Z,1749675183.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584466 target range: 268.245789 and range: 270.60 m.
2025-06-11T20:53:03.749Z,1749675183.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739867
2025-06-11T20:53:04.001Z,1749675184.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992588
2025-06-11T20:53:04.105Z,1749675184.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.25 m.
2025-06-11T20:53:04.107Z,1749675184.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.245789 m,
nav range: 261.134918 m,
bearing: 328.438555 deg,
approach rate: -0.416576 m/s,
LOS rate: -0.000017 deg/s,
cmd heading: 319.966359 deg,
new cmd heading: 319.966340 deg.
2025-06-11T20:53:04.109Z,1749675184.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584466 target range: 268.245789 and range: 270.60 m.
2025-06-11T20:53:04.253Z,1749675184.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243914
2025-06-11T20:53:04.511Z,1749675184.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501885
2025-06-11T20:53:04.543Z,1749675184.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.25 m.
2025-06-11T20:53:04.546Z,1749675184.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.245789 m,
nav range: 260.963898 m,
bearing: 328.439448 deg,
approach rate: -0.390551 m/s,
LOS rate: 0.002041 deg/s,
cmd heading: 319.966332 deg,
new cmd heading: 319.969012 deg.
2025-06-11T20:53:04.547Z,1749675184.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584513 target range: 268.245789 and range: 270.60 m.
2025-06-11T20:53:04.765Z,1749675184.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756576
2025-06-11T20:53:04.926Z,1749675184.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:04.930Z,1749675184.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.25 m.
2025-06-11T20:53:04.935Z,1749675184.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.245789 m,
nav range: 260.815063 m,
bearing: 328.440209 deg,
approach rate: -0.384232 m/s,
LOS rate: 0.001966 deg/s,
cmd heading: 319.969009 deg,
new cmd heading: 319.971293 deg.
2025-06-11T20:53:04.937Z,1749675184.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584553 target range: 268.245789 and range: 270.60 m.
2025-06-11T20:53:05.019Z,1749675185.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009645
2025-06-11T20:53:05.269Z,1749675185.269 [DAT](INFO): DAT read: Rx Time:20:53:06.5970
2025-06-11T20:53:05.269Z,1749675185.269 [DAT](INFO): Rx dataTimestamp_ set to:1749675185.269079
2025-06-11T20:53:05.270Z,1749675185.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261078
2025-06-11T20:53:05.335Z,1749675185.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.25 m.
2025-06-11T20:53:05.354Z,1749675185.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.245789 m,
nav range: 260.654419 m,
bearing: 328.441020 deg,
approach rate: -0.396697 m/s,
LOS rate: 0.002005 deg/s,
cmd heading: 319.971304 deg,
new cmd heading: 319.973739 deg.
2025-06-11T20:53:05.355Z,1749675185.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584595 target range: 268.245789 and range: 270.60 m.
2025-06-11T20:53:05.521Z,1749675185.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512499
2025-06-11T20:53:05.795Z,1749675185.795 [DAT](INFO): DAT read: 20:53:06.5970 LVL= 24112, 32753, 21906, 32755, AGC= 71, IDX= 421,-0.17,-0.936,-2.141,-0.997,-1.644, PHS= 0.796,-0.450, 0.644, RAW= 143.6, -16.6, CAL= 149.7, -24.6, ROT= 0.3, 24.6
2025-06-11T20:53:05.801Z,1749675185.801 [DAT](INFO): got valid direction response:
20:53:06.5970 LVL= 24112, 32753, 21906, 32755, AGC= 71, IDX= 421,-0.17,-0.936,-2.141,-0.997,-1.644, PHS= 0.796,-0.450, 0.644, RAW= 143.6, -16.6, CAL= 149.7, -24.6, ROT= 0.3, 24.6
2025-06-11T20:53:05.802Z,1749675185.802 [DAT](INFO): DAT read: Bearing 0.3, 24.6 (Local)
2025-06-11T20:53:05.802Z,1749675185.802 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.3, 24.6 (Local)
2025-06-11T20:53:05.808Z,1749675185.808 [DAT](INFO): DAT read: Range 10 to 50 : 253.4 m (Round-trip 337.9 ms) speed 0.2 m/s
2025-06-11T20:53:05.809Z,1749675185.809 [DAT](INFO): DAT read: user:552>
2025-06-11T20:53:05.810Z,1749675185.810 [DAT](INFO): DAT read: Tx time:20:53:07.7049
2025-06-11T20:53:05.810Z,1749675185.810 [DAT](INFO): Ping request sent.
2025-06-11T20:53:05.810Z,1749675185.810 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:05.810Z,1749675185.810 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:05.811Z,1749675185.811 [DAT](INFO): direction in FSK: [0.909224,0.004761,-0.416281]
2025-06-11T20:53:05.811Z,1749675185.811 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:05.816Z,1749675185.816 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:05.819Z,1749675185.819 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:05.819Z,1749675185.819 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:05.839Z,1749675185.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 253.399994 m,
deltaT: 3.790042 s,
deltaX: -17.200012 m,
approachRate: -4.538211 m/s,
rangeRepo size: 4
2025-06-11T20:53:05.841Z,1749675185.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 251.196533 m,
bearing: 322.877593 deg,
lat: 36.906526 deg,
lon: -122.115520 deg,
deltaT: 3.790042 s,
deltaX: -17.049255 m,
approachRate: -4.498435 m/s,
posRepo size: 4
2025-06-11T20:53:05.842Z,1749675185.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:05.869Z,1749675185.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 260.690521 m,
bearing: 328.360624 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002005 deg/s,
cmd heading: 319.973735 deg,
new cmd heading: 319.976763 deg.
2025-06-11T20:53:05.870Z,1749675185.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584648 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:06.025Z,1749675186.025 [DAT](INFO): DAT read: TxSync time:20:53:07.7041
2025-06-11T20:53:06.178Z,1749675186.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:06.185Z,1749675186.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 260.559174 m,
bearing: 328.362193 deg,
approach rate: -0.387180 m/s,
LOS rate: 0.004628 deg/s,
cmd heading: 319.976768 deg,
new cmd heading: 319.981478 deg.
2025-06-11T20:53:06.186Z,1749675186.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584730 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:06.598Z,1749675186.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:06.605Z,1749675186.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 260.389496 m,
bearing: 328.364975 deg,
approach rate: -0.403639 m/s,
LOS rate: 0.006621 deg/s,
cmd heading: 319.981467 deg,
new cmd heading: 319.989817 deg.
2025-06-11T20:53:06.606Z,1749675186.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584876 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:06.961Z,1749675186.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:06.963Z,1749675186.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:06.966Z,1749675186.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 260.238922 m,
bearing: 328.367486 deg,
approach rate: -0.412309 m/s,
LOS rate: 0.006881 deg/s,
cmd heading: 319.989827 deg,
new cmd heading: 319.997366 deg.
2025-06-11T20:53:06.967Z,1749675186.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585008 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:07.034Z,1749675187.034 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:07.034Z,1749675187.034 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:07.034Z,1749675187.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:07.285Z,1749675187.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474881
2025-06-11T20:53:07.357Z,1749675187.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:07.360Z,1749675187.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 260.079834 m,
bearing: 328.370143 deg,
approach rate: -0.404090 m/s,
LOS rate: 0.006752 deg/s,
cmd heading: 319.997368 deg,
new cmd heading: 320.005343 deg.
2025-06-11T20:53:07.361Z,1749675187.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585147 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:07.537Z,1749675187.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726836
2025-06-11T20:53:07.785Z,1749675187.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:07.789Z,1749675187.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978959
2025-06-11T20:53:07.790Z,1749675187.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 259.899750 m,
bearing: 328.373121 deg,
approach rate: -0.420571 m/s,
LOS rate: 0.006960 deg/s,
cmd heading: 320.005346 deg,
new cmd heading: 320.014287 deg.
2025-06-11T20:53:07.790Z,1749675187.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585303 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:08.041Z,1749675188.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230797
2025-06-11T20:53:08.161Z,1749675188.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:08.163Z,1749675188.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 259.741638 m,
bearing: 328.375724 deg,
approach rate: -0.420934 m/s,
LOS rate: 0.006934 deg/s,
cmd heading: 320.014279 deg,
new cmd heading: 320.022093 deg.
2025-06-11T20:53:08.165Z,1749675188.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585439 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:08.293Z,1749675188.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483041
2025-06-11T20:53:08.545Z,1749675188.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734873
2025-06-11T20:53:08.601Z,1749675188.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:08.604Z,1749675188.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 259.543060 m,
bearing: 328.378175 deg,
approach rate: -0.450849 m/s,
LOS rate: 0.005570 deg/s,
cmd heading: 320.022093 deg,
new cmd heading: 320.029453 deg.
2025-06-11T20:53:08.605Z,1749675188.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585567 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:08.798Z,1749675188.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987593
2025-06-11T20:53:09.027Z,1749675189.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:09.029Z,1749675189.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:09.032Z,1749675189.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 259.349152 m,
bearing: 328.380614 deg,
approach rate: -0.452863 m/s,
LOS rate: 0.005700 deg/s,
cmd heading: 320.029442 deg,
new cmd heading: 320.036765 deg.
2025-06-11T20:53:09.033Z,1749675189.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585695 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:09.049Z,1749675189.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239004
2025-06-11T20:53:09.301Z,1749675189.301 [DAT](INFO): DAT read: Rx Time:20:53:10.4654
2025-06-11T20:53:09.301Z,1749675189.301 [DAT](INFO): Rx dataTimestamp_ set to:1749675189.301142
2025-06-11T20:53:09.302Z,1749675189.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492062
2025-06-11T20:53:09.429Z,1749675189.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.20 m.
2025-06-11T20:53:09.432Z,1749675189.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.196533 m,
nav range: 259.170837 m,
bearing: 328.382891 deg,
approach rate: -0.446298 m/s,
LOS rate: 0.005701 deg/s,
cmd heading: 320.036764 deg,
new cmd heading: 320.043598 deg.
2025-06-11T20:53:09.433Z,1749675189.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585814 target range: 251.196533 and range: 253.40 m.
2025-06-11T20:53:09.553Z,1749675189.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742993
2025-06-11T20:53:09.811Z,1749675189.811 [DAT](INFO): DAT read: 20:53:10.4654 LVL= 27120, 30289, 23890, 32755, AGC= 69, IDX= 125,-0.24,-2.808, 1.952,-3.080, 2.839, PHS= 0.724,-0.840, 0.361, RAW= 137.2, -3.5, CAL= 142.6, -13.2, ROT= 7.4, 13.2
2025-06-11T20:53:09.812Z,1749675189.812 [DAT](INFO): got valid direction response:
20:53:10.4654 LVL= 27120, 30289, 23890, 32755, AGC= 69, IDX= 125,-0.24,-2.808, 1.952,-3.080, 2.839, PHS= 0.724,-0.840, 0.361, RAW= 137.2, -3.5, CAL= 142.6, -13.2, ROT= 7.4, 13.2
2025-06-11T20:53:09.813Z,1749675189.813 [DAT](INFO): DAT read: Bearing 7.4, 13.2 (Local)
2025-06-11T20:53:09.813Z,1749675189.813 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.4, 13.2 (Local)
2025-06-11T20:53:09.815Z,1749675189.815 [DAT](INFO): DAT read: Range 10 to 50 : 267.2 m (Round-trip 356.3 ms) speed 0.6 m/s
2025-06-11T20:53:09.816Z,1749675189.816 [DAT](INFO): DAT read: user:553>
2025-06-11T20:53:09.816Z,1749675189.816 [DAT](INFO): DAT read: Tx time:20:53:11.5549
2025-06-11T20:53:09.817Z,1749675189.817 [DAT](INFO): Ping request sent.
2025-06-11T20:53:09.817Z,1749675189.817 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:09.817Z,1749675189.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:09.818Z,1749675189.818 [DAT](INFO): direction in FSK: [0.965470,0.125393,-0.228351]
2025-06-11T20:53:09.818Z,1749675189.818 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:09.819Z,1749675189.819 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:09.844Z,1749675189.844 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:09.846Z,1749675189.846 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:10.057Z,1749675190.057 [DAT](INFO): DAT read: TxSync time:20:53:11.5542
2025-06-11T20:53:10.073Z,1749675190.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 267.200012 m,
deltaT: 4.029991 s,
deltaX: 13.800018 m,
approachRate: 3.424330 m/s,
rangeRepo size: 4
2025-06-11T20:53:10.075Z,1749675190.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 264.883789 m,
bearing: 328.559306 deg,
lat: 36.906518 deg,
lon: -122.115515 deg,
deltaT: 4.029991 s,
deltaX: 13.687256 m,
approachRate: 3.396349 m/s,
posRepo size: 4
2025-06-11T20:53:10.075Z,1749675190.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.88 m.
2025-06-11T20:53:10.082Z,1749675190.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.883789 m,
nav range: 257.871155 m,
bearing: 328.363721 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005701 deg/s,
cmd heading: 320.043595 deg,
new cmd heading: 320.054450 deg.
2025-06-11T20:53:10.083Z,1749675190.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586004 target range: 264.883789 and range: 267.20 m.
2025-06-11T20:53:10.585Z,1749675190.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.88 m.
2025-06-11T20:53:10.592Z,1749675190.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.883789 m,
nav range: 257.611938 m,
bearing: 328.364033 deg,
approach rate: -0.496950 m/s,
LOS rate: 0.000600 deg/s,
cmd heading: 320.054441 deg,
new cmd heading: 320.055380 deg.
2025-06-11T20:53:10.593Z,1749675190.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586020 target range: 264.883789 and range: 267.20 m.
2025-06-11T20:53:10.728Z,1749675190.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:53:10.906Z,1749675190.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.88 m.
2025-06-11T20:53:10.930Z,1749675190.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.883789 m,
nav range: 257.448730 m,
bearing: 328.364300 deg,
approach rate: -0.508772 m/s,
LOS rate: 0.000832 deg/s,
cmd heading: 320.055370 deg,
new cmd heading: 320.056170 deg.
2025-06-11T20:53:10.931Z,1749675190.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586034 target range: 264.883789 and range: 267.20 m.
2025-06-11T20:53:11.307Z,1749675191.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:11.309Z,1749675191.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.88 m.
2025-06-11T20:53:11.312Z,1749675191.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.883789 m,
nav range: 257.251251 m,
bearing: 328.364596 deg,
approach rate: -0.489626 m/s,
LOS rate: 0.000736 deg/s,
cmd heading: 320.056162 deg,
new cmd heading: 320.057053 deg.
2025-06-11T20:53:11.313Z,1749675191.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586050 target range: 264.883789 and range: 267.20 m.
2025-06-11T20:53:11.317Z,1749675191.317 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:11.317Z,1749675191.317 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:11.317Z,1749675191.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:11.569Z,1749675191.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751931
2025-06-11T20:53:11.732Z,1749675191.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:53:11.739Z,1749675191.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.88 m.
2025-06-11T20:53:11.741Z,1749675191.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.883789 m,
nav range: 257.036957 m,
bearing: 328.362682 deg,
approach rate: -0.499249 m/s,
LOS rate: -0.004463 deg/s,
cmd heading: 320.057064 deg,
new cmd heading: 320.051316 deg.
2025-06-11T20:53:11.742Z,1749675191.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585949 target range: 264.883789 and range: 267.20 m.
2025-06-11T20:53:11.822Z,1749675191.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004543
2025-06-11T20:53:12.073Z,1749675192.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255939
2025-06-11T20:53:12.120Z,1749675192.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.88 m.
2025-06-11T20:53:12.123Z,1749675192.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.883789 m,
nav range: 256.846130 m,
bearing: 328.360950 deg,
approach rate: -0.500570 m/s,
LOS rate: -0.004546 deg/s,
cmd heading: 320.051326 deg,
new cmd heading: 320.046127 deg.
2025-06-11T20:53:12.124Z,1749675192.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585859 target range: 264.883789 and range: 267.20 m.
2025-06-11T20:53:12.325Z,1749675192.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508580
2025-06-11T20:53:12.577Z,1749675192.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760010
2025-06-11T20:53:12.590Z,1749675192.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.88 m.
2025-06-11T20:53:12.596Z,1749675192.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.883789 m,
nav range: 256.615967 m,
bearing: 328.358823 deg,
approach rate: -0.490018 m/s,
LOS rate: -0.004534 deg/s,
cmd heading: 320.046135 deg,
new cmd heading: 320.039747 deg.
2025-06-11T20:53:12.597Z,1749675192.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585747 target range: 264.883789 and range: 267.20 m.
2025-06-11T20:53:12.829Z,1749675192.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012296
2025-06-11T20:53:12.967Z,1749675192.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.88 m.
2025-06-11T20:53:12.970Z,1749675192.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.883789 m,
nav range: 256.422699 m,
bearing: 328.355243 deg,
approach rate: -0.512226 m/s,
LOS rate: -0.009495 deg/s,
cmd heading: 320.039742 deg,
new cmd heading: 320.028995 deg.
2025-06-11T20:53:12.971Z,1749675192.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585560 target range: 264.883789 and range: 267.20 m.
2025-06-11T20:53:13.081Z,1749675193.081 [DAT](INFO): DAT read: Rx Time:20:53:14.2924
2025-06-11T20:53:13.081Z,1749675193.081 [DAT](INFO): Rx dataTimestamp_ set to:1749675193.081181
2025-06-11T20:53:13.082Z,1749675193.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265167
2025-06-11T20:53:13.334Z,1749675193.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516878
2025-06-11T20:53:13.361Z,1749675193.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:13.363Z,1749675193.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.88 m.
2025-06-11T20:53:13.370Z,1749675193.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 264.883789 m,
nav range: 256.230103 m,
bearing: 328.351633 deg,
approach rate: -0.486577 m/s,
LOS rate: -0.009128 deg/s,
cmd heading: 320.029005 deg,
new cmd heading: 320.018166 deg.
2025-06-11T20:53:13.370Z,1749675193.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585371 target range: 264.883789 and range: 267.20 m.
2025-06-11T20:53:13.597Z,1749675193.597 [DAT](INFO): DAT read: 20:53:14.2924 LVL= 21680, 25921, 23090, 30707, AGC= 72, IDX= 209,-0.45, 2.956, 1.510, 2.712, 2.320, PHS= 0.724,-0.763, 0.389, RAW= 137.6, -5.2, CAL= 143.3, -15.2, ROT= 6.7, 15.2
2025-06-11T20:53:13.598Z,1749675193.598 [DAT](INFO): got valid direction response:
20:53:14.2924 LVL= 21680, 25921, 23090, 30707, AGC= 72, IDX= 209,-0.45, 2.956, 1.510, 2.712, 2.320, PHS= 0.724,-0.763, 0.389, RAW= 137.6, -5.2, CAL= 143.3, -15.2, ROT= 6.7, 15.2
2025-06-11T20:53:13.599Z,1749675193.599 [DAT](INFO): DAT read: Bearing 6.7, 15.2 (Local)
2025-06-11T20:53:13.599Z,1749675193.599 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.7, 15.2 (Local)
2025-06-11T20:53:13.601Z,1749675193.601 [DAT](INFO): DAT read: Range 10 to 50 : 249.9 m (Round-trip 333.3 ms) speed 0.4 m/s
2025-06-11T20:53:13.602Z,1749675193.602 [DAT](INFO): DAT read: user:554>
2025-06-11T20:53:13.603Z,1749675193.603 [DAT](INFO): DAT read: Tx time:20:53:15.4050
2025-06-11T20:53:13.603Z,1749675193.603 [DAT](INFO): Ping request sent.
2025-06-11T20:53:13.603Z,1749675193.603 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:13.603Z,1749675193.603 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:13.604Z,1749675193.604 [DAT](INFO): direction in FSK: [0.958426,0.112589,-0.262189]
2025-06-11T20:53:13.605Z,1749675193.605 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:13.605Z,1749675193.605 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:13.615Z,1749675193.615 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:13.617Z,1749675193.617 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:13.821Z,1749675193.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 249.899994 m,
deltaT: 3.779955 s,
deltaX: -17.300018 m,
approachRate: -4.576779 m/s,
rangeRepo size: 4
2025-06-11T20:53:13.823Z,1749675193.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 247.734604 m,
bearing: 328.096454 deg,
lat: 36.906518 deg,
lon: -122.115504 deg,
deltaT: 3.779955 s,
deltaX: -17.149185 m,
approachRate: -4.536876 m/s,
posRepo size: 4
2025-06-11T20:53:13.828Z,1749675193.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.73 m.
2025-06-11T20:53:13.831Z,1749675193.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 247.734604 m,
nav range: 255.467468 m,
bearing: 328.543039 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009128 deg/s,
cmd heading: 320.018159 deg,
new cmd heading: 320.005624 deg.
2025-06-11T20:53:13.831Z,1749675193.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585152 target range: 247.734604 and range: 249.90 m.
2025-06-11T20:53:13.837Z,1749675193.837 [DAT](INFO): DAT read: TxSync time:20:53:15.4042
2025-06-11T20:53:14.147Z,1749675194.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.73 m.
2025-06-11T20:53:14.150Z,1749675194.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 247.734604 m,
nav range: 255.296707 m,
bearing: 328.538284 deg,
approach rate: -0.523027 m/s,
LOS rate: -0.014573 deg/s,
cmd heading: 320.005619 deg,
new cmd heading: 319.991345 deg.
2025-06-11T20:53:14.151Z,1749675194.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584903 target range: 247.734604 and range: 249.90 m.
2025-06-11T20:53:14.617Z,1749675194.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.73 m.
2025-06-11T20:53:14.624Z,1749675194.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 247.734604 m,
nav range: 255.075989 m,
bearing: 328.532132 deg,
approach rate: -0.469235 m/s,
LOS rate: -0.013090 deg/s,
cmd heading: 319.991357 deg,
new cmd heading: 319.972886 deg.
2025-06-11T20:53:14.625Z,1749675194.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584580 target range: 247.734604 and range: 249.90 m.
2025-06-11T20:53:14.998Z,1749675194.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.73 m.
2025-06-11T20:53:15.022Z,1749675195.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 247.734604 m,
nav range: 254.883881 m,
bearing: 328.525463 deg,
approach rate: -0.511131 m/s,
LOS rate: -0.017758 deg/s,
cmd heading: 319.972889 deg,
new cmd heading: 319.952865 deg.
2025-06-11T20:53:15.065Z,1749675195.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584231 target range: 247.734604 and range: 249.90 m.
2025-06-11T20:53:15.366Z,1749675195.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:15.369Z,1749675195.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.73 m.
2025-06-11T20:53:15.371Z,1749675195.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 247.734604 m,
nav range: 254.702423 m,
bearing: 328.519150 deg,
approach rate: -0.483286 m/s,
LOS rate: -0.016824 deg/s,
cmd heading: 319.952862 deg,
new cmd heading: 319.933912 deg.
2025-06-11T20:53:15.372Z,1749675195.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583900 target range: 247.734604 and range: 249.90 m.
2025-06-11T20:53:15.603Z,1749675195.603 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:15.603Z,1749675195.603 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:15.603Z,1749675195.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:15.793Z,1749675195.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.73 m.
2025-06-11T20:53:15.797Z,1749675195.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 247.734604 m,
nav range: 254.500687 m,
bearing: 328.512818 deg,
approach rate: -0.475257 m/s,
LOS rate: -0.014930 deg/s,
cmd heading: 319.933902 deg,
new cmd heading: 319.914890 deg.
2025-06-11T20:53:15.798Z,1749675195.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583568 target range: 247.734604 and range: 249.90 m.
2025-06-11T20:53:15.854Z,1749675195.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250547
2025-06-11T20:53:16.105Z,1749675196.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501792
2025-06-11T20:53:16.175Z,1749675196.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.73 m.
2025-06-11T20:53:16.178Z,1749675196.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 247.734604 m,
nav range: 254.319641 m,
bearing: 328.507072 deg,
approach rate: -0.473934 m/s,
LOS rate: -0.015052 deg/s,
cmd heading: 319.914887 deg,
new cmd heading: 319.897636 deg.
2025-06-11T20:53:16.179Z,1749675196.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583267 target range: 247.734604 and range: 249.90 m.
2025-06-11T20:53:16.360Z,1749675196.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756599
2025-06-11T20:53:16.612Z,1749675196.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008452
2025-06-11T20:53:16.617Z,1749675196.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.73 m.
2025-06-11T20:53:16.633Z,1749675196.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 247.734604 m,
nav range: 254.133545 m,
bearing: 328.501171 deg,
approach rate: -0.430707 m/s,
LOS rate: -0.013667 deg/s,
cmd heading: 319.897647 deg,
new cmd heading: 319.879931 deg.
2025-06-11T20:53:16.634Z,1749675196.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582958 target range: 247.734604 and range: 249.90 m.
2025-06-11T20:53:16.862Z,1749675196.862 [DAT](INFO): DAT read: Rx Time:20:53:18.1609
2025-06-11T20:53:16.862Z,1749675196.862 [DAT](INFO): Rx dataTimestamp_ set to:1749675196.861742
2025-06-11T20:53:16.863Z,1749675196.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259964
2025-06-11T20:53:16.991Z,1749675196.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.73 m.
2025-06-11T20:53:16.994Z,1749675196.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 247.734604 m,
nav range: 253.936905 m,
bearing: 328.496279 deg,
approach rate: -0.512002 m/s,
LOS rate: -0.012748 deg/s,
cmd heading: 319.879943 deg,
new cmd heading: 319.865255 deg.
2025-06-11T20:53:16.995Z,1749675196.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582702 target range: 247.734604 and range: 249.90 m.
2025-06-11T20:53:17.113Z,1749675197.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510278
2025-06-11T20:53:17.371Z,1749675197.371 [DAT](INFO): DAT read: 20:53:18.1609 LVL= 24192, 32753, 20978, 32755, AGC= 68, IDX= 126,-0.35,-1.146,-2.537,-1.372,-1.745, PHS= 0.687,-0.744, 0.371, RAW= 137.8, -4.9, CAL= 143.4, -14.7, ROT= 6.6, 14.7
2025-06-11T20:53:17.372Z,1749675197.372 [DAT](INFO): got valid direction response:
20:53:18.1609 LVL= 24192, 32753, 20978, 32755, AGC= 68, IDX= 126,-0.35,-1.146,-2.537,-1.372,-1.745, PHS= 0.687,-0.744, 0.371, RAW= 137.8, -4.9, CAL= 143.4, -14.7, ROT= 6.6, 14.7
2025-06-11T20:53:17.373Z,1749675197.373 [DAT](INFO): DAT read: Bearing 6.6, 14.7 (Local)
2025-06-11T20:53:17.373Z,1749675197.373 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.6, 14.7 (Local)
2025-06-11T20:53:17.375Z,1749675197.375 [DAT](INFO): DAT read: Range 10 to 50 : 263.7 m (Round-trip 351.7 ms) speed 0.0 m/s
2025-06-11T20:53:17.376Z,1749675197.376 [DAT](INFO): DAT read: user:555>
2025-06-11T20:53:17.377Z,1749675197.377 [DAT](INFO): DAT read: Tx time:20:53:19.2550
2025-06-11T20:53:17.377Z,1749675197.377 [DAT](INFO): Ping request sent.
2025-06-11T20:53:17.377Z,1749675197.377 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:17.377Z,1749675197.377 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:17.378Z,1749675197.378 [DAT](INFO): direction in FSK: [0.960857,0.111175,-0.253758]
2025-06-11T20:53:17.379Z,1749675197.379 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:17.379Z,1749675197.379 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:17.383Z,1749675197.383 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:17.384Z,1749675197.384 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:17.465Z,1749675197.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 263.700012 m,
deltaT: 3.780124 s,
deltaX: 13.800018 m,
approachRate: 3.650679 m/s,
rangeRepo size: 4
2025-06-11T20:53:17.467Z,1749675197.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 261.418396 m,
bearing: 327.859699 deg,
lat: 36.906508 deg,
lon: -122.115504 deg,
deltaT: 3.780124 s,
deltaX: 13.683792 m,
approachRate: 3.619932 m/s,
posRepo size: 4
2025-06-11T20:53:17.467Z,1749675197.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:17.475Z,1749675197.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 252.774200 m,
bearing: 328.357103 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.012748 deg/s,
cmd heading: 319.865245 deg,
new cmd heading: 319.847483 deg.
2025-06-11T20:53:17.480Z,1749675197.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582392 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:17.620Z,1749675197.620 [DAT](INFO): DAT read: TxSync time:20:53:19.2542
2025-06-11T20:53:17.882Z,1749675197.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:17.889Z,1749675197.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:17.891Z,1749675197.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 252.564636 m,
bearing: 328.353853 deg,
approach rate: -0.484173 m/s,
LOS rate: -0.007515 deg/s,
cmd heading: 319.847486 deg,
new cmd heading: 319.837728 deg.
2025-06-11T20:53:17.896Z,1749675197.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582222 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:18.121Z,1749675198.121 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:18.121Z,1749675198.121 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:18.122Z,1749675198.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:18.200Z,1749675198.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:18.203Z,1749675198.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 252.417191 m,
bearing: 328.351719 deg,
approach rate: -0.473554 m/s,
LOS rate: -0.006859 deg/s,
cmd heading: 319.837733 deg,
new cmd heading: 319.831326 deg.
2025-06-11T20:53:18.204Z,1749675198.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582110 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:18.373Z,1749675198.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995761
2025-06-11T20:53:18.605Z,1749675198.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:18.623Z,1749675198.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 252.240280 m,
bearing: 328.349232 deg,
approach rate: -0.455861 m/s,
LOS rate: -0.006412 deg/s,
cmd heading: 319.831340 deg,
new cmd heading: 319.823874 deg.
2025-06-11T20:53:18.628Z,1749675198.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250233
2025-06-11T20:53:18.634Z,1749675198.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581980 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:18.877Z,1749675198.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499818
2025-06-11T20:53:19.025Z,1749675199.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:19.027Z,1749675199.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 252.041946 m,
bearing: 328.348805 deg,
approach rate: -0.454169 m/s,
LOS rate: -0.000977 deg/s,
cmd heading: 319.823881 deg,
new cmd heading: 319.822601 deg.
2025-06-11T20:53:19.028Z,1749675199.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581957 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:19.130Z,1749675199.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752670
2025-06-11T20:53:19.381Z,1749675199.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003887
2025-06-11T20:53:19.409Z,1749675199.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:19.412Z,1749675199.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 251.874573 m,
bearing: 328.348415 deg,
approach rate: -0.435247 m/s,
LOS rate: -0.001015 deg/s,
cmd heading: 319.822597 deg,
new cmd heading: 319.821426 deg.
2025-06-11T20:53:19.413Z,1749675199.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581937 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:19.636Z,1749675199.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258093
2025-06-11T20:53:19.850Z,1749675199.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:19.853Z,1749675199.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 251.670807 m,
bearing: 328.350506 deg,
approach rate: -0.462426 m/s,
LOS rate: 0.004747 deg/s,
cmd heading: 319.821422 deg,
new cmd heading: 319.827698 deg.
2025-06-11T20:53:19.854Z,1749675199.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582047 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:19.885Z,1749675199.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507883
2025-06-11T20:53:20.138Z,1749675200.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760598
2025-06-11T20:53:20.227Z,1749675200.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:20.230Z,1749675200.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:20.233Z,1749675200.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 251.501373 m,
bearing: 328.352230 deg,
approach rate: -0.445914 m/s,
LOS rate: 0.004542 deg/s,
cmd heading: 319.827706 deg,
new cmd heading: 319.832884 deg.
2025-06-11T20:53:20.234Z,1749675200.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582137 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:20.390Z,1749675200.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013238
2025-06-11T20:53:20.643Z,1749675200.643 [DAT](INFO): DAT read: Rx Time:20:53:22.0090
2025-06-11T20:53:20.645Z,1749675200.645 [DAT](INFO): Rx dataTimestamp_ set to:1749675200.643973
2025-06-11T20:53:20.647Z,1749675200.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269382
2025-06-11T20:53:20.723Z,1749675200.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:20.730Z,1749675200.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 251.303375 m,
bearing: 328.354249 deg,
approach rate: -0.401533 m/s,
LOS rate: 0.004096 deg/s,
cmd heading: 319.832897 deg,
new cmd heading: 319.838957 deg.
2025-06-11T20:53:20.731Z,1749675200.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582243 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:20.893Z,1749675200.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515944
2025-06-11T20:53:21.077Z,1749675201.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.42 m.
2025-06-11T20:53:21.080Z,1749675201.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 261.418396 m,
nav range: 251.126984 m,
bearing: 328.357555 deg,
approach rate: -0.498082 m/s,
LOS rate: 0.009343 deg/s,
cmd heading: 319.838962 deg,
new cmd heading: 319.848889 deg.
2025-06-11T20:53:21.081Z,1749675201.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582416 target range: 261.418396 and range: 263.70 m.
2025-06-11T20:53:21.149Z,1749675201.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771220
2025-06-11T20:53:21.403Z,1749675201.403 [DAT](INFO): DAT read: 20:53:22.0091 LVL= 27120, 29809, 26290, 32755, AGC= 70, IDX= 427,-0.20, 2.438, 0.885, 2.129, 1.736, PHS= 0.790,-0.804, 0.390, RAW= 136.1, -5.3, CAL= 141.7, -15.5, ROT= 8.3, 15.5
2025-06-11T20:53:21.404Z,1749675201.404 [DAT](INFO): got valid direction response:
20:53:22.0091 LVL= 27120, 29809, 26290, 32755, AGC= 70, IDX= 427,-0.20, 2.438, 0.885, 2.129, 1.736, PHS= 0.790,-0.804, 0.390, RAW= 136.1, -5.3, CAL= 141.7, -15.5, ROT= 8.3, 15.5
2025-06-11T20:53:21.405Z,1749675201.405 [DAT](INFO): DAT read: Bearing 8.3, 15.5 (Local)
2025-06-11T20:53:21.405Z,1749675201.405 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.3, 15.5 (Local)
2025-06-11T20:53:21.407Z,1749675201.407 [DAT](INFO): DAT read: Range 10 to 50 : 262.4 m (Round-trip 349.9 ms) speed 0.5 m/s
2025-06-11T20:53:21.408Z,1749675201.408 [DAT](INFO): DAT read: user:556>
2025-06-11T20:53:21.409Z,1749675201.409 [DAT](INFO): DAT read: Tx time:20:53:23.1051
2025-06-11T20:53:21.409Z,1749675201.409 [DAT](INFO): Ping request sent.
2025-06-11T20:53:21.409Z,1749675201.409 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:21.410Z,1749675201.410 [DAT](INFO): DAT read: TxSync time:20:53:23.1043
2025-06-11T20:53:21.410Z,1749675201.410 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:21.411Z,1749675201.411 [DAT](INFO): direction in FSK: [0.953537,0.139106,-0.267238]
2025-06-11T20:53:21.416Z,1749675201.416 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:21.416Z,1749675201.416 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:21.419Z,1749675201.419 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:21.419Z,1749675201.419 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:21.528Z,1749675201.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 262.399994 m,
deltaT: 4.031812 s,
deltaX: -1.300018 m,
approachRate: -0.322440 m/s,
rangeRepo size: 4
2025-06-11T20:53:21.530Z,1749675201.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 260.124237 m,
bearing: 329.089348 deg,
lat: 36.906508 deg,
lon: -122.115504 deg,
deltaT: 4.031812 s,
deltaX: -1.294159 m,
approachRate: -0.320987 m/s,
posRepo size: 4
2025-06-11T20:53:21.531Z,1749675201.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:21.542Z,1749675201.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 250.945816 m,
bearing: 328.360965 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009343 deg/s,
cmd heading: 319.848880 deg,
new cmd heading: 319.861379 deg.
2025-06-11T20:53:21.542Z,1749675201.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582634 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:21.904Z,1749675201.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:21.907Z,1749675201.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 250.770309 m,
bearing: 328.364531 deg,
approach rate: -0.460105 m/s,
LOS rate: 0.009356 deg/s,
cmd heading: 319.861365 deg,
new cmd heading: 319.872071 deg.
2025-06-11T20:53:21.913Z,1749675201.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582821 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:22.278Z,1749675202.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:22.282Z,1749675202.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:22.284Z,1749675202.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 250.608765 m,
bearing: 328.367817 deg,
approach rate: -0.428326 m/s,
LOS rate: 0.008720 deg/s,
cmd heading: 319.872075 deg,
new cmd heading: 319.881941 deg.
2025-06-11T20:53:22.285Z,1749675202.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582993 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:22.405Z,1749675202.405 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:22.405Z,1749675202.405 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:22.405Z,1749675202.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:22.660Z,1749675202.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249962
2025-06-11T20:53:22.735Z,1749675202.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:22.742Z,1749675202.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 250.415482 m,
bearing: 328.371868 deg,
approach rate: -0.425836 m/s,
LOS rate: 0.008930 deg/s,
cmd heading: 319.881938 deg,
new cmd heading: 319.894098 deg.
2025-06-11T20:53:22.743Z,1749675202.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583205 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:22.909Z,1749675202.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499540
2025-06-11T20:53:23.109Z,1749675203.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:23.116Z,1749675203.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 250.249084 m,
bearing: 328.375772 deg,
approach rate: -0.445367 m/s,
LOS rate: 0.010458 deg/s,
cmd heading: 319.894095 deg,
new cmd heading: 319.905817 deg.
2025-06-11T20:53:23.117Z,1749675203.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583410 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:23.161Z,1749675203.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751743
2025-06-11T20:53:23.413Z,1749675203.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003554
2025-06-11T20:53:23.485Z,1749675203.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:23.490Z,1749675203.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 250.087296 m,
bearing: 328.379560 deg,
approach rate: -0.430621 m/s,
LOS rate: 0.010088 deg/s,
cmd heading: 319.905816 deg,
new cmd heading: 319.917187 deg.
2025-06-11T20:53:23.508Z,1749675203.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583608 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:23.671Z,1749675203.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261584
2025-06-11T20:53:23.902Z,1749675203.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:23.905Z,1749675203.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 249.905563 m,
bearing: 328.383764 deg,
approach rate: -0.435689 m/s,
LOS rate: 0.010086 deg/s,
cmd heading: 319.917181 deg,
new cmd heading: 319.929803 deg.
2025-06-11T20:53:23.906Z,1749675203.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583828 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:23.922Z,1749675203.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512108
2025-06-11T20:53:24.173Z,1749675204.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763573
2025-06-11T20:53:24.279Z,1749675204.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:24.282Z,1749675204.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 249.743881 m,
bearing: 328.387673 deg,
approach rate: -0.428462 m/s,
LOS rate: 0.010367 deg/s,
cmd heading: 319.929804 deg,
new cmd heading: 319.941539 deg.
2025-06-11T20:53:24.283Z,1749675204.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584033 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:24.425Z,1749675204.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015429
2025-06-11T20:53:24.677Z,1749675204.677 [DAT](INFO): DAT read: Rx Time:20:53:25.8563
2025-06-11T20:53:24.678Z,1749675204.678 [DAT](INFO): Rx dataTimestamp_ set to:1749675204.677296
2025-06-11T20:53:24.678Z,1749675204.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268894
2025-06-11T20:53:24.752Z,1749675204.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:24.755Z,1749675204.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:24.766Z,1749675204.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 249.567505 m,
bearing: 328.392021 deg,
approach rate: -0.370848 m/s,
LOS rate: 0.009148 deg/s,
cmd heading: 319.941552 deg,
new cmd heading: 319.954605 deg.
2025-06-11T20:53:24.767Z,1749675204.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584261 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:24.930Z,1749675204.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520327
2025-06-11T20:53:25.118Z,1749675205.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.12 m.
2025-06-11T20:53:25.121Z,1749675205.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 260.124237 m,
nav range: 249.378326 m,
bearing: 328.396270 deg,
approach rate: -0.520383 m/s,
LOS rate: 0.011696 deg/s,
cmd heading: 319.954611 deg,
new cmd heading: 319.967367 deg.
2025-06-11T20:53:25.122Z,1749675205.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584484 target range: 260.124237 and range: 262.40 m.
2025-06-11T20:53:25.190Z,1749675205.190 [DAT](INFO): DAT read: 20:53:25.8563 LVL= 24160, 29601, 26098, 32755, AGC= 68, IDX= 202,-0.14, 2.272, 0.731, 1.954, 1.530, PHS= 0.830,-0.752, 0.421, RAW= 135.6, -7.1, CAL= 141.4, -17.9, ROT= 8.6, 17.9
2025-06-11T20:53:25.191Z,1749675205.191 [DAT](INFO): got valid direction response:
20:53:25.8563 LVL= 24160, 29601, 26098, 32755, AGC= 68, IDX= 202,-0.14, 2.272, 0.731, 1.954, 1.530, PHS= 0.830,-0.752, 0.421, RAW= 135.6, -7.1, CAL= 141.4, -17.9, ROT= 8.6, 17.9
2025-06-11T20:53:25.194Z,1749675205.194 [DAT](INFO): DAT read: Bearing 8.6, 17.9 (Local)
2025-06-11T20:53:25.194Z,1749675205.194 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.6, 17.9 (Local)
2025-06-11T20:53:25.197Z,1749675205.197 [DAT](INFO): DAT read: Range 10 to 50 : 260.2 m (Round-trip 347.0 ms) speed 0.4 m/s
2025-06-11T20:53:25.198Z,1749675205.198 [DAT](INFO): DAT read: user:557>
2025-06-11T20:53:25.199Z,1749675205.199 [DAT](INFO): DAT read: Tx time:20:53:26.9551
2025-06-11T20:53:25.201Z,1749675205.201 [DAT](INFO): Ping request sent.
2025-06-11T20:53:25.202Z,1749675205.202 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:25.202Z,1749675205.202 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:25.208Z,1749675205.208 [DAT](INFO): direction in FSK: [0.940895,0.142297,-0.307357]
2025-06-11T20:53:25.209Z,1749675205.209 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:25.209Z,1749675205.209 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:25.220Z,1749675205.220 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:25.221Z,1749675205.221 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:25.437Z,1749675205.437 [DAT](INFO): DAT read: TxSync time:20:53:26.9543
2025-06-11T20:53:25.521Z,1749675205.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 260.200012 m,
deltaT: 3.784706 s,
deltaX: -2.199982 m,
approachRate: -0.581282 m/s,
rangeRepo size: 4
2025-06-11T20:53:25.523Z,1749675205.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 257.944641 m,
bearing: 328.698875 deg,
lat: 36.906508 deg,
lon: -122.115485 deg,
deltaT: 3.784706 s,
deltaX: -2.179596 m,
approachRate: -0.575896 m/s,
posRepo size: 4
2025-06-11T20:53:25.523Z,1749675205.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.94 m.
2025-06-11T20:53:25.526Z,1749675205.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 257.944641 m,
nav range: 248.334503 m,
bearing: 328.728523 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011696 deg/s,
cmd heading: 319.967370 deg,
new cmd heading: 319.981456 deg.
2025-06-11T20:53:25.527Z,1749675205.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584730 target range: 257.944641 and range: 260.20 m.
2025-06-11T20:53:25.949Z,1749675205.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.94 m.
2025-06-11T20:53:25.956Z,1749675205.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 257.944641 m,
nav range: 248.146683 m,
bearing: 328.732546 deg,
approach rate: -0.437495 m/s,
LOS rate: 0.009379 deg/s,
cmd heading: 319.981467 deg,
new cmd heading: 319.993546 deg.
2025-06-11T20:53:25.957Z,1749675205.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584941 target range: 257.944641 and range: 260.20 m.
2025-06-11T20:53:26.300Z,1749675206.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.94 m.
2025-06-11T20:53:26.302Z,1749675206.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 257.944641 m,
nav range: 247.978363 m,
bearing: 328.736172 deg,
approach rate: -0.480275 m/s,
LOS rate: 0.010352 deg/s,
cmd heading: 319.993543 deg,
new cmd heading: 320.004428 deg.
2025-06-11T20:53:26.303Z,1749675206.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585131 target range: 257.944641 and range: 260.20 m.
2025-06-11T20:53:26.779Z,1749675206.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:26.786Z,1749675206.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.94 m.
2025-06-11T20:53:26.793Z,1749675206.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 257.944641 m,
nav range: 247.780533 m,
bearing: 328.740363 deg,
approach rate: -0.406897 m/s,
LOS rate: 0.008628 deg/s,
cmd heading: 320.004417 deg,
new cmd heading: 320.017001 deg.
2025-06-11T20:53:26.794Z,1749675206.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585351 target range: 257.944641 and range: 260.20 m.
2025-06-11T20:53:26.945Z,1749675206.945 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:26.945Z,1749675206.945 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:26.945Z,1749675206.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:27.154Z,1749675207.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.94 m.
2025-06-11T20:53:27.157Z,1749675207.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 257.944641 m,
nav range: 247.589554 m,
bearing: 328.742959 deg,
approach rate: -0.518708 m/s,
LOS rate: 0.007054 deg/s,
cmd heading: 320.017012 deg,
new cmd heading: 320.024803 deg.
2025-06-11T20:53:27.158Z,1749675207.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585486 target range: 257.944641 and range: 260.20 m.
2025-06-11T20:53:27.198Z,1749675207.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996404
2025-06-11T20:53:27.449Z,1749675207.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247492
2025-06-11T20:53:27.524Z,1749675207.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.94 m.
2025-06-11T20:53:27.526Z,1749675207.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 257.944641 m,
nav range: 247.424591 m,
bearing: 328.745016 deg,
approach rate: -0.461336 m/s,
LOS rate: 0.005759 deg/s,
cmd heading: 320.024798 deg,
new cmd heading: 320.030976 deg.
2025-06-11T20:53:27.527Z,1749675207.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585594 target range: 257.944641 and range: 260.20 m.
2025-06-11T20:53:27.701Z,1749675207.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499588
2025-06-11T20:53:27.961Z,1749675207.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759622
2025-06-11T20:53:27.972Z,1749675207.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.94 m.
2025-06-11T20:53:27.975Z,1749675207.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 257.944641 m,
nav range: 247.215637 m,
bearing: 328.746347 deg,
approach rate: -0.474662 m/s,
LOS rate: 0.003025 deg/s,
cmd heading: 320.030972 deg,
new cmd heading: 320.034968 deg.
2025-06-11T20:53:27.981Z,1749675207.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585664 target range: 257.944641 and range: 260.20 m.
2025-06-11T20:53:28.213Z,1749675208.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011919
2025-06-11T20:53:28.327Z,1749675208.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.94 m.
2025-06-11T20:53:28.346Z,1749675208.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 257.944641 m,
nav range: 247.035339 m,
bearing: 328.747418 deg,
approach rate: -0.480123 m/s,
LOS rate: 0.002855 deg/s,
cmd heading: 320.034961 deg,
new cmd heading: 320.038177 deg.
2025-06-11T20:53:28.347Z,1749675208.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585720 target range: 257.944641 and range: 260.20 m.
2025-06-11T20:53:28.466Z,1749675208.466 [DAT](INFO): DAT read: Rx Time:20:53:29.7040
2025-06-11T20:53:28.466Z,1749675208.466 [DAT](INFO): Rx dataTimestamp_ set to:1749675208.465747
2025-06-11T20:53:28.467Z,1749675208.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265339
2025-06-11T20:53:28.717Z,1749675208.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515926
2025-06-11T20:53:28.777Z,1749675208.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.94 m.
2025-06-11T20:53:28.798Z,1749675208.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 257.944641 m,
nav range: 246.836227 m,
bearing: 328.748513 deg,
approach rate: -0.448680 m/s,
LOS rate: 0.002468 deg/s,
cmd heading: 320.038185 deg,
new cmd heading: 320.041471 deg.
2025-06-11T20:53:28.806Z,1749675208.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585777 target range: 257.944641 and range: 260.20 m.
2025-06-11T20:53:28.820Z,1749675208.820 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-11T20:43:28.7Z
2025-06-11T20:53:28.820Z,1749675208.820 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-11T20:53:28.820Z,1749675208.820 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T20:53:28.820Z,1749675208.820 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-11T20:53:28.820Z,1749675208.820 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T20:53:28.820Z,1749675208.820 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-11T20:53:28.979Z,1749675208.979 [DAT](INFO): DAT read: 20:53:29.7040 LVL= 27632, 32753, 30994, 32755, AGC= 68, IDX= 422, 0.07, 2.618, 1.135, 2.351, 1.931, PHS= 0.775,-0.748, 0.417, RAW= 137.0, -6.5, CAL= 142.9, -16.8, ROT= 7.1, 16.8
2025-06-11T20:53:28.980Z,1749675208.980 [DAT](INFO): got valid direction response:
20:53:29.7040 LVL= 27632, 32753, 30994, 32755, AGC= 68, IDX= 422, 0.07, 2.618, 1.135, 2.351, 1.931, PHS= 0.775,-0.748, 0.417, RAW= 137.0, -6.5, CAL= 142.9, -16.8, ROT= 7.1, 16.8
2025-06-11T20:53:28.981Z,1749675208.981 [DAT](INFO): DAT read: Bearing 7.1, 16.8 (Local)
2025-06-11T20:53:28.982Z,1749675208.982 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.1, 16.8 (Local)
2025-06-11T20:53:28.983Z,1749675208.983 [DAT](INFO): DAT read: Range 10 to 50 : 258.5 m (Round-trip 344.7 ms) speed 0.4 m/s
2025-06-11T20:53:28.986Z,1749675208.986 [DAT](INFO): DAT read: user:558>
2025-06-11T20:53:28.992Z,1749675208.992 [DAT](INFO): DAT read: Tx time:20:53:30.8051
2025-06-11T20:53:28.993Z,1749675208.993 [DAT](INFO): Ping request sent.
2025-06-11T20:53:28.993Z,1749675208.993 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:28.993Z,1749675208.993 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:28.994Z,1749675208.994 [DAT](INFO): direction in FSK: [0.949979,0.118326,-0.289032]
2025-06-11T20:53:28.994Z,1749675208.994 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:28.995Z,1749675208.995 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:29.002Z,1749675209.002 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:29.002Z,1749675209.002 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:29.221Z,1749675209.221 [DAT](INFO): DAT read: TxSync time:20:53:30.8043
2025-06-11T20:53:29.233Z,1749675209.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 258.500000 m,
deltaT: 3.787870 s,
deltaX: -1.700012 m,
approachRate: -0.448804 m/s,
rangeRepo size: 4
2025-06-11T20:53:29.235Z,1749675209.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 256.250641 m,
bearing: 328.221908 deg,
lat: 36.906506 deg,
lon: -122.115485 deg,
deltaT: 3.787870 s,
deltaX: -1.694000 m,
approachRate: -0.447217 m/s,
posRepo size: 4
2025-06-11T20:53:29.235Z,1749675209.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.25 m.
2025-06-11T20:53:29.242Z,1749675209.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 256.250641 m,
nav range: 246.418060 m,
bearing: 328.720995 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002468 deg/s,
cmd heading: 320.041464 deg,
new cmd heading: 320.044842 deg.
2025-06-11T20:53:29.243Z,1749675209.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585836 target range: 256.250641 and range: 258.50 m.
2025-06-11T20:53:29.251Z,1749675209.251 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-11T20:53:29.251Z,1749675209.251 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-11T20:53:29.252Z,1749675209.252 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-11T20:53:29.252Z,1749675209.252 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T20:53:29.252Z,1749675209.252 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-11T20:53:29.687Z,1749675209.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:29.689Z,1749675209.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.25 m.
2025-06-11T20:53:29.692Z,1749675209.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 256.250641 m,
nav range: 246.188690 m,
bearing: 328.720807 deg,
approach rate: -0.496734 m/s,
LOS rate: -0.000407 deg/s,
cmd heading: 320.044851 deg,
new cmd heading: 320.044288 deg.
2025-06-11T20:53:29.693Z,1749675209.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585826 target range: 256.250641 and range: 258.50 m.
2025-06-11T20:53:29.726Z,1749675209.726 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:29.727Z,1749675209.727 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:29.728Z,1749675209.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:29.977Z,1749675209.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984220
2025-06-11T20:53:30.086Z,1749675210.086 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, , +0.00, +0.00, 20.00,1141.93
2025-06-11T20:53:30.101Z,1749675210.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.25 m.
2025-06-11T20:53:30.120Z,1749675210.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 256.250641 m,
nav range: 245.990570 m,
bearing: 328.720485 deg,
approach rate: -0.480397 m/s,
LOS rate: -0.000783 deg/s,
cmd heading: 320.044278 deg,
new cmd heading: 320.043308 deg.
2025-06-11T20:53:30.121Z,1749675210.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585810 target range: 256.250641 and range: 258.50 m.
2025-06-11T20:53:30.230Z,1749675210.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236746
2025-06-11T20:53:30.481Z,1749675210.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487995
2025-06-11T20:53:30.505Z,1749675210.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.25 m.
2025-06-11T20:53:30.508Z,1749675210.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 256.250641 m,
nav range: 245.796753 m,
bearing: 328.720076 deg,
approach rate: -0.479930 m/s,
LOS rate: -0.001013 deg/s,
cmd heading: 320.043321 deg,
new cmd heading: 320.042095 deg.
2025-06-11T20:53:30.509Z,1749675210.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585788 target range: 256.250641 and range: 258.50 m.
2025-06-11T20:53:30.733Z,1749675210.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740280
2025-06-11T20:53:30.953Z,1749675210.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.25 m.
2025-06-11T20:53:30.961Z,1749675210.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 256.250641 m,
nav range: 245.591812 m,
bearing: 328.717447 deg,
approach rate: -0.457661 m/s,
LOS rate: -0.005875 deg/s,
cmd heading: 320.042092 deg,
new cmd heading: 320.034200 deg.
2025-06-11T20:53:30.968Z,1749675210.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585650 target range: 256.250641 and range: 258.50 m.
2025-06-11T20:53:30.985Z,1749675210.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992248
2025-06-11T20:53:31.237Z,1749675211.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243933
2025-06-11T20:53:31.313Z,1749675211.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.25 m.
2025-06-11T20:53:31.316Z,1749675211.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 256.250641 m,
nav range: 245.397583 m,
bearing: 328.714835 deg,
approach rate: -0.538849 m/s,
LOS rate: -0.007254 deg/s,
cmd heading: 320.034196 deg,
new cmd heading: 320.026352 deg.
2025-06-11T20:53:31.317Z,1749675211.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585514 target range: 256.250641 and range: 258.50 m.
2025-06-11T20:53:31.489Z,1749675211.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496233
2025-06-11T20:53:31.741Z,1749675211.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748012
2025-06-11T20:53:31.828Z,1749675211.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:31.844Z,1749675211.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.25 m.
2025-06-11T20:53:31.846Z,1749675211.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 256.250641 m,
nav range: 245.167999 m,
bearing: 328.711642 deg,
approach rate: -0.437231 m/s,
LOS rate: -0.006087 deg/s,
cmd heading: 320.026355 deg,
new cmd heading: 320.016767 deg.
2025-06-11T20:53:31.847Z,1749675211.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585346 target range: 256.250641 and range: 258.50 m.
2025-06-11T20:53:31.993Z,1749675211.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999937
2025-06-11T20:53:32.201Z,1749675212.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.25 m.
2025-06-11T20:53:32.208Z,1749675212.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 256.250641 m,
nav range: 244.966476 m,
bearing: 328.709287 deg,
approach rate: -0.556105 m/s,
LOS rate: -0.006503 deg/s,
cmd heading: 320.016766 deg,
new cmd heading: 320.009696 deg.
2025-06-11T20:53:32.209Z,1749675212.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585223 target range: 256.250641 and range: 258.50 m.
2025-06-11T20:53:32.245Z,1749675212.245 [DAT](INFO): DAT read: Rx Time:20:53:33.5521
2025-06-11T20:53:32.245Z,1749675212.245 [DAT](INFO): Rx dataTimestamp_ set to:1749675212.245126
2025-06-11T20:53:32.246Z,1749675212.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253172
2025-06-11T20:53:32.498Z,1749675212.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504425
2025-06-11T20:53:32.569Z,1749675212.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.25 m.
2025-06-11T20:53:32.571Z,1749675212.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 256.250641 m,
nav range: 244.784653 m,
bearing: 328.707159 deg,
approach rate: -0.494561 m/s,
LOS rate: -0.005792 deg/s,
cmd heading: 320.009690 deg,
new cmd heading: 320.003301 deg.
2025-06-11T20:53:32.572Z,1749675212.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585111 target range: 256.250641 and range: 258.50 m.
2025-06-11T20:53:32.763Z,1749675212.763 [DAT](INFO): DAT read: 20:53:33.5521 LVL= 25536, 32753, 25362, 32755, AGC= 71, IDX= 418, 0.46,-2.826, 2.051,-2.830, 2.594, PHS= 0.951,-0.497, 0.855, RAW= 146.6, -18.3, CAL= 152.4, -25.8, ROT= 357.6, 25.8
2025-06-11T20:53:32.769Z,1749675212.769 [DAT](INFO): got valid direction response:
20:53:33.5521 LVL= 25536, 32753, 25362, 32755, AGC= 71, IDX= 418, 0.46,-2.826, 2.051,-2.830, 2.594, PHS= 0.951,-0.497, 0.855, RAW= 146.6, -18.3, CAL= 152.4, -25.8, ROT= 357.6, 25.8
2025-06-11T20:53:32.770Z,1749675212.770 [DAT](INFO): DAT read: Bearing 357.6, 25.8 (Local)
2025-06-11T20:53:32.770Z,1749675212.770 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.6, 25.8 (Local)
2025-06-11T20:53:32.772Z,1749675212.772 [DAT](INFO): DAT read: Range 10 to 50 : 257.1 m (Round-trip 342.8 ms) speed 0.1 m/s
2025-06-11T20:53:32.773Z,1749675212.773 [DAT](INFO): DAT read: user:559>
2025-06-11T20:53:32.774Z,1749675212.774 [DAT](INFO): DAT read: Tx time:20:53:34.6552
2025-06-11T20:53:32.774Z,1749675212.774 [DAT](INFO): Ping request sent.
2025-06-11T20:53:32.774Z,1749675212.774 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:32.774Z,1749675212.774 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:32.776Z,1749675212.776 [DAT](INFO): direction in FSK: [0.899529,-0.037701,-0.435231]
2025-06-11T20:53:32.777Z,1749675212.777 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:32.777Z,1749675212.777 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:32.782Z,1749675212.782 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:32.782Z,1749675212.782 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:33.001Z,1749675213.001 [DAT](INFO): DAT read: TxSync time:20:53:34.6544
2025-06-11T20:53:33.058Z,1749675213.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 257.100006 m,
deltaT: 3.779552 s,
deltaX: -1.399994 m,
approachRate: -0.370413 m/s,
rangeRepo size: 4
2025-06-11T20:53:33.064Z,1749675213.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 254.864624 m,
bearing: 320.604525 deg,
lat: 36.906506 deg,
lon: -122.115513 deg,
deltaT: 3.779552 s,
deltaX: -1.386017 m,
approachRate: -0.366715 m/s,
posRepo size: 4
2025-06-11T20:53:33.065Z,1749675213.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:33.067Z,1749675213.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 245.873001 m,
bearing: 328.201169 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005792 deg/s,
cmd heading: 320.003297 deg,
new cmd heading: 319.994804 deg.
2025-06-11T20:53:33.071Z,1749675213.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584963 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:33.367Z,1749675213.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:33.370Z,1749675213.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 245.714554 m,
bearing: 328.198143 deg,
approach rate: -0.511924 m/s,
LOS rate: -0.009783 deg/s,
cmd heading: 319.994800 deg,
new cmd heading: 319.985716 deg.
2025-06-11T20:53:33.371Z,1749675213.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584804 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:33.786Z,1749675213.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:33.790Z,1749675213.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 245.511993 m,
bearing: 328.194253 deg,
approach rate: -0.485021 m/s,
LOS rate: -0.009322 deg/s,
cmd heading: 319.985702 deg,
new cmd heading: 319.974022 deg.
2025-06-11T20:53:33.791Z,1749675213.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584600 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:34.190Z,1749675214.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:34.193Z,1749675214.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:34.195Z,1749675214.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 245.317093 m,
bearing: 328.191004 deg,
approach rate: -0.477345 m/s,
LOS rate: -0.007963 deg/s,
cmd heading: 319.974009 deg,
new cmd heading: 319.964254 deg.
2025-06-11T20:53:34.197Z,1749675214.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584430 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:34.262Z,1749675214.262 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:34.262Z,1749675214.262 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:34.262Z,1749675214.262 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:34.516Z,1749675214.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741936
2025-06-11T20:53:34.588Z,1749675214.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:34.590Z,1749675214.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 245.133743 m,
bearing: 328.187950 deg,
approach rate: -0.464508 m/s,
LOS rate: -0.007742 deg/s,
cmd heading: 319.964255 deg,
new cmd heading: 319.955087 deg.
2025-06-11T20:53:34.591Z,1749675214.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584270 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:34.766Z,1749675214.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991990
2025-06-11T20:53:34.999Z,1749675214.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:35.002Z,1749675215.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 244.941422 m,
bearing: 328.185040 deg,
approach rate: -0.467011 m/s,
LOS rate: -0.007073 deg/s,
cmd heading: 319.955075 deg,
new cmd heading: 319.946338 deg.
2025-06-11T20:53:35.003Z,1749675215.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584117 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:35.017Z,1749675215.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242744
2025-06-11T20:53:35.269Z,1749675215.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494739
2025-06-11T20:53:35.393Z,1749675215.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:35.395Z,1749675215.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 244.768860 m,
bearing: 328.182472 deg,
approach rate: -0.438476 m/s,
LOS rate: -0.006529 deg/s,
cmd heading: 319.946333 deg,
new cmd heading: 319.938624 deg.
2025-06-11T20:53:35.397Z,1749675215.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583982 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:35.521Z,1749675215.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746948
2025-06-11T20:53:35.773Z,1749675215.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998862
2025-06-11T20:53:35.782Z,1749675215.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:35.785Z,1749675215.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 244.585587 m,
bearing: 328.179834 deg,
approach rate: -0.470525 m/s,
LOS rate: -0.006780 deg/s,
cmd heading: 319.938628 deg,
new cmd heading: 319.930706 deg.
2025-06-11T20:53:35.786Z,1749675215.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583844 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:36.028Z,1749675216.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253504
2025-06-11T20:53:36.206Z,1749675216.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:36.208Z,1749675216.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:36.211Z,1749675216.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 244.395691 m,
bearing: 328.177662 deg,
approach rate: -0.446225 m/s,
LOS rate: -0.005106 deg/s,
cmd heading: 319.930705 deg,
new cmd heading: 319.924186 deg.
2025-06-11T20:53:36.212Z,1749675216.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583730 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:36.278Z,1749675216.278 [DAT](INFO): DAT read: Rx Time:20:53:37.4011
2025-06-11T20:53:36.279Z,1749675216.279 [DAT](INFO): Rx dataTimestamp_ set to:1749675216.277978
2025-06-11T20:53:36.279Z,1749675216.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505182
2025-06-11T20:53:36.529Z,1749675216.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754697
2025-06-11T20:53:36.653Z,1749675216.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.86 m.
2025-06-11T20:53:36.656Z,1749675216.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 254.864624 m,
nav range: 244.204575 m,
bearing: 328.175473 deg,
approach rate: -0.446660 m/s,
LOS rate: -0.005119 deg/s,
cmd heading: 319.924176 deg,
new cmd heading: 319.917605 deg.
2025-06-11T20:53:36.657Z,1749675216.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583615 target range: 254.864624 and range: 257.10 m.
2025-06-11T20:53:36.791Z,1749675216.791 [DAT](INFO): DAT read: 20:53:37.4011 LVL= 25200, 22001, 22930, 28307, AGC= 70, IDX= 190, 0.06, 2.563, 1.058, 2.293, 1.813, PHS= 0.838,-0.708, 0.477, RAW= 137.1, -8.7, CAL= 143.2, -19.5, ROT= 6.8, 19.5
2025-06-11T20:53:36.792Z,1749675216.792 [DAT](INFO): got valid direction response:
20:53:37.4011 LVL= 25200, 22001, 22930, 28307, AGC= 70, IDX= 190, 0.06, 2.563, 1.058, 2.293, 1.813, PHS= 0.838,-0.708, 0.477, RAW= 137.1, -8.7, CAL= 143.2, -19.5, ROT= 6.8, 19.5
2025-06-11T20:53:36.793Z,1749675216.793 [DAT](INFO): DAT read: Bearing 6.8, 19.5 (Local)
2025-06-11T20:53:36.794Z,1749675216.794 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.8, 19.5 (Local)
2025-06-11T20:53:36.795Z,1749675216.795 [DAT](INFO): DAT read: Range 10 to 50 : 256.2 m (Round-trip 341.7 ms) speed 0.3 m/s
2025-06-11T20:53:36.796Z,1749675216.796 [DAT](INFO): DAT read: user:560>
2025-06-11T20:53:36.797Z,1749675216.797 [DAT](INFO): DAT read: Tx time:20:53:38.5052
2025-06-11T20:53:36.797Z,1749675216.797 [DAT](INFO): Ping request sent.
2025-06-11T20:53:36.798Z,1749675216.798 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:36.798Z,1749675216.798 [DAT](INFO): DAT read: TxSync time:20:53:38.5044
2025-06-11T20:53:36.799Z,1749675216.799 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:36.829Z,1749675216.829 [DAT](INFO): direction in FSK: [0.936010,0.111612,-0.333807]
2025-06-11T20:53:36.830Z,1749675216.830 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:36.830Z,1749675216.830 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:36.849Z,1749675216.849 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:36.850Z,1749675216.850 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:37.097Z,1749675217.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 256.200012 m,
deltaT: 4.034720 s,
deltaX: -0.899994 m,
approachRate: -0.223062 m/s,
rangeRepo size: 4
2025-06-11T20:53:37.099Z,1749675217.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 253.979523 m,
bearing: 328.308097 deg,
lat: 36.906506 deg,
lon: -122.115496 deg,
deltaT: 4.034720 s,
deltaX: -0.885101 m,
approachRate: -0.219371 m/s,
posRepo size: 4
2025-06-11T20:53:37.099Z,1749675217.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.98 m.
2025-06-11T20:53:37.106Z,1749675217.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 253.979523 m,
nav range: 243.181183 m,
bearing: 328.486237 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005119 deg/s,
cmd heading: 319.917591 deg,
new cmd heading: 319.910589 deg.
2025-06-11T20:53:37.107Z,1749675217.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583493 target range: 253.979523 and range: 256.20 m.
2025-06-11T20:53:37.398Z,1749675217.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.98 m.
2025-06-11T20:53:37.401Z,1749675217.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 253.979523 m,
nav range: 243.045868 m,
bearing: 328.486165 deg,
approach rate: -0.442243 m/s,
LOS rate: -0.000236 deg/s,
cmd heading: 319.910597 deg,
new cmd heading: 319.910381 deg.
2025-06-11T20:53:37.402Z,1749675217.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583489 target range: 253.979523 and range: 256.20 m.
2025-06-11T20:53:37.797Z,1749675217.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.98 m.
2025-06-11T20:53:37.800Z,1749675217.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 253.979523 m,
nav range: 242.875732 m,
bearing: 328.486101 deg,
approach rate: -0.425709 m/s,
LOS rate: -0.000159 deg/s,
cmd heading: 319.910379 deg,
new cmd heading: 319.910188 deg.
2025-06-11T20:53:37.801Z,1749675217.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583486 target range: 253.979523 and range: 256.20 m.
2025-06-11T20:53:38.323Z,1749675218.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:38.325Z,1749675218.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.98 m.
2025-06-11T20:53:38.328Z,1749675218.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 253.979523 m,
nav range: 242.647400 m,
bearing: 328.488117 deg,
approach rate: -0.432895 m/s,
LOS rate: 0.003825 deg/s,
cmd heading: 319.910187 deg,
new cmd heading: 319.916241 deg.
2025-06-11T20:53:38.329Z,1749675218.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583592 target range: 253.979523 and range: 256.20 m.
2025-06-11T20:53:38.545Z,1749675218.545 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:38.545Z,1749675218.545 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:38.546Z,1749675218.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:38.637Z,1749675218.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.98 m.
2025-06-11T20:53:38.644Z,1749675218.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 253.979523 m,
nav range: 242.517380 m,
bearing: 328.489208 deg,
approach rate: -0.416090 m/s,
LOS rate: 0.003493 deg/s,
cmd heading: 319.916253 deg,
new cmd heading: 319.919527 deg.
2025-06-11T20:53:38.649Z,1749675218.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583649 target range: 253.979523 and range: 256.20 m.
2025-06-11T20:53:38.797Z,1749675218.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999121
2025-06-11T20:53:39.049Z,1749675219.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251198
2025-06-11T20:53:39.066Z,1749675219.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.98 m.
2025-06-11T20:53:39.070Z,1749675219.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 253.979523 m,
nav range: 242.332397 m,
bearing: 328.492771 deg,
approach rate: -0.431219 m/s,
LOS rate: 0.008313 deg/s,
cmd heading: 319.919531 deg,
new cmd heading: 319.930229 deg.
2025-06-11T20:53:39.071Z,1749675219.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583836 target range: 253.979523 and range: 256.20 m.
2025-06-11T20:53:39.301Z,1749675219.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503745
2025-06-11T20:53:39.425Z,1749675219.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.98 m.
2025-06-11T20:53:39.427Z,1749675219.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 253.979523 m,
nav range: 242.162537 m,
bearing: 328.496010 deg,
approach rate: -0.473791 m/s,
LOS rate: 0.009040 deg/s,
cmd heading: 319.930241 deg,
new cmd heading: 319.939964 deg.
2025-06-11T20:53:39.429Z,1749675219.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584006 target range: 253.979523 and range: 256.20 m.
2025-06-11T20:53:39.553Z,1749675219.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755135
2025-06-11T20:53:39.805Z,1749675219.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007289
2025-06-11T20:53:39.964Z,1749675219.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.98 m.
2025-06-11T20:53:39.967Z,1749675219.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 253.979523 m,
nav range: 241.950043 m,
bearing: 328.500039 deg,
approach rate: -0.393765 m/s,
LOS rate: 0.007472 deg/s,
cmd heading: 319.939967 deg,
new cmd heading: 319.952064 deg.
2025-06-11T20:53:39.972Z,1749675219.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584217 target range: 253.979523 and range: 256.20 m.
2025-06-11T20:53:40.057Z,1749675220.057 [DAT](INFO): DAT read: Rx Time:20:53:41.2484
2025-06-11T20:53:40.057Z,1749675220.057 [DAT](INFO): Rx dataTimestamp_ set to:1749675220.057174
2025-06-11T20:53:40.058Z,1749675220.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260390
2025-06-11T20:53:40.309Z,1749675220.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511219
2025-06-11T20:53:40.313Z,1749675220.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.98 m.
2025-06-11T20:53:40.315Z,1749675220.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 253.979523 m,
nav range: 241.771790 m,
bearing: 328.505343 deg,
approach rate: -0.512114 m/s,
LOS rate: 0.015250 deg/s,
cmd heading: 319.952070 deg,
new cmd heading: 319.967994 deg.
2025-06-11T20:53:40.316Z,1749675220.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584495 target range: 253.979523 and range: 256.20 m.
2025-06-11T20:53:40.567Z,1749675220.567 [DAT](INFO): DAT read: 20:53:41.2484 LVL= 27616, 31857, 29522, 32755, AGC= 64, IDX= 411, 0.08,-2.946, 2.173,-2.887, 2.573, PHS= 0.852,-0.353, 0.820, RAW= 148.7, -21.4, CAL= 153.7, -28.4, ROT= 356.3, 28.4
2025-06-11T20:53:40.568Z,1749675220.568 [DAT](INFO): got valid direction response:
20:53:41.2484 LVL= 27616, 31857, 29522, 32755, AGC= 64, IDX= 411, 0.08,-2.946, 2.173,-2.887, 2.573, PHS= 0.852,-0.353, 0.820, RAW= 148.7, -21.4, CAL= 153.7, -28.4, ROT= 356.3, 28.4
2025-06-11T20:53:40.569Z,1749675220.569 [DAT](INFO): DAT read: Bearing 356.3, 28.4 (Local)
2025-06-11T20:53:40.569Z,1749675220.569 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.3, 28.4 (Local)
2025-06-11T20:53:40.571Z,1749675220.571 [DAT](INFO): DAT read: Range 10 to 50 : 254.2 m (Round-trip 339.0 ms) speed 0.0 m/s
2025-06-11T20:53:40.572Z,1749675220.572 [DAT](INFO): DAT read: user:561>
2025-06-11T20:53:40.573Z,1749675220.573 [DAT](INFO): DAT read: Tx time:20:53:42.3552
2025-06-11T20:53:40.573Z,1749675220.573 [DAT](INFO): Ping request sent.
2025-06-11T20:53:40.573Z,1749675220.573 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:40.573Z,1749675220.573 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:40.574Z,1749675220.574 [DAT](INFO): direction in FSK: [0.877815,-0.056766,-0.475624]
2025-06-11T20:53:40.575Z,1749675220.575 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:40.575Z,1749675220.575 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:40.578Z,1749675220.578 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:40.578Z,1749675220.578 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:40.739Z,1749675220.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 254.199997 m,
deltaT: 3.777495 s,
deltaX: -2.000015 m,
approachRate: -0.529455 m/s,
rangeRepo size: 4
2025-06-11T20:53:40.746Z,1749675220.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 251.989273 m,
bearing: 318.758587 deg,
lat: 36.906493 deg,
lon: -122.115513 deg,
deltaT: 3.777495 s,
deltaX: -1.990250 m,
approachRate: -0.526870 m/s,
posRepo size: 4
2025-06-11T20:53:40.746Z,1749675220.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:40.753Z,1749675220.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 241.195953 m,
bearing: 328.016090 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015250 deg/s,
cmd heading: 319.967998 deg,
new cmd heading: 319.987493 deg.
2025-06-11T20:53:40.754Z,1749675220.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584836 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:40.814Z,1749675220.814 [DAT](INFO): DAT read: TxSync time:20:53:42.3544
2025-06-11T20:53:41.091Z,1749675221.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:41.099Z,1749675221.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:41.102Z,1749675221.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 241.028641 m,
bearing: 328.021383 deg,
approach rate: -0.464145 m/s,
LOS rate: 0.014693 deg/s,
cmd heading: 319.987505 deg,
new cmd heading: 320.003395 deg.
2025-06-11T20:53:41.103Z,1749675221.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585113 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:41.316Z,1749675221.316 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:41.317Z,1749675221.317 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:41.317Z,1749675221.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:41.473Z,1749675221.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:41.476Z,1749675221.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 240.857605 m,
bearing: 328.026924 deg,
approach rate: -0.457300 m/s,
LOS rate: 0.014825 deg/s,
cmd heading: 320.003406 deg,
new cmd heading: 320.020040 deg.
2025-06-11T20:53:41.477Z,1749675221.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585403 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:41.569Z,1749675221.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996020
2025-06-11T20:53:41.821Z,1749675221.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247693
2025-06-11T20:53:41.852Z,1749675221.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:53:41.893Z,1749675221.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:41.896Z,1749675221.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 240.668564 m,
bearing: 328.033169 deg,
approach rate: -0.449778 m/s,
LOS rate: 0.014870 deg/s,
cmd heading: 320.020044 deg,
new cmd heading: 320.038793 deg.
2025-06-11T20:53:41.897Z,1749675221.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585731 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:42.074Z,1749675222.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500522
2025-06-11T20:53:42.306Z,1749675222.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:42.309Z,1749675222.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 240.479614 m,
bearing: 328.039938 deg,
approach rate: -0.457935 m/s,
LOS rate: 0.016418 deg/s,
cmd heading: 320.038786 deg,
new cmd heading: 320.059109 deg.
2025-06-11T20:53:42.310Z,1749675222.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586085 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:42.325Z,1749675222.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751700
2025-06-11T20:53:42.577Z,1749675222.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003685
2025-06-11T20:53:42.733Z,1749675222.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:42.736Z,1749675222.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 240.293335 m,
bearing: 328.046622 deg,
approach rate: -0.435991 m/s,
LOS rate: 0.015657 deg/s,
cmd heading: 320.059113 deg,
new cmd heading: 320.079181 deg.
2025-06-11T20:53:42.737Z,1749675222.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586436 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:42.830Z,1749675222.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256665
2025-06-11T20:53:42.856Z,1749675222.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:53:43.081Z,1749675223.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507753
2025-06-11T20:53:43.153Z,1749675223.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:43.155Z,1749675223.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:43.157Z,1749675223.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 240.090073 m,
bearing: 328.052413 deg,
approach rate: -0.482498 m/s,
LOS rate: 0.013758 deg/s,
cmd heading: 320.079194 deg,
new cmd heading: 320.096581 deg.
2025-06-11T20:53:43.158Z,1749675223.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586739 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:43.333Z,1749675223.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759825
2025-06-11T20:53:43.491Z,1749675223.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:43.494Z,1749675223.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 239.935196 m,
bearing: 328.056772 deg,
approach rate: -0.459852 m/s,
LOS rate: 0.012953 deg/s,
cmd heading: 320.096570 deg,
new cmd heading: 320.109657 deg.
2025-06-11T20:53:43.495Z,1749675223.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586967 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:43.586Z,1749675223.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012777
2025-06-11T20:53:43.837Z,1749675223.837 [DAT](INFO): DAT read: Rx Time:20:53:45.0958
2025-06-11T20:53:43.837Z,1749675223.837 [DAT](INFO): Rx dataTimestamp_ set to:1749675223.837081
2025-06-11T20:53:43.838Z,1749675223.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264880
2025-06-11T20:53:43.948Z,1749675223.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:43.950Z,1749675223.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 239.739456 m,
bearing: 328.062199 deg,
approach rate: -0.433230 m/s,
LOS rate: 0.012021 deg/s,
cmd heading: 320.109656 deg,
new cmd heading: 320.125950 deg.
2025-06-11T20:53:43.958Z,1749675223.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587252 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:44.089Z,1749675224.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515793
2025-06-11T20:53:44.338Z,1749675224.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:44.342Z,1749675224.342 [DAT](INFO): DAT read: Range 10 to 50 : 252.2 m (Round-trip 336.3 ms) speed 0.4 m/s
2025-06-11T20:53:44.343Z,1749675224.343 [DAT](INFO): DAT read: user:562>
2025-06-11T20:53:44.343Z,1749675224.343 [DAT](INFO): DAT read: Tx time:20:53:46.2053
2025-06-11T20:53:44.344Z,1749675224.344 [DAT](INFO): Ping request sent.
2025-06-11T20:53:44.344Z,1749675224.344 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:44.344Z,1749675224.344 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:53:44.344Z,1749675224.344 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:44.345Z,1749675224.345 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:44.347Z,1749675224.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 239.544281 m,
bearing: 328.064980 deg,
approach rate: -0.494112 m/s,
LOS rate: 0.007046 deg/s,
cmd heading: 320.125939 deg,
new cmd heading: 320.134289 deg.
2025-06-11T20:53:44.349Z,1749675224.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587398 target range: 251.989273 and range: 254.20 m.
2025-06-11T20:53:44.594Z,1749675224.594 [DAT](INFO): DAT read: TxSync time:20:53:46.2045
2025-06-11T20:53:44.704Z,1749675224.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 252.199997 m,
deltaT: 3.779874 s,
deltaX: -2.000000 m,
approachRate: -0.529118 m/s,
rangeRepo size: 4
2025-06-11T20:53:44.705Z,1749675224.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:44.707Z,1749675224.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 239.373993 m,
bearing: 328.067322 deg,
approach rate: -0.466255 m/s,
LOS rate: 0.006417 deg/s,
cmd heading: 320.134300 deg,
new cmd heading: 320.141331 deg.
2025-06-11T20:53:44.709Z,1749675224.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587520 target range: 251.989273 and range: 252.20 m.
2025-06-11T20:53:45.123Z,1749675225.123 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +63, +461, :BE, +63, +461, +12,A
2025-06-11T20:53:45.140Z,1749675225.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:45.143Z,1749675225.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 239.171677 m,
bearing: 328.070108 deg,
approach rate: -0.463022 m/s,
LOS rate: 0.006383 deg/s,
cmd heading: 320.141321 deg,
new cmd heading: 320.149688 deg.
2025-06-11T20:53:45.144Z,1749675225.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587666 target range: 251.989273 and range: 252.20 m.
2025-06-11T20:53:45.512Z,1749675225.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:45.514Z,1749675225.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:45.517Z,1749675225.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 238.997192 m,
bearing: 328.072546 deg,
approach rate: -0.466935 m/s,
LOS rate: 0.006527 deg/s,
cmd heading: 320.149681 deg,
new cmd heading: 320.156999 deg.
2025-06-11T20:53:45.518Z,1749675225.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587794 target range: 251.989273 and range: 252.20 m.
2025-06-11T20:53:45.602Z,1749675225.602 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:45.602Z,1749675225.602 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:45.602Z,1749675225.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:45.853Z,1749675225.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508694
2025-06-11T20:53:46.059Z,1749675226.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:46.066Z,1749675226.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 238.779755 m,
bearing: 328.075619 deg,
approach rate: -0.399269 m/s,
LOS rate: 0.005648 deg/s,
cmd heading: 320.157003 deg,
new cmd heading: 320.166231 deg.
2025-06-11T20:53:46.067Z,1749675226.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587955 target range: 251.989273 and range: 252.20 m.
2025-06-11T20:53:46.105Z,1749675226.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760935
2025-06-11T20:53:46.357Z,1749675226.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013243
2025-06-11T20:53:46.467Z,1749675226.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:46.473Z,1749675226.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 238.555099 m,
bearing: 328.074331 deg,
approach rate: -0.550833 m/s,
LOS rate: -0.003160 deg/s,
cmd heading: 320.166237 deg,
new cmd heading: 320.162371 deg.
2025-06-11T20:53:46.474Z,1749675226.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587887 target range: 251.989273 and range: 252.20 m.
2025-06-11T20:53:46.609Z,1749675226.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265046
2025-06-11T20:53:46.792Z,1749675226.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:46.794Z,1749675226.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 238.399506 m,
bearing: 328.073333 deg,
approach rate: -0.478596 m/s,
LOS rate: -0.003074 deg/s,
cmd heading: 320.162358 deg,
new cmd heading: 320.159360 deg.
2025-06-11T20:53:46.795Z,1749675226.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587835 target range: 251.989273 and range: 252.20 m.
2025-06-11T20:53:46.861Z,1749675226.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516941
2025-06-11T20:53:47.113Z,1749675227.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768697
2025-06-11T20:53:47.237Z,1749675227.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:47.240Z,1749675227.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 238.186157 m,
bearing: 328.068269 deg,
approach rate: -0.478912 m/s,
LOS rate: -0.011377 deg/s,
cmd heading: 320.159353 deg,
new cmd heading: 320.144148 deg.
2025-06-11T20:53:47.241Z,1749675227.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587569 target range: 251.989273 and range: 252.20 m.
2025-06-11T20:53:47.365Z,1749675227.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020736
2025-06-11T20:53:47.601Z,1749675227.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:47.603Z,1749675227.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:47.607Z,1749675227.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 238.020111 m,
bearing: 328.064208 deg,
approach rate: -0.453454 m/s,
LOS rate: -0.011096 deg/s,
cmd heading: 320.144135 deg,
new cmd heading: 320.131945 deg.
2025-06-11T20:53:47.612Z,1749675227.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587357 target range: 251.989273 and range: 252.20 m.
2025-06-11T20:53:47.617Z,1749675227.617 [DAT](INFO): DAT read: Rx Time:20:53:48.9211
2025-06-11T20:53:47.617Z,1749675227.617 [DAT](INFO): Rx dataTimestamp_ set to:1749675227.617213
2025-06-11T20:53:47.618Z,1749675227.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274040
2025-06-11T20:53:47.869Z,1749675227.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524651
2025-06-11T20:53:48.002Z,1749675228.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.99 m.
2025-06-11T20:53:48.005Z,1749675228.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.989273 m,
nav range: 237.825226 m,
bearing: 328.059315 deg,
approach rate: -0.489034 m/s,
LOS rate: -0.012289 deg/s,
cmd heading: 320.131950 deg,
new cmd heading: 320.117258 deg.
2025-06-11T20:53:48.006Z,1749675228.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587100 target range: 251.989273 and range: 252.20 m.
2025-06-11T20:53:48.127Z,1749675228.127 [DAT](INFO): DAT read: 20:53:48.9211 LVL= 25888, 25969, 23538, 28915, AGC= 70, IDX= 196,-0.01,-1.137,-2.610,-1.422,-1.798, PHS= 0.750,-0.765, 0.373, RAW= 136.2, -5.3, CAL= 141.8, -15.5, ROT= 8.2, 15.5
2025-06-11T20:53:48.128Z,1749675228.128 [DAT](INFO): got valid direction response:
20:53:48.9211 LVL= 25888, 25969, 23538, 28915, AGC= 70, IDX= 196,-0.01,-1.137,-2.610,-1.422,-1.798, PHS= 0.750,-0.765, 0.373, RAW= 136.2, -5.3, CAL= 141.8, -15.5, ROT= 8.2, 15.5
2025-06-11T20:53:48.129Z,1749675228.129 [DAT](INFO): DAT read: Bearing 8.2, 15.5 (Local)
2025-06-11T20:53:48.129Z,1749675228.129 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.2, 15.5 (Local)
2025-06-11T20:53:48.131Z,1749675228.131 [DAT](INFO): DAT read: Range 10 to 50 : 233.7 m (Round-trip 311.7 ms) speed -0.3 m/s
2025-06-11T20:53:48.132Z,1749675228.132 [DAT](INFO): DAT read: user:563>
2025-06-11T20:53:48.133Z,1749675228.133 [DAT](INFO): DAT read: Tx time:20:53:50.0053
2025-06-11T20:53:48.133Z,1749675228.133 [DAT](INFO): Ping request sent.
2025-06-11T20:53:48.133Z,1749675228.133 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:48.133Z,1749675228.133 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:48.134Z,1749675228.134 [DAT](INFO): direction in FSK: [0.953779,0.137442,-0.267238]
2025-06-11T20:53:48.135Z,1749675228.135 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:48.135Z,1749675228.135 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:48.138Z,1749675228.138 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:48.138Z,1749675228.138 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:48.373Z,1749675228.373 [DAT](INFO): DAT read: TxSync time:20:53:50.0045
2025-06-11T20:53:48.470Z,1749675228.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 233.699997 m,
deltaT: 3.779913 s,
deltaX: -18.500000 m,
approachRate: -4.894292 m/s,
rangeRepo size: 4
2025-06-11T20:53:48.476Z,1749675228.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 231.672012 m,
bearing: 330.444341 deg,
lat: 36.906431 deg,
lon: -122.115513 deg,
deltaT: 7.559787 s,
deltaX: -20.317261 m,
approachRate: -2.687544 m/s,
posRepo size: 4
2025-06-11T20:53:48.477Z,1749675228.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.67 m.
2025-06-11T20:53:48.479Z,1749675228.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.672012 m,
nav range: 231.827606 m,
bearing: 327.158838 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.012289 deg/s,
cmd heading: 320.117251 deg,
new cmd heading: 320.100023 deg.
2025-06-11T20:53:48.484Z,1749675228.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586799 target range: 231.672012 and range: 233.70 m.
2025-06-11T20:53:48.822Z,1749675228.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.67 m.
2025-06-11T20:53:48.829Z,1749675228.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.672012 m,
nav range: 231.654190 m,
bearing: 327.153910 deg,
approach rate: -0.491671 m/s,
LOS rate: -0.013983 deg/s,
cmd heading: 320.100012 deg,
new cmd heading: 320.085216 deg.
2025-06-11T20:53:48.830Z,1749675228.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586541 target range: 231.672012 and range: 233.70 m.
2025-06-11T20:53:49.244Z,1749675229.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.67 m.
2025-06-11T20:53:49.247Z,1749675229.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.672012 m,
nav range: 231.464981 m,
bearing: 327.148424 deg,
approach rate: -0.452524 m/s,
LOS rate: -0.013132 deg/s,
cmd heading: 320.085204 deg,
new cmd heading: 320.068732 deg.
2025-06-11T20:53:49.252Z,1749675229.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586253 target range: 231.672012 and range: 233.70 m.
2025-06-11T20:53:49.603Z,1749675229.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:49.606Z,1749675229.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.67 m.
2025-06-11T20:53:49.625Z,1749675229.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.672012 m,
nav range: 231.283615 m,
bearing: 327.143141 deg,
approach rate: -0.495591 m/s,
LOS rate: -0.014447 deg/s,
cmd heading: 320.068730 deg,
new cmd heading: 320.052868 deg.
2025-06-11T20:53:49.626Z,1749675229.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585976 target range: 231.672012 and range: 233.70 m.
2025-06-11T20:53:49.634Z,1749675229.634 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:49.634Z,1749675229.634 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:49.634Z,1749675229.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:49.886Z,1749675229.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752136
2025-06-11T20:53:50.011Z,1749675230.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.67 m.
2025-06-11T20:53:50.014Z,1749675230.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.672012 m,
nav range: 231.092743 m,
bearing: 327.137508 deg,
approach rate: -0.470918 m/s,
LOS rate: -0.013909 deg/s,
cmd heading: 320.052856 deg,
new cmd heading: 320.035944 deg.
2025-06-11T20:53:50.015Z,1749675230.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585681 target range: 231.672012 and range: 233.70 m.
2025-06-11T20:53:50.139Z,1749675230.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005682
2025-06-11T20:53:50.393Z,1749675230.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259785
2025-06-11T20:53:50.456Z,1749675230.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.67 m.
2025-06-11T20:53:50.458Z,1749675230.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.672012 m,
nav range: 230.878494 m,
bearing: 327.130621 deg,
approach rate: -0.482141 m/s,
LOS rate: -0.015514 deg/s,
cmd heading: 320.035945 deg,
new cmd heading: 320.015263 deg.
2025-06-11T20:53:50.459Z,1749675230.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585320 target range: 231.672012 and range: 233.70 m.
2025-06-11T20:53:50.648Z,1749675230.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514576
2025-06-11T20:53:50.840Z,1749675230.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.67 m.
2025-06-11T20:53:50.843Z,1749675230.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.672012 m,
nav range: 230.692856 m,
bearing: 327.124663 deg,
approach rate: -0.482427 m/s,
LOS rate: -0.015493 deg/s,
cmd heading: 320.015263 deg,
new cmd heading: 319.997378 deg.
2025-06-11T20:53:50.845Z,1749675230.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585008 target range: 231.672012 and range: 233.70 m.
2025-06-11T20:53:50.898Z,1749675230.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764409
2025-06-11T20:53:51.149Z,1749675231.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015677
2025-06-11T20:53:51.274Z,1749675231.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.67 m.
2025-06-11T20:53:51.277Z,1749675231.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.672012 m,
nav range: 230.485367 m,
bearing: 327.118482 deg,
approach rate: -0.478301 m/s,
LOS rate: -0.014262 deg/s,
cmd heading: 319.997368 deg,
new cmd heading: 319.978807 deg.
2025-06-11T20:53:51.278Z,1749675231.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584684 target range: 231.672012 and range: 233.70 m.
2025-06-11T20:53:51.401Z,1749675231.401 [DAT](INFO): DAT read: Rx Time:20:53:52.7189
2025-06-11T20:53:51.401Z,1749675231.401 [DAT](INFO): Rx dataTimestamp_ set to:1749675231.401104
2025-06-11T20:53:51.402Z,1749675231.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268896
2025-06-11T20:53:51.641Z,1749675231.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:51.643Z,1749675231.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.67 m.
2025-06-11T20:53:51.646Z,1749675231.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.672012 m,
nav range: 230.316803 m,
bearing: 327.113577 deg,
approach rate: -0.456969 m/s,
LOS rate: -0.013308 deg/s,
cmd heading: 319.978817 deg,
new cmd heading: 319.964090 deg.
2025-06-11T20:53:51.647Z,1749675231.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584427 target range: 231.672012 and range: 233.70 m.
2025-06-11T20:53:51.653Z,1749675231.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520308
2025-06-11T20:53:51.918Z,1749675231.918 [DAT](INFO): DAT read: 20:53:52.7189 LVL= 32752, 32753, 31298, 32755, AGC= 68, IDX= 396, 0.23,-3.045, 1.593, 2.944, 2.526, PHS= 0.801,-0.886, 0.415, RAW= 137.4, -4.4, CAL= 142.9, -14.2, ROT= 7.1, 14.2
2025-06-11T20:53:51.920Z,1749675231.920 [DAT](INFO): got valid direction response:
20:53:52.7189 LVL= 32752, 32753, 31298, 32755, AGC= 68, IDX= 396, 0.23,-3.045, 1.593, 2.944, 2.526, PHS= 0.801,-0.886, 0.415, RAW= 137.4, -4.4, CAL= 142.9, -14.2, ROT= 7.1, 14.2
2025-06-11T20:53:51.921Z,1749675231.921 [DAT](INFO): DAT read: Bearing 7.1, 14.2 (Local)
2025-06-11T20:53:51.922Z,1749675231.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.1, 14.2 (Local)
2025-06-11T20:53:51.925Z,1749675231.925 [DAT](INFO): DAT read: Range 10 to 50 : 232.0 m (Round-trip 309.4 ms) speed 0.1 m/s
2025-06-11T20:53:51.926Z,1749675231.926 [DAT](INFO): DAT read: user:564>
2025-06-11T20:53:51.927Z,1749675231.927 [DAT](INFO): DAT read: Tx time:20:53:53.8053
2025-06-11T20:53:51.928Z,1749675231.928 [DAT](INFO): Ping request sent.
2025-06-11T20:53:51.928Z,1749675231.928 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:51.929Z,1749675231.929 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:51.930Z,1749675231.930 [DAT](INFO): direction in FSK: [0.962012,0.119825,-0.245307]
2025-06-11T20:53:51.930Z,1749675231.930 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:51.931Z,1749675231.931 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:51.935Z,1749675231.935 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:51.936Z,1749675231.936 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:52.094Z,1749675232.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 232.000000 m,
deltaT: 3.786466 s,
deltaX: -1.699997 m,
approachRate: -0.448967 m/s,
rangeRepo size: 4
2025-06-11T20:53:52.109Z,1749675232.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 229.990692 m,
bearing: 328.764855 deg,
lat: 36.906408 deg,
lon: -122.115496 deg,
deltaT: 3.786466 s,
deltaX: -1.681320 m,
approachRate: -0.444034 m/s,
posRepo size: 4
2025-06-11T20:53:52.116Z,1749675232.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.99 m.
2025-06-11T20:53:52.135Z,1749675232.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 229.990692 m,
nav range: 227.059784 m,
bearing: 327.078441 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013308 deg/s,
cmd heading: 319.964091 deg,
new cmd heading: 319.946738 deg.
2025-06-11T20:53:52.142Z,1749675232.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584124 target range: 229.990692 and range: 232.00 m.
2025-06-11T20:53:52.157Z,1749675232.157 [DAT](INFO): DAT read: TxSync time:20:53:53.8045
2025-06-11T20:53:52.462Z,1749675232.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.99 m.
2025-06-11T20:53:52.465Z,1749675232.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 229.990692 m,
nav range: 226.858459 m,
bearing: 327.074354 deg,
approach rate: -0.523861 m/s,
LOS rate: -0.010642 deg/s,
cmd heading: 319.946743 deg,
new cmd heading: 319.934473 deg.
2025-06-11T20:53:52.466Z,1749675232.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583910 target range: 229.990692 and range: 232.00 m.
2025-06-11T20:53:52.855Z,1749675232.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.99 m.
2025-06-11T20:53:52.874Z,1749675232.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 229.990692 m,
nav range: 226.671661 m,
bearing: 327.070669 deg,
approach rate: -0.475238 m/s,
LOS rate: -0.009384 deg/s,
cmd heading: 319.934476 deg,
new cmd heading: 319.923410 deg.
2025-06-11T20:53:52.875Z,1749675232.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583717 target range: 229.990692 and range: 232.00 m.
2025-06-11T20:53:53.273Z,1749675233.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.99 m.
2025-06-11T20:53:53.276Z,1749675233.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 229.990692 m,
nav range: 226.473602 m,
bearing: 327.067429 deg,
approach rate: -0.473954 m/s,
LOS rate: -0.007760 deg/s,
cmd heading: 319.923411 deg,
new cmd heading: 319.913682 deg.
2025-06-11T20:53:53.277Z,1749675233.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583547 target range: 229.990692 and range: 232.00 m.
2025-06-11T20:53:53.645Z,1749675233.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:53.647Z,1749675233.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.99 m.
2025-06-11T20:53:53.650Z,1749675233.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 229.990692 m,
nav range: 226.295532 m,
bearing: 327.064510 deg,
approach rate: -0.476319 m/s,
LOS rate: -0.007814 deg/s,
cmd heading: 319.913684 deg,
new cmd heading: 319.904921 deg.
2025-06-11T20:53:53.651Z,1749675233.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583394 target range: 229.990692 and range: 232.00 m.
2025-06-11T20:53:53.673Z,1749675233.673 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:53.673Z,1749675233.673 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:53.674Z,1749675233.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:53.926Z,1749675233.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997963
2025-06-11T20:53:54.068Z,1749675234.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.99 m.
2025-06-11T20:53:54.070Z,1749675234.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 229.990692 m,
nav range: 226.102875 m,
bearing: 327.061293 deg,
approach rate: -0.475883 m/s,
LOS rate: -0.007953 deg/s,
cmd heading: 319.904914 deg,
new cmd heading: 319.895255 deg.
2025-06-11T20:53:54.071Z,1749675234.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583225 target range: 229.990692 and range: 232.00 m.
2025-06-11T20:53:54.179Z,1749675234.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251114
2025-06-11T20:53:54.433Z,1749675234.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504676
2025-06-11T20:53:54.510Z,1749675234.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.99 m.
2025-06-11T20:53:54.517Z,1749675234.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 229.990692 m,
nav range: 225.901169 m,
bearing: 327.058609 deg,
approach rate: -0.440306 m/s,
LOS rate: -0.005865 deg/s,
cmd heading: 319.895243 deg,
new cmd heading: 319.887183 deg.
2025-06-11T20:53:54.518Z,1749675234.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583085 target range: 229.990692 and range: 232.00 m.
2025-06-11T20:53:54.685Z,1749675234.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756648
2025-06-11T20:53:54.869Z,1749675234.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.99 m.
2025-06-11T20:53:54.871Z,1749675234.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 229.990692 m,
nav range: 225.730026 m,
bearing: 327.056305 deg,
approach rate: -0.476820 m/s,
LOS rate: -0.006424 deg/s,
cmd heading: 319.887183 deg,
new cmd heading: 319.880266 deg.
2025-06-11T20:53:54.872Z,1749675234.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582964 target range: 229.990692 and range: 232.00 m.
2025-06-11T20:53:54.939Z,1749675234.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010396
2025-06-11T20:53:55.194Z,1749675235.194 [DAT](INFO): DAT read: Rx Time:20:53:56.5166
2025-06-11T20:53:55.196Z,1749675235.196 [DAT](INFO): Rx dataTimestamp_ set to:1749675235.194898
2025-06-11T20:53:55.198Z,1749675235.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269635
2025-06-11T20:53:55.298Z,1749675235.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.99 m.
2025-06-11T20:53:55.301Z,1749675235.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 229.990692 m,
nav range: 225.537537 m,
bearing: 327.055649 deg,
approach rate: -0.448294 m/s,
LOS rate: -0.001529 deg/s,
cmd heading: 319.880271 deg,
new cmd heading: 319.878302 deg.
2025-06-11T20:53:55.302Z,1749675235.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582930 target range: 229.990692 and range: 232.00 m.
2025-06-11T20:53:55.441Z,1749675235.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512691
2025-06-11T20:53:55.707Z,1749675235.707 [DAT](INFO): DAT read: 20:53:56.5166 LVL= 24800, 28625, 22370, 30051, AGC= 70, IDX= 421, 0.41,-1.654, 3.118,-1.917,-2.332, PHS= 0.767,-0.786, 0.412, RAW= 137.4, -5.6, CAL= 143.1, -15.7, ROT= 6.9, 15.7
2025-06-11T20:53:55.709Z,1749675235.709 [DAT](INFO): got valid direction response:
20:53:56.5166 LVL= 24800, 28625, 22370, 30051, AGC= 70, IDX= 421, 0.41,-1.654, 3.118,-1.917,-2.332, PHS= 0.767,-0.786, 0.412, RAW= 137.4, -5.6, CAL= 143.1, -15.7, ROT= 6.9, 15.7
2025-06-11T20:53:55.710Z,1749675235.710 [DAT](INFO): DAT read: Bearing 6.9, 15.7 (Local)
2025-06-11T20:53:55.710Z,1749675235.710 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.9, 15.7 (Local)
2025-06-11T20:53:55.712Z,1749675235.712 [DAT](INFO): DAT read: Range 10 to 50 : 230.4 m (Round-trip 307.2 ms) speed 0.3 m/s
2025-06-11T20:53:55.713Z,1749675235.713 [DAT](INFO): DAT read: user:565>
2025-06-11T20:53:55.713Z,1749675235.713 [DAT](INFO): DAT read: Tx time:20:53:57.6053
2025-06-11T20:53:55.714Z,1749675235.714 [DAT](INFO): Ping request sent.
2025-06-11T20:53:55.714Z,1749675235.714 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:55.714Z,1749675235.714 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:55.715Z,1749675235.715 [DAT](INFO): direction in FSK: [0.955719,0.115655,-0.270600]
2025-06-11T20:53:55.715Z,1749675235.715 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:55.716Z,1749675235.716 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:55.719Z,1749675235.719 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:55.719Z,1749675235.719 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:55.853Z,1749675235.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 230.399994 m,
deltaT: 3.787645 s,
deltaX: -1.600006 m,
approachRate: -0.422428 m/s,
rangeRepo size: 4
2025-06-11T20:53:55.855Z,1749675235.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 228.399918 m,
bearing: 328.505253 deg,
lat: 36.906408 deg,
lon: -122.115409 deg,
deltaT: 3.787645 s,
deltaX: -1.590775 m,
approachRate: -0.419990 m/s,
posRepo size: 4
2025-06-11T20:53:55.855Z,1749675235.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:55.862Z,1749675235.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 221.219757 m,
bearing: 328.725329 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001529 deg/s,
cmd heading: 319.878304 deg,
new cmd heading: 319.875783 deg.
2025-06-11T20:53:55.863Z,1749675235.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582886 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:55.946Z,1749675235.946 [DAT](INFO): DAT read: TxSync time:20:53:57.6045
2025-06-11T20:53:56.316Z,1749675236.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:56.318Z,1749675236.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:56.321Z,1749675236.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 220.997192 m,
bearing: 328.727252 deg,
approach rate: -0.472994 m/s,
LOS rate: 0.004091 deg/s,
cmd heading: 319.875791 deg,
new cmd heading: 319.881566 deg.
2025-06-11T20:53:56.322Z,1749675236.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582986 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:56.449Z,1749675236.449 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:53:56.449Z,1749675236.449 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:53:56.449Z,1749675236.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:53:56.701Z,1749675236.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987159
2025-06-11T20:53:56.735Z,1749675236.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:56.738Z,1749675236.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 220.812454 m,
bearing: 328.728802 deg,
approach rate: -0.443254 m/s,
LOS rate: 0.003721 deg/s,
cmd heading: 319.881555 deg,
new cmd heading: 319.886208 deg.
2025-06-11T20:53:56.739Z,1749675236.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583067 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:56.953Z,1749675236.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239043
2025-06-11T20:53:57.150Z,1749675237.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:57.152Z,1749675237.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 220.636230 m,
bearing: 328.730332 deg,
approach rate: -0.425073 m/s,
LOS rate: 0.003694 deg/s,
cmd heading: 319.886200 deg,
new cmd heading: 319.890794 deg.
2025-06-11T20:53:57.153Z,1749675237.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583148 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:57.208Z,1749675237.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493938
2025-06-11T20:53:57.457Z,1749675237.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743190
2025-06-11T20:53:57.576Z,1749675237.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:57.579Z,1749675237.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 220.441940 m,
bearing: 328.734144 deg,
approach rate: -0.455843 m/s,
LOS rate: 0.008951 deg/s,
cmd heading: 319.890790 deg,
new cmd heading: 319.902235 deg.
2025-06-11T20:53:57.580Z,1749675237.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583347 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:57.709Z,1749675237.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995038
2025-06-11T20:53:57.961Z,1749675237.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247207
2025-06-11T20:53:57.964Z,1749675237.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:57.966Z,1749675237.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 220.279678 m,
bearing: 328.737245 deg,
approach rate: -0.422704 m/s,
LOS rate: 0.008085 deg/s,
cmd heading: 319.902237 deg,
new cmd heading: 319.911547 deg.
2025-06-11T20:53:57.967Z,1749675237.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583510 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:58.216Z,1749675238.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501556
2025-06-11T20:53:58.358Z,1749675238.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:53:58.360Z,1749675238.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:58.363Z,1749675238.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 220.094116 m,
bearing: 328.742104 deg,
approach rate: -0.463551 m/s,
LOS rate: 0.012148 deg/s,
cmd heading: 319.911553 deg,
new cmd heading: 319.926142 deg.
2025-06-11T20:53:58.365Z,1749675238.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583765 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:58.465Z,1749675238.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751276
2025-06-11T20:53:58.717Z,1749675238.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003131
2025-06-11T20:53:58.761Z,1749675238.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:58.768Z,1749675238.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 219.921249 m,
bearing: 328.746686 deg,
approach rate: -0.430594 m/s,
LOS rate: 0.011422 deg/s,
cmd heading: 319.926143 deg,
new cmd heading: 319.939899 deg.
2025-06-11T20:53:58.769Z,1749675238.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584004 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:58.969Z,1749675238.969 [DAT](INFO): DAT read: Rx Time:20:54:00.3143
2025-06-11T20:53:58.969Z,1749675238.969 [DAT](INFO): Rx dataTimestamp_ set to:1749675238.969163
2025-06-11T20:53:58.970Z,1749675238.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256321
2025-06-11T20:53:59.155Z,1749675239.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:59.158Z,1749675239.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 219.737473 m,
bearing: 328.751605 deg,
approach rate: -0.466448 m/s,
LOS rate: 0.012497 deg/s,
cmd heading: 319.939885 deg,
new cmd heading: 319.954657 deg.
2025-06-11T20:53:59.159Z,1749675239.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584262 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:59.223Z,1749675239.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509224
2025-06-11T20:53:59.477Z,1749675239.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762527
2025-06-11T20:53:59.598Z,1749675239.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-06-11T20:53:59.601Z,1749675239.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.399918 m,
nav range: 219.539215 m,
bearing: 328.757319 deg,
approach rate: -0.448189 m/s,
LOS rate: 0.012929 deg/s,
cmd heading: 319.954666 deg,
new cmd heading: 319.971823 deg.
2025-06-11T20:53:59.602Z,1749675239.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584562 target range: 228.399918 and range: 230.40 m.
2025-06-11T20:53:59.731Z,1749675239.731 [DAT](INFO): DAT read: 20:54:00.3143 LVL= 25680, 27921, 24194, 31795, AGC= 67, IDX= 413,-0.16, 1.823, 0.306, 1.606, 1.212, PHS= 0.699,-0.859, 0.391, RAW= 139.2, -3.3, CAL= 144.5, -12.7, ROT= 5.5, 12.7
2025-06-11T20:53:59.733Z,1749675239.733 [DAT](INFO): got valid direction response:
20:54:00.3143 LVL= 25680, 27921, 24194, 31795, AGC= 67, IDX= 413,-0.16, 1.823, 0.306, 1.606, 1.212, PHS= 0.699,-0.859, 0.391, RAW= 139.2, -3.3, CAL= 144.5, -12.7, ROT= 5.5, 12.7
2025-06-11T20:53:59.734Z,1749675239.734 [DAT](INFO): DAT read: Bearing 5.5, 12.7 (Local)
2025-06-11T20:53:59.734Z,1749675239.734 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.5, 12.7 (Local)
2025-06-11T20:53:59.736Z,1749675239.736 [DAT](INFO): DAT read: Range 10 to 50 : 228.5 m (Round-trip 304.7 ms) speed 0.4 m/s
2025-06-11T20:53:59.737Z,1749675239.737 [DAT](INFO): DAT read: user:566>
2025-06-11T20:53:59.737Z,1749675239.737 [DAT](INFO): DAT read: Tx time:20:54:01.4054
2025-06-11T20:53:59.738Z,1749675239.738 [DAT](INFO): Ping request sent.
2025-06-11T20:53:59.738Z,1749675239.738 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:53:59.738Z,1749675239.738 [DAT](INFO): DAT read: TxSync time:20:54:01.4046
2025-06-11T20:53:59.739Z,1749675239.739 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:53:59.741Z,1749675239.741 [DAT](INFO): direction in FSK: [0.971043,0.093501,-0.219846]
2025-06-11T20:53:59.741Z,1749675239.741 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:59.741Z,1749675239.741 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:59.745Z,1749675239.745 [DAT](INFO): publishing transmit ping time
2025-06-11T20:53:59.745Z,1749675239.745 [DAT](INFO): publishing direction and range info
2025-06-11T20:53:59.987Z,1749675239.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 228.500000 m,
deltaT: 4.029825 s,
deltaX: -1.899994 m,
approachRate: -0.471483 m/s,
rangeRepo size: 4
2025-06-11T20:53:59.993Z,1749675239.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 226.520813 m,
bearing: 326.633662 deg,
lat: 36.906393 deg,
lon: -122.115409 deg,
deltaT: 4.029825 s,
deltaX: -1.879105 m,
approachRate: -0.466299 m/s,
posRepo size: 4
2025-06-11T20:53:59.994Z,1749675239.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.52 m.
2025-06-11T20:54:00.000Z,1749675240.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.520813 m,
nav range: 217.987686 m,
bearing: 328.541165 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012929 deg/s,
cmd heading: 319.971823 deg,
new cmd heading: 319.986881 deg.
2025-06-11T20:54:00.001Z,1749675240.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584825 target range: 226.520813 and range: 228.50 m.
2025-06-11T20:54:00.383Z,1749675240.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:00.385Z,1749675240.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.52 m.
2025-06-11T20:54:00.389Z,1749675240.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.520813 m,
nav range: 217.792786 m,
bearing: 328.546472 deg,
approach rate: -0.488136 m/s,
LOS rate: 0.013302 deg/s,
cmd heading: 319.986877 deg,
new cmd heading: 320.002810 deg.
2025-06-11T20:54:00.390Z,1749675240.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585103 target range: 226.520813 and range: 228.50 m.
2025-06-11T20:54:00.481Z,1749675240.481 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:00.481Z,1749675240.481 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:00.481Z,1749675240.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:00.733Z,1749675240.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994895
2025-06-11T20:54:00.782Z,1749675240.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.52 m.
2025-06-11T20:54:00.789Z,1749675240.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.520813 m,
nav range: 217.610016 m,
bearing: 328.551581 deg,
approach rate: -0.460824 m/s,
LOS rate: 0.012893 deg/s,
cmd heading: 320.002805 deg,
new cmd heading: 320.018146 deg.
2025-06-11T20:54:00.793Z,1749675240.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585371 target range: 226.520813 and range: 228.50 m.
2025-06-11T20:54:00.985Z,1749675240.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246942
2025-06-11T20:54:01.184Z,1749675241.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.52 m.
2025-06-11T20:54:01.186Z,1749675241.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.520813 m,
nav range: 217.429382 m,
bearing: 328.556727 deg,
approach rate: -0.468080 m/s,
LOS rate: 0.013347 deg/s,
cmd heading: 320.018159 deg,
new cmd heading: 320.033610 deg.
2025-06-11T20:54:01.187Z,1749675241.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585640 target range: 226.520813 and range: 228.50 m.
2025-06-11T20:54:01.241Z,1749675241.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501897
2025-06-11T20:54:01.490Z,1749675241.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751350
2025-06-11T20:54:01.610Z,1749675241.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.52 m.
2025-06-11T20:54:01.613Z,1749675241.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.520813 m,
nav range: 217.218918 m,
bearing: 328.561659 deg,
approach rate: -0.475617 m/s,
LOS rate: 0.011157 deg/s,
cmd heading: 320.033623 deg,
new cmd heading: 320.048434 deg.
2025-06-11T20:54:01.614Z,1749675241.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585899 target range: 226.520813 and range: 228.50 m.
2025-06-11T20:54:01.741Z,1749675241.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002954
2025-06-11T20:54:01.987Z,1749675241.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.52 m.
2025-06-11T20:54:01.990Z,1749675241.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.520813 m,
nav range: 217.039841 m,
bearing: 328.565863 deg,
approach rate: -0.475546 m/s,
LOS rate: 0.011172 deg/s,
cmd heading: 320.048430 deg,
new cmd heading: 320.061051 deg.
2025-06-11T20:54:01.991Z,1749675241.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586119 target range: 226.520813 and range: 228.50 m.
2025-06-11T20:54:01.993Z,1749675241.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255121
2025-06-11T20:54:02.247Z,1749675242.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509161
2025-06-11T20:54:02.410Z,1749675242.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:02.413Z,1749675242.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.52 m.
2025-06-11T20:54:02.415Z,1749675242.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.520813 m,
nav range: 216.837921 m,
bearing: 328.568321 deg,
approach rate: -0.474082 m/s,
LOS rate: 0.005775 deg/s,
cmd heading: 320.061053 deg,
new cmd heading: 320.068432 deg.
2025-06-11T20:54:02.417Z,1749675242.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586248 target range: 226.520813 and range: 228.50 m.
2025-06-11T20:54:02.497Z,1749675242.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759100
2025-06-11T20:54:02.749Z,1749675242.749 [DAT](INFO): DAT read: Rx Time:20:54:04.1120
2025-06-11T20:54:02.750Z,1749675242.750 [DAT](INFO): Rx dataTimestamp_ set to:1749675242.749221
2025-06-11T20:54:02.750Z,1749675242.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012261
2025-06-11T20:54:02.812Z,1749675242.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.52 m.
2025-06-11T20:54:02.814Z,1749675242.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.520813 m,
nav range: 216.653259 m,
bearing: 328.570570 deg,
approach rate: -0.467587 m/s,
LOS rate: 0.005700 deg/s,
cmd heading: 320.068429 deg,
new cmd heading: 320.075182 deg.
2025-06-11T20:54:02.815Z,1749675242.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586366 target range: 226.520813 and range: 228.50 m.
2025-06-11T20:54:03.001Z,1749675243.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262919
2025-06-11T20:54:03.203Z,1749675243.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.52 m.
2025-06-11T20:54:03.205Z,1749675243.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.520813 m,
nav range: 216.461594 m,
bearing: 328.572908 deg,
approach rate: -0.485340 m/s,
LOS rate: 0.005927 deg/s,
cmd heading: 320.075177 deg,
new cmd heading: 320.082199 deg.
2025-06-11T20:54:03.206Z,1749675243.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586488 target range: 226.520813 and range: 228.50 m.
2025-06-11T20:54:03.260Z,1749675243.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521233
2025-06-11T20:54:03.511Z,1749675243.511 [DAT](INFO): DAT read: 20:54:04.1120 LVL= 32752, 32753, 28146, 32755, AGC= 62, IDX= 421,-0.10, 0.439,-1.084, 0.154,-0.153, PHS= 0.680,-0.884, 0.304, RAW= 136.7, -1.4, CAL= 141.8, -10.7, ROT= 8.2, 10.7
2025-06-11T20:54:03.512Z,1749675243.512 [DAT](INFO): got valid direction response:
20:54:04.1120 LVL= 32752, 32753, 28146, 32755, AGC= 62, IDX= 421,-0.10, 0.439,-1.084, 0.154,-0.153, PHS= 0.680,-0.884, 0.304, RAW= 136.7, -1.4, CAL= 141.8, -10.7, ROT= 8.2, 10.7
2025-06-11T20:54:03.513Z,1749675243.513 [DAT](INFO): DAT read: Bearing 8.2, 10.7 (Local)
2025-06-11T20:54:03.514Z,1749675243.514 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.2, 10.7 (Local)
2025-06-11T20:54:03.515Z,1749675243.515 [DAT](INFO): DAT read: Range 10 to 50 : 226.8 m (Round-trip 302.4 ms) speed 0.4 m/s
2025-06-11T20:54:03.516Z,1749675243.516 [DAT](INFO): DAT read: user:567>
2025-06-11T20:54:03.517Z,1749675243.517 [DAT](INFO): DAT read: Tx time:20:54:05.2054
2025-06-11T20:54:03.517Z,1749675243.517 [DAT](INFO): Ping request sent.
2025-06-11T20:54:03.517Z,1749675243.517 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:03.518Z,1749675243.518 [DAT](INFO): DAT read: TxSync time:20:54:05.2046
2025-06-11T20:54:03.519Z,1749675243.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:03.524Z,1749675243.524 [DAT](INFO): direction in FSK: [0.972567,0.140149,-0.185667]
2025-06-11T20:54:03.524Z,1749675243.524 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:03.525Z,1749675243.525 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:03.528Z,1749675243.528 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:03.528Z,1749675243.528 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:03.692Z,1749675243.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 226.800003 m,
deltaT: 3.780062 s,
deltaX: -1.699997 m,
approachRate: -0.449727 m/s,
rangeRepo size: 4
2025-06-11T20:54:03.694Z,1749675243.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 224.831924 m,
bearing: 328.814106 deg,
lat: 36.906408 deg,
lon: -122.115409 deg,
deltaT: 3.780062 s,
deltaX: -1.688889 m,
approachRate: -0.446789 m/s,
posRepo size: 4
2025-06-11T20:54:03.695Z,1749675243.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:03.702Z,1749675243.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 217.628815 m,
bearing: 328.794291 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.005927 deg/s,
cmd heading: 320.082199 deg,
new cmd heading: 320.090819 deg.
2025-06-11T20:54:03.703Z,1749675243.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586639 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:04.005Z,1749675244.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:04.009Z,1749675244.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 217.473129 m,
bearing: 328.793581 deg,
approach rate: -0.489597 m/s,
LOS rate: -0.002235 deg/s,
cmd heading: 320.090832 deg,
new cmd heading: 320.088700 deg.
2025-06-11T20:54:04.010Z,1749675244.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586602 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:04.418Z,1749675244.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:04.423Z,1749675244.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:04.426Z,1749675244.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 217.275681 m,
bearing: 328.790139 deg,
approach rate: -0.472543 m/s,
LOS rate: -0.008246 deg/s,
cmd heading: 320.088701 deg,
new cmd heading: 320.078365 deg.
2025-06-11T20:54:04.427Z,1749675244.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586421 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:04.513Z,1749675244.513 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:04.514Z,1749675244.514 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:04.514Z,1749675244.514 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:04.765Z,1749675244.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247273
2025-06-11T20:54:04.799Z,1749675244.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:04.802Z,1749675244.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 217.094864 m,
bearing: 328.786931 deg,
approach rate: -0.480705 m/s,
LOS rate: -0.008534 deg/s,
cmd heading: 320.078374 deg,
new cmd heading: 320.068744 deg.
2025-06-11T20:54:04.803Z,1749675244.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586254 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:05.017Z,1749675245.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499356
2025-06-11T20:54:05.232Z,1749675245.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:05.235Z,1749675245.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 216.901825 m,
bearing: 328.783392 deg,
approach rate: -0.446274 m/s,
LOS rate: -0.008189 deg/s,
cmd heading: 320.068757 deg,
new cmd heading: 320.058130 deg.
2025-06-11T20:54:05.244Z,1749675245.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586068 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:05.269Z,1749675245.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751836
2025-06-11T20:54:05.522Z,1749675245.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004296
2025-06-11T20:54:05.640Z,1749675245.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:05.643Z,1749675245.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 216.701385 m,
bearing: 328.776219 deg,
approach rate: -0.491301 m/s,
LOS rate: -0.017597 deg/s,
cmd heading: 320.058129 deg,
new cmd heading: 320.036591 deg.
2025-06-11T20:54:05.644Z,1749675245.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585692 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:05.773Z,1749675245.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255300
2025-06-11T20:54:06.025Z,1749675246.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507335
2025-06-11T20:54:06.031Z,1749675246.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:06.033Z,1749675246.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 216.521957 m,
bearing: 328.769787 deg,
approach rate: -0.459229 m/s,
LOS rate: -0.016476 deg/s,
cmd heading: 320.036601 deg,
new cmd heading: 320.017288 deg.
2025-06-11T20:54:06.034Z,1749675246.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585355 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:06.277Z,1749675246.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759219
2025-06-11T20:54:06.446Z,1749675246.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:06.449Z,1749675246.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:06.451Z,1749675246.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 216.331161 m,
bearing: 328.762415 deg,
approach rate: -0.456384 m/s,
LOS rate: -0.017649 deg/s,
cmd heading: 320.017285 deg,
new cmd heading: 319.995149 deg.
2025-06-11T20:54:06.452Z,1749675246.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584969 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:06.529Z,1749675246.529 [DAT](INFO): DAT read: Rx Time:20:54:07.9096
2025-06-11T20:54:06.530Z,1749675246.530 [DAT](INFO): Rx dataTimestamp_ set to:1749675246.529265
2025-06-11T20:54:06.530Z,1749675246.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012613
2025-06-11T20:54:06.781Z,1749675246.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263182
2025-06-11T20:54:06.820Z,1749675246.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:06.823Z,1749675246.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 216.161697 m,
bearing: 328.755824 deg,
approach rate: -0.456635 m/s,
LOS rate: -0.017775 deg/s,
cmd heading: 319.995155 deg,
new cmd heading: 319.975366 deg.
2025-06-11T20:54:06.824Z,1749675246.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584624 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:07.037Z,1749675247.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518637
2025-06-11T20:54:07.251Z,1749675247.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.83 m.
2025-06-11T20:54:07.254Z,1749675247.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 224.831924 m,
nav range: 215.973389 m,
bearing: 328.748439 deg,
approach rate: -0.436329 m/s,
LOS rate: -0.017127 deg/s,
cmd heading: 319.975375 deg,
new cmd heading: 319.953200 deg.
2025-06-11T20:54:07.255Z,1749675247.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584237 target range: 224.831924 and range: 226.80 m.
2025-06-11T20:54:07.297Z,1749675247.297 [DAT](INFO): DAT read: 20:54:07.9096 LVL= 27632, 32753, 25010, 32755, AGC= 70, IDX= 413,-0.06, 1.122,-0.403, 0.846, 0.463, PHS= 0.747,-0.818, 0.381, RAW= 137.1, -4.4, CAL= 142.6, -14.3, ROT= 7.4, 14.3
2025-06-11T20:54:07.299Z,1749675247.299 [DAT](INFO): got valid direction response:
20:54:07.9096 LVL= 27632, 32753, 25010, 32755, AGC= 70, IDX= 413,-0.06, 1.122,-0.403, 0.846, 0.463, PHS= 0.747,-0.818, 0.381, RAW= 137.1, -4.4, CAL= 142.6, -14.3, ROT= 7.4, 14.3
2025-06-11T20:54:07.301Z,1749675247.301 [DAT](INFO): DAT read: Bearing 7.4, 14.3 (Local)
2025-06-11T20:54:07.302Z,1749675247.302 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.4, 14.3 (Local)
2025-06-11T20:54:07.308Z,1749675247.308 [DAT](INFO): DAT read: Range 10 to 50 : 225.0 m (Round-trip 300.0 ms) speed 0.0 m/s
2025-06-11T20:54:07.310Z,1749675247.310 [DAT](INFO): DAT read: user:568>
2025-06-11T20:54:07.311Z,1749675247.311 [DAT](INFO): DAT read: Tx time:20:54:09.0054
2025-06-11T20:54:07.332Z,1749675247.332 [DAT](INFO): Ping request sent.
2025-06-11T20:54:07.333Z,1749675247.333 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:07.335Z,1749675247.335 [DAT](INFO): DAT read: TxSync time:20:54:09.0046
2025-06-11T20:54:07.337Z,1749675247.337 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:07.348Z,1749675247.348 [DAT](INFO): direction in FSK: [0.960945,0.124805,-0.246999]
2025-06-11T20:54:07.349Z,1749675247.349 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:07.350Z,1749675247.350 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:07.386Z,1749675247.386 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:07.386Z,1749675247.386 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:07.657Z,1749675247.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 225.000000 m,
deltaT: 3.780298 s,
deltaX: -1.800003 m,
approachRate: -0.476154 m/s,
rangeRepo size: 4
2025-06-11T20:54:07.659Z,1749675247.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 223.052200 m,
bearing: 329.028453 deg,
lat: 36.906408 deg,
lon: -122.115409 deg,
deltaT: 3.780298 s,
deltaX: -1.779724 m,
approachRate: -0.470789 m/s,
posRepo size: 4
2025-06-11T20:54:07.659Z,1749675247.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.05 m.
2025-06-11T20:54:07.662Z,1749675247.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.052200 m,
nav range: 215.779312 m,
bearing: 328.738561 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.017127 deg/s,
cmd heading: 319.953190 deg,
new cmd heading: 319.932418 deg.
2025-06-11T20:54:07.663Z,1749675247.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583874 target range: 223.052200 and range: 225.00 m.
2025-06-11T20:54:08.043Z,1749675248.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.05 m.
2025-06-11T20:54:08.046Z,1749675248.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.052200 m,
nav range: 215.598373 m,
bearing: 328.729467 deg,
approach rate: -0.467395 m/s,
LOS rate: -0.023512 deg/s,
cmd heading: 319.932426 deg,
new cmd heading: 319.905120 deg.
2025-06-11T20:54:08.047Z,1749675248.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583398 target range: 223.052200 and range: 225.00 m.
2025-06-11T20:54:08.468Z,1749675248.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:08.470Z,1749675248.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.05 m.
2025-06-11T20:54:08.477Z,1749675248.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.052200 m,
nav range: 215.403244 m,
bearing: 328.723040 deg,
approach rate: -0.456634 m/s,
LOS rate: -0.015054 deg/s,
cmd heading: 319.905133 deg,
new cmd heading: 319.885835 deg.
2025-06-11T20:54:08.478Z,1749675248.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583061 target range: 223.052200 and range: 225.00 m.
2025-06-11T20:54:08.545Z,1749675248.545 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:08.545Z,1749675248.545 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:08.546Z,1749675248.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:08.797Z,1749675248.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464788
2025-06-11T20:54:08.862Z,1749675248.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.05 m.
2025-06-11T20:54:08.865Z,1749675248.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.052200 m,
nav range: 215.226212 m,
bearing: 328.717251 deg,
approach rate: -0.451747 m/s,
LOS rate: -0.014784 deg/s,
cmd heading: 319.885845 deg,
new cmd heading: 319.868463 deg.
2025-06-11T20:54:08.866Z,1749675248.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582758 target range: 223.052200 and range: 225.00 m.
2025-06-11T20:54:09.049Z,1749675249.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716670
2025-06-11T20:54:09.255Z,1749675249.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.05 m.
2025-06-11T20:54:09.273Z,1749675249.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.052200 m,
nav range: 215.047485 m,
bearing: 328.711349 deg,
approach rate: -0.455254 m/s,
LOS rate: -0.015045 deg/s,
cmd heading: 319.868469 deg,
new cmd heading: 319.850750 deg.
2025-06-11T20:54:09.274Z,1749675249.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582448 target range: 223.052200 and range: 225.00 m.
2025-06-11T20:54:09.301Z,1749675249.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968813
2025-06-11T20:54:09.553Z,1749675249.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220746
2025-06-11T20:54:09.677Z,1749675249.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.05 m.
2025-06-11T20:54:09.680Z,1749675249.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.052200 m,
nav range: 214.846466 m,
bearing: 328.707646 deg,
approach rate: -0.475664 m/s,
LOS rate: -0.008770 deg/s,
cmd heading: 319.850737 deg,
new cmd heading: 319.839618 deg.
2025-06-11T20:54:09.681Z,1749675249.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582254 target range: 223.052200 and range: 225.00 m.
2025-06-11T20:54:09.805Z,1749675249.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472748
2025-06-11T20:54:10.058Z,1749675250.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725910
2025-06-11T20:54:10.105Z,1749675250.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.05 m.
2025-06-11T20:54:10.112Z,1749675250.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.052200 m,
nav range: 214.655441 m,
bearing: 328.704145 deg,
approach rate: -0.446112 m/s,
LOS rate: -0.008185 deg/s,
cmd heading: 319.839618 deg,
new cmd heading: 319.829104 deg.
2025-06-11T20:54:10.113Z,1749675250.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582071 target range: 223.052200 and range: 225.00 m.
2025-06-11T20:54:10.309Z,1749675250.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976846
2025-06-11T20:54:10.479Z,1749675250.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:10.481Z,1749675250.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.05 m.
2025-06-11T20:54:10.500Z,1749675250.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.052200 m,
nav range: 214.469330 m,
bearing: 328.703748 deg,
approach rate: -0.494825 m/s,
LOS rate: -0.001055 deg/s,
cmd heading: 319.829099 deg,
new cmd heading: 319.827909 deg.
2025-06-11T20:54:10.501Z,1749675250.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582050 target range: 223.052200 and range: 225.00 m.
2025-06-11T20:54:10.562Z,1749675250.562 [DAT](INFO): DAT read: Rx Time:20:54:11.7073
2025-06-11T20:54:10.563Z,1749675250.563 [DAT](INFO): Rx dataTimestamp_ set to:1749675250.562358
2025-06-11T20:54:10.564Z,1749675250.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231549
2025-06-11T20:54:10.813Z,1749675250.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480741
2025-06-11T20:54:10.937Z,1749675250.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.05 m.
2025-06-11T20:54:10.942Z,1749675250.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.052200 m,
nav range: 214.258301 m,
bearing: 328.703342 deg,
approach rate: -0.463291 m/s,
LOS rate: -0.000892 deg/s,
cmd heading: 319.827897 deg,
new cmd heading: 319.826678 deg.
2025-06-11T20:54:10.943Z,1749675250.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582028 target range: 223.052200 and range: 225.00 m.
2025-06-11T20:54:11.071Z,1749675251.071 [DAT](INFO): DAT read: 20:54:11.7073 LVL= 28992, 32753, 25810, 32755, AGC= 68, IDX= 420,-0.35, 2.017, 0.651, 1.779, 1.487, PHS= 0.618,-0.789, 0.289, RAW= 137.1, -1.9, CAL= 142.2, -11.2, ROT= 7.8, 11.2
2025-06-11T20:54:11.074Z,1749675251.074 [DAT](INFO): got valid direction response:
20:54:11.7073 LVL= 28992, 32753, 25810, 32755, AGC= 68, IDX= 420,-0.35, 2.017, 0.651, 1.779, 1.487, PHS= 0.618,-0.789, 0.289, RAW= 137.1, -1.9, CAL= 142.2, -11.2, ROT= 7.8, 11.2
2025-06-11T20:54:11.077Z,1749675251.077 [DAT](INFO): DAT read: Bearing 7.8, 11.2 (Local)
2025-06-11T20:54:11.078Z,1749675251.078 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.8, 11.2 (Local)
2025-06-11T20:54:11.079Z,1749675251.079 [DAT](INFO): DAT read: Range 10 to 50 : 223.2 m (Round-trip 297.6 ms) speed 0.4 m/s
2025-06-11T20:54:11.089Z,1749675251.089 [DAT](INFO): DAT read: user:569>
2025-06-11T20:54:11.089Z,1749675251.089 [DAT](INFO): DAT read: Tx time:20:54:12.8055
2025-06-11T20:54:11.090Z,1749675251.090 [DAT](INFO): Ping request sent.
2025-06-11T20:54:11.090Z,1749675251.090 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:11.090Z,1749675251.090 [DAT](INFO): DAT read: TxSync time:20:54:12.8047
2025-06-11T20:54:11.091Z,1749675251.091 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:11.105Z,1749675251.105 [DAT](INFO): direction in FSK: [0.971879,0.133131,-0.194234]
2025-06-11T20:54:11.105Z,1749675251.105 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:11.106Z,1749675251.106 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:11.114Z,1749675251.114 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:11.115Z,1749675251.115 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:11.296Z,1749675251.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 223.199997 m,
deltaT: 3.779681 s,
deltaX: -1.800003 m,
approachRate: -0.476231 m/s,
rangeRepo size: 4
2025-06-11T20:54:11.298Z,1749675251.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 221.267563 m,
bearing: 328.639528 deg,
lat: 36.906415 deg,
lon: -122.115427 deg,
deltaT: 3.779681 s,
deltaX: -1.784637 m,
approachRate: -0.472166 m/s,
posRepo size: 4
2025-06-11T20:54:11.299Z,1749675251.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.27 m.
2025-06-11T20:54:11.302Z,1749675251.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 221.267563 m,
nav range: 215.590591 m,
bearing: 328.449489 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000892 deg/s,
cmd heading: 319.826668 deg,
new cmd heading: 319.825719 deg.
2025-06-11T20:54:11.303Z,1749675251.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582012 target range: 221.267563 and range: 223.20 m.
2025-06-11T20:54:11.702Z,1749675251.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.27 m.
2025-06-11T20:54:11.709Z,1749675251.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 221.267563 m,
nav range: 215.395325 m,
bearing: 328.452249 deg,
approach rate: -0.475356 m/s,
LOS rate: 0.006726 deg/s,
cmd heading: 319.825712 deg,
new cmd heading: 319.834000 deg.
2025-06-11T20:54:11.710Z,1749675251.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582156 target range: 221.267563 and range: 223.20 m.
2025-06-11T20:54:12.081Z,1749675252.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.27 m.
2025-06-11T20:54:12.083Z,1749675252.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 221.267563 m,
nav range: 215.208206 m,
bearing: 328.454976 deg,
approach rate: -0.494299 m/s,
LOS rate: 0.007210 deg/s,
cmd heading: 319.833990 deg,
new cmd heading: 319.842177 deg.
2025-06-11T20:54:12.084Z,1749675252.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582299 target range: 221.267563 and range: 223.20 m.
2025-06-11T20:54:12.504Z,1749675252.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:12.506Z,1749675252.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.27 m.
2025-06-11T20:54:12.509Z,1749675252.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 221.267563 m,
nav range: 215.002350 m,
bearing: 328.460597 deg,
approach rate: -0.483863 m/s,
LOS rate: 0.013224 deg/s,
cmd heading: 319.842186 deg,
new cmd heading: 319.859064 deg.
2025-06-11T20:54:12.510Z,1749675252.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582594 target range: 221.267563 and range: 223.20 m.
2025-06-11T20:54:12.578Z,1749675252.578 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:12.578Z,1749675252.578 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:12.578Z,1749675252.578 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:12.829Z,1749675252.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738943
2025-06-11T20:54:12.881Z,1749675252.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.27 m.
2025-06-11T20:54:12.884Z,1749675252.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 221.267563 m,
nav range: 214.821228 m,
bearing: 328.465552 deg,
approach rate: -0.482791 m/s,
LOS rate: 0.013219 deg/s,
cmd heading: 319.859070 deg,
new cmd heading: 319.873947 deg.
2025-06-11T20:54:12.885Z,1749675252.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582854 target range: 221.267563 and range: 223.20 m.
2025-06-11T20:54:12.998Z,1749675252.998 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:54:13.081Z,1749675253.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990961
2025-06-11T20:54:13.313Z,1749675253.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.27 m.
2025-06-11T20:54:13.316Z,1749675253.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 221.267563 m,
nav range: 214.612228 m,
bearing: 328.471299 deg,
approach rate: -0.483766 m/s,
LOS rate: 0.013317 deg/s,
cmd heading: 319.873960 deg,
new cmd heading: 319.891219 deg.
2025-06-11T20:54:13.317Z,1749675253.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583155 target range: 221.267563 and range: 223.20 m.
2025-06-11T20:54:13.333Z,1749675253.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243096
2025-06-11T20:54:13.586Z,1749675253.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494945
2025-06-11T20:54:13.719Z,1749675253.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.27 m.
2025-06-11T20:54:13.722Z,1749675253.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 221.267563 m,
nav range: 214.417267 m,
bearing: 328.478711 deg,
approach rate: -0.480210 m/s,
LOS rate: 0.018274 deg/s,
cmd heading: 319.891227 deg,
new cmd heading: 319.913484 deg.
2025-06-11T20:54:13.723Z,1749675253.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583544 target range: 221.267563 and range: 223.20 m.
2025-06-11T20:54:13.837Z,1749675253.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747468
2025-06-11T20:54:14.000Z,1749675254.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:54:14.089Z,1749675254.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999091
2025-06-11T20:54:14.102Z,1749675254.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.27 m.
2025-06-11T20:54:14.104Z,1749675254.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 221.267563 m,
nav range: 214.233002 m,
bearing: 328.485727 deg,
approach rate: -0.482136 m/s,
LOS rate: 0.018372 deg/s,
cmd heading: 319.913493 deg,
new cmd heading: 319.934558 deg.
2025-06-11T20:54:14.105Z,1749675254.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583911 target range: 221.267563 and range: 223.20 m.
2025-06-11T20:54:14.341Z,1749675254.341 [DAT](INFO): DAT read: Rx Time:20:54:15.5049
2025-06-11T20:54:14.341Z,1749675254.341 [DAT](INFO): Rx dataTimestamp_ set to:1749675254.340960
2025-06-11T20:54:14.342Z,1749675254.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252016
2025-06-11T20:54:14.526Z,1749675254.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:14.528Z,1749675254.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.27 m.
2025-06-11T20:54:14.531Z,1749675254.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 221.267563 m,
nav range: 214.032013 m,
bearing: 328.492987 deg,
approach rate: -0.471259 m/s,
LOS rate: 0.017038 deg/s,
cmd heading: 319.934557 deg,
new cmd heading: 319.956357 deg.
2025-06-11T20:54:14.532Z,1749675254.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584292 target range: 221.267563 and range: 223.20 m.
2025-06-11T20:54:14.593Z,1749675254.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503155
2025-06-11T20:54:14.851Z,1749675254.851 [DAT](INFO): DAT read: 20:54:15.5049 LVL= 25776, 32753, 22370, 32755, AGC= 66, IDX= 412, 0.11, 1.223,-0.198, 1.016, 0.620, PHS= 0.691,-0.771, 0.393, RAW= 138.9, -4.7, CAL= 144.4, -14.4, ROT= 5.6, 14.4
2025-06-11T20:54:14.852Z,1749675254.852 [DAT](INFO): got valid direction response:
20:54:15.5049 LVL= 25776, 32753, 22370, 32755, AGC= 66, IDX= 412, 0.11, 1.223,-0.198, 1.016, 0.620, PHS= 0.691,-0.771, 0.393, RAW= 138.9, -4.7, CAL= 144.4, -14.4, ROT= 5.6, 14.4
2025-06-11T20:54:14.853Z,1749675254.853 [DAT](INFO): DAT read: Bearing 5.6, 14.4 (Local)
2025-06-11T20:54:14.854Z,1749675254.854 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.6, 14.4 (Local)
2025-06-11T20:54:14.855Z,1749675254.855 [DAT](INFO): DAT read: Range 10 to 50 : 221.4 m (Round-trip 295.3 ms) speed 0.6 m/s
2025-06-11T20:54:14.856Z,1749675254.856 [DAT](INFO): DAT read: user:570>
2025-06-11T20:54:14.857Z,1749675254.857 [DAT](INFO): DAT read: Tx time:20:54:16.6055
2025-06-11T20:54:14.857Z,1749675254.857 [DAT](INFO): Ping request sent.
2025-06-11T20:54:14.857Z,1749675254.857 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:14.858Z,1749675254.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:14.859Z,1749675254.859 [DAT](INFO): direction in FSK: [0.963961,0.094517,-0.248690]
2025-06-11T20:54:14.859Z,1749675254.859 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:14.859Z,1749675254.859 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:14.863Z,1749675254.863 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:14.863Z,1749675254.863 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:14.997Z,1749675254.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 221.399994 m,
deltaT: 3.779972 s,
deltaX: -1.800003 m,
approachRate: -0.476195 m/s,
rangeRepo size: 4
2025-06-11T20:54:14.999Z,1749675254.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 219.480515 m,
bearing: 326.500949 deg,
lat: 36.906415 deg,
lon: -122.115429 deg,
deltaT: 3.779972 s,
deltaX: -1.787048 m,
approachRate: -0.472768 m/s,
posRepo size: 4
2025-06-11T20:54:14.999Z,1749675254.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:15.007Z,1749675255.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 213.898224 m,
bearing: 328.470525 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017038 deg/s,
cmd heading: 319.956359 deg,
new cmd heading: 319.980061 deg.
2025-06-11T20:54:15.020Z,1749675255.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584706 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:15.100Z,1749675255.100 [DAT](INFO): DAT read: TxSync time:20:54:16.6047
2025-06-11T20:54:15.329Z,1749675255.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:15.336Z,1749675255.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 213.727585 m,
bearing: 328.476745 deg,
approach rate: -0.505501 m/s,
LOS rate: 0.018442 deg/s,
cmd heading: 319.980074 deg,
new cmd heading: 319.998750 deg.
2025-06-11T20:54:15.337Z,1749675255.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585032 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:15.742Z,1749675255.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:15.745Z,1749675255.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 213.531708 m,
bearing: 328.482281 deg,
approach rate: -0.474718 m/s,
LOS rate: 0.013429 deg/s,
cmd heading: 319.998761 deg,
new cmd heading: 320.015384 deg.
2025-06-11T20:54:15.746Z,1749675255.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585322 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:16.113Z,1749675256.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:16.116Z,1749675256.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 213.361038 m,
bearing: 328.487086 deg,
approach rate: -0.459759 m/s,
LOS rate: 0.012955 deg/s,
cmd heading: 320.015372 deg,
new cmd heading: 320.029800 deg.
2025-06-11T20:54:16.117Z,1749675256.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585574 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:16.555Z,1749675256.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:16.557Z,1749675256.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:16.560Z,1749675256.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 213.162186 m,
bearing: 328.490575 deg,
approach rate: -0.447833 m/s,
LOS rate: 0.007865 deg/s,
cmd heading: 320.029798 deg,
new cmd heading: 320.040274 deg.
2025-06-11T20:54:16.561Z,1749675256.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585756 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:16.609Z,1749675256.609 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:16.609Z,1749675256.609 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:16.609Z,1749675256.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:16.861Z,1749675256.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003418
2025-06-11T20:54:16.929Z,1749675256.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:16.953Z,1749675256.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 212.998611 m,
bearing: 328.493312 deg,
approach rate: -0.440445 m/s,
LOS rate: 0.007374 deg/s,
cmd heading: 320.040261 deg,
new cmd heading: 320.048477 deg.
2025-06-11T20:54:16.954Z,1749675256.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585900 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:17.113Z,1749675257.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255434
2025-06-11T20:54:17.326Z,1749675257.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:17.329Z,1749675257.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 212.818268 m,
bearing: 328.496216 deg,
approach rate: -0.453978 m/s,
LOS rate: 0.007318 deg/s,
cmd heading: 320.048485 deg,
new cmd heading: 320.057206 deg.
2025-06-11T20:54:17.330Z,1749675257.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586052 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:17.365Z,1749675257.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507939
2025-06-11T20:54:17.618Z,1749675257.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760728
2025-06-11T20:54:17.768Z,1749675257.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:17.770Z,1749675257.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 212.621689 m,
bearing: 328.497078 deg,
approach rate: -0.444995 m/s,
LOS rate: 0.001952 deg/s,
cmd heading: 320.057200 deg,
new cmd heading: 320.059787 deg.
2025-06-11T20:54:17.771Z,1749675257.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586097 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:17.869Z,1749675257.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011497
2025-06-11T20:54:18.121Z,1749675258.121 [DAT](INFO): DAT read: Rx Time:20:54:19.3026
2025-06-11T20:54:18.121Z,1749675258.121 [DAT](INFO): Rx dataTimestamp_ set to:1749675258.120951
2025-06-11T20:54:18.122Z,1749675258.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264453
2025-06-11T20:54:18.206Z,1749675258.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:18.209Z,1749675258.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 212.426712 m,
bearing: 328.497806 deg,
approach rate: -0.444336 m/s,
LOS rate: 0.001662 deg/s,
cmd heading: 320.059796 deg,
new cmd heading: 320.061983 deg.
2025-06-11T20:54:18.210Z,1749675258.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586135 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:18.373Z,1749675258.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515335
2025-06-11T20:54:18.581Z,1749675258.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:18.583Z,1749675258.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.48 m.
2025-06-11T20:54:18.586Z,1749675258.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 219.480515 m,
nav range: 212.258255 m,
bearing: 328.496220 deg,
approach rate: -0.446746 m/s,
LOS rate: -0.004211 deg/s,
cmd heading: 320.061981 deg,
new cmd heading: 320.057218 deg.
2025-06-11T20:54:18.587Z,1749675258.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586052 target range: 219.480515 and range: 221.40 m.
2025-06-11T20:54:18.631Z,1749675258.631 [DAT](INFO): DAT read: 20:54:19.3026 LVL= 28368, 32129, 23218, 32755, AGC= 65, IDX= 419, 0.30,-0.016,-1.606,-0.282,-0.712, PHS= 0.784,-0.847, 0.426, RAW= 138.0, -4.9, CAL= 143.6, -14.8, ROT= 6.4, 14.8
2025-06-11T20:54:18.633Z,1749675258.633 [DAT](INFO): got valid direction response:
20:54:19.3026 LVL= 28368, 32129, 23218, 32755, AGC= 65, IDX= 419, 0.30,-0.016,-1.606,-0.282,-0.712, PHS= 0.784,-0.847, 0.426, RAW= 138.0, -4.9, CAL= 143.6, -14.8, ROT= 6.4, 14.8
2025-06-11T20:54:18.634Z,1749675258.634 [DAT](INFO): DAT read: Bearing 6.4, 14.8 (Local)
2025-06-11T20:54:18.635Z,1749675258.635 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.4, 14.8 (Local)
2025-06-11T20:54:18.637Z,1749675258.637 [DAT](INFO): DAT read: Range 10 to 50 : 219.6 m (Round-trip 292.9 ms) speed 0.4 m/s
2025-06-11T20:54:18.638Z,1749675258.638 [DAT](INFO): DAT read: user:571>
2025-06-11T20:54:18.639Z,1749675258.639 [DAT](INFO): DAT read: Tx time:20:54:20.4055
2025-06-11T20:54:18.645Z,1749675258.645 [DAT](INFO): Ping request sent.
2025-06-11T20:54:18.645Z,1749675258.645 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:18.646Z,1749675258.646 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:18.647Z,1749675258.647 [DAT](INFO): direction in FSK: [0.960798,0.107771,-0.255446]
2025-06-11T20:54:18.652Z,1749675258.652 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:18.652Z,1749675258.652 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:18.662Z,1749675258.662 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:18.662Z,1749675258.662 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:18.877Z,1749675258.877 [DAT](INFO): DAT read: TxSync time:20:54:20.4047
2025-06-11T20:54:18.969Z,1749675258.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 219.600006 m,
deltaT: 3.780150 s,
deltaX: -1.799988 m,
approachRate: -0.476168 m/s,
rangeRepo size: 4
2025-06-11T20:54:18.971Z,1749675258.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 217.700348 m,
bearing: 327.875400 deg,
lat: 36.906415 deg,
lon: -122.115429 deg,
deltaT: 3.780150 s,
deltaX: -1.780167 m,
approachRate: -0.470925 m/s,
posRepo size: 4
2025-06-11T20:54:18.972Z,1749675258.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.70 m.
2025-06-11T20:54:18.975Z,1749675258.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 217.700348 m,
nav range: 212.088120 m,
bearing: 328.494626 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004211 deg/s,
cmd heading: 320.057228 deg,
new cmd heading: 320.052364 deg.
2025-06-11T20:54:18.975Z,1749675258.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585968 target range: 217.700348 and range: 219.60 m.
2025-06-11T20:54:19.357Z,1749675259.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.70 m.
2025-06-11T20:54:19.359Z,1749675259.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 217.700348 m,
nav range: 211.913269 m,
bearing: 328.493096 deg,
approach rate: -0.450380 m/s,
LOS rate: -0.003945 deg/s,
cmd heading: 320.052365 deg,
new cmd heading: 320.047770 deg.
2025-06-11T20:54:19.360Z,1749675259.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585887 target range: 217.700348 and range: 219.60 m.
2025-06-11T20:54:19.794Z,1749675259.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.70 m.
2025-06-11T20:54:19.801Z,1749675259.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 217.700348 m,
nav range: 211.723267 m,
bearing: 328.488337 deg,
approach rate: -0.434152 m/s,
LOS rate: -0.010883 deg/s,
cmd heading: 320.047775 deg,
new cmd heading: 320.033486 deg.
2025-06-11T20:54:19.802Z,1749675259.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585638 target range: 217.700348 and range: 219.60 m.
2025-06-11T20:54:20.159Z,1749675260.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.70 m.
2025-06-11T20:54:20.162Z,1749675260.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 217.700348 m,
nav range: 211.558807 m,
bearing: 328.484257 deg,
approach rate: -0.451352 m/s,
LOS rate: -0.011207 deg/s,
cmd heading: 320.033486 deg,
new cmd heading: 320.021236 deg.
2025-06-11T20:54:20.163Z,1749675260.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585424 target range: 217.700348 and range: 219.60 m.
2025-06-11T20:54:20.603Z,1749675260.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:20.605Z,1749675260.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.70 m.
2025-06-11T20:54:20.607Z,1749675260.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 217.700348 m,
nav range: 211.358505 m,
bearing: 328.477833 deg,
approach rate: -0.448947 m/s,
LOS rate: -0.014413 deg/s,
cmd heading: 320.021246 deg,
new cmd heading: 320.001955 deg.
2025-06-11T20:54:20.609Z,1749675260.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585088 target range: 217.700348 and range: 219.60 m.
2025-06-11T20:54:20.641Z,1749675260.641 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:20.641Z,1749675260.641 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:20.641Z,1749675260.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:20.893Z,1749675260.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247570
2025-06-11T20:54:20.979Z,1749675260.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.70 m.
2025-06-11T20:54:20.996Z,1749675260.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 217.700348 m,
nav range: 211.189514 m,
bearing: 328.472343 deg,
approach rate: -0.451410 m/s,
LOS rate: -0.014676 deg/s,
cmd heading: 320.001958 deg,
new cmd heading: 319.985475 deg.
2025-06-11T20:54:20.998Z,1749675260.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584800 target range: 217.700348 and range: 219.60 m.
2025-06-11T20:54:21.145Z,1749675261.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499610
2025-06-11T20:54:21.380Z,1749675261.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.70 m.
2025-06-11T20:54:21.383Z,1749675261.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 217.700348 m,
nav range: 211.014359 m,
bearing: 328.466594 deg,
approach rate: -0.436938 m/s,
LOS rate: -0.014352 deg/s,
cmd heading: 319.985483 deg,
new cmd heading: 319.968223 deg.
2025-06-11T20:54:21.385Z,1749675261.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584499 target range: 217.700348 and range: 219.60 m.
2025-06-11T20:54:21.397Z,1749675261.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751886
2025-06-11T20:54:21.649Z,1749675261.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003598
2025-06-11T20:54:21.807Z,1749675261.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.70 m.
2025-06-11T20:54:21.810Z,1749675261.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 217.700348 m,
nav range: 210.812714 m,
bearing: 328.459222 deg,
approach rate: -0.472289 m/s,
LOS rate: -0.017285 deg/s,
cmd heading: 319.968217 deg,
new cmd heading: 319.946077 deg.
2025-06-11T20:54:21.811Z,1749675261.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584113 target range: 217.700348 and range: 219.60 m.
2025-06-11T20:54:21.901Z,1749675261.901 [DAT](INFO): DAT read: Rx Time:20:54:23.1003
2025-06-11T20:54:21.901Z,1749675261.901 [DAT](INFO): Rx dataTimestamp_ set to:1749675261.901130
2025-06-11T20:54:21.902Z,1749675261.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256753
2025-06-11T20:54:22.153Z,1749675262.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507426
2025-06-11T20:54:22.186Z,1749675262.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.70 m.
2025-06-11T20:54:22.189Z,1749675262.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 217.700348 m,
nav range: 210.638321 m,
bearing: 328.452823 deg,
approach rate: -0.459597 m/s,
LOS rate: -0.016878 deg/s,
cmd heading: 319.946087 deg,
new cmd heading: 319.926874 deg.
2025-06-11T20:54:22.190Z,1749675262.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583777 target range: 217.700348 and range: 219.60 m.
2025-06-11T20:54:22.413Z,1749675262.413 [DAT](INFO): DAT read: 20:54:23.1003 LVL= 25328, 32753, 24018, 32755, AGC= 68, IDX= 412,-0.41,-3.117, 1.852, 2.887, 2.566, PHS= 0.689,-0.667, 0.319, RAW= 134.7, -5.7, CAL= 140.3, -16.3, ROT= 9.7, 16.3
2025-06-11T20:54:22.414Z,1749675262.414 [DAT](INFO): got valid direction response:
20:54:23.1003 LVL= 25328, 32753, 24018, 32755, AGC= 68, IDX= 412,-0.41,-3.117, 1.852, 2.887, 2.566, PHS= 0.689,-0.667, 0.319, RAW= 134.7, -5.7, CAL= 140.3, -16.3, ROT= 9.7, 16.3
2025-06-11T20:54:22.415Z,1749675262.415 [DAT](INFO): DAT read: Bearing 9.7, 16.3 (Local)
2025-06-11T20:54:22.415Z,1749675262.415 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.7, 16.3 (Local)
2025-06-11T20:54:22.439Z,1749675262.439 [DAT](INFO): DAT read: Range 10 to 50 : 217.9 m (Round-trip 290.6 ms) speed 0.0 m/s
2025-06-11T20:54:22.440Z,1749675262.440 [DAT](INFO): DAT read: user:572>
2025-06-11T20:54:22.441Z,1749675262.441 [DAT](INFO): DAT read: Tx time:20:54:24.2056
2025-06-11T20:54:22.441Z,1749675262.441 [DAT](INFO): Ping request sent.
2025-06-11T20:54:22.441Z,1749675262.441 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:22.442Z,1749675262.442 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:22.443Z,1749675262.443 [DAT](INFO): direction in FSK: [0.946083,0.161717,-0.280667]
2025-06-11T20:54:22.443Z,1749675262.443 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:22.443Z,1749675262.443 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:22.447Z,1749675262.447 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:22.447Z,1749675262.447 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:22.657Z,1749675262.657 [DAT](INFO): DAT read: TxSync time:20:54:24.2048
2025-06-11T20:54:22.701Z,1749675262.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 217.899994 m,
deltaT: 3.780305 s,
deltaX: -1.700012 m,
approachRate: -0.449702 m/s,
rangeRepo size: 4
2025-06-11T20:54:22.703Z,1749675262.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 216.016708 m,
bearing: 331.241464 deg,
lat: 36.906415 deg,
lon: -122.115429 deg,
deltaT: 3.780305 s,
deltaX: -1.683640 m,
approachRate: -0.445371 m/s,
posRepo size: 4
2025-06-11T20:54:22.703Z,1749675262.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.02 m.
2025-06-11T20:54:22.710Z,1749675262.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 216.016708 m,
nav range: 210.402542 m,
bearing: 328.443860 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016878 deg/s,
cmd heading: 319.926880 deg,
new cmd heading: 319.901098 deg.
2025-06-11T20:54:22.711Z,1749675262.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583327 target range: 216.016708 and range: 217.90 m.
2025-06-11T20:54:22.994Z,1749675262.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:22.997Z,1749675262.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.02 m.
2025-06-11T20:54:22.999Z,1749675262.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 216.016708 m,
nav range: 210.251602 m,
bearing: 328.438104 deg,
approach rate: -0.501372 m/s,
LOS rate: -0.019133 deg/s,
cmd heading: 319.901090 deg,
new cmd heading: 319.883810 deg.
2025-06-11T20:54:23.000Z,1749675263.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583026 target range: 216.016708 and range: 217.90 m.
2025-06-11T20:54:23.161Z,1749675263.161 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:23.161Z,1749675263.161 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:23.161Z,1749675263.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:23.401Z,1749675263.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.02 m.
2025-06-11T20:54:23.403Z,1749675263.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 216.016708 m,
nav range: 210.057770 m,
bearing: 328.430752 deg,
approach rate: -0.479631 m/s,
LOS rate: -0.018209 deg/s,
cmd heading: 319.883823 deg,
new cmd heading: 319.861746 deg.
2025-06-11T20:54:23.405Z,1749675263.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582641 target range: 216.016708 and range: 217.90 m.
2025-06-11T20:54:23.413Z,1749675263.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971372
2025-06-11T20:54:23.665Z,1749675263.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223298
2025-06-11T20:54:23.840Z,1749675263.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.02 m.
2025-06-11T20:54:23.843Z,1749675263.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 216.016708 m,
nav range: 209.844330 m,
bearing: 328.422803 deg,
approach rate: -0.486086 m/s,
LOS rate: -0.018121 deg/s,
cmd heading: 319.861748 deg,
new cmd heading: 319.837876 deg.
2025-06-11T20:54:23.845Z,1749675263.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582224 target range: 216.016708 and range: 217.90 m.
2025-06-11T20:54:23.918Z,1749675263.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476849
2025-06-11T20:54:24.169Z,1749675264.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727258
2025-06-11T20:54:24.228Z,1749675264.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.02 m.
2025-06-11T20:54:24.231Z,1749675264.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 216.016708 m,
nav range: 209.665436 m,
bearing: 328.416119 deg,
approach rate: -0.465775 m/s,
LOS rate: -0.017416 deg/s,
cmd heading: 319.837869 deg,
new cmd heading: 319.817802 deg.
2025-06-11T20:54:24.236Z,1749675264.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581874 target range: 216.016708 and range: 217.90 m.
2025-06-11T20:54:24.421Z,1749675264.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979542
2025-06-11T20:54:24.673Z,1749675264.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231425
2025-06-11T20:54:24.698Z,1749675264.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.02 m.
2025-06-11T20:54:24.709Z,1749675264.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 216.016708 m,
nav range: 209.439804 m,
bearing: 328.409918 deg,
approach rate: -0.476063 m/s,
LOS rate: -0.013099 deg/s,
cmd heading: 319.817816 deg,
new cmd heading: 319.799191 deg.
2025-06-11T20:54:24.710Z,1749675264.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581549 target range: 216.016708 and range: 217.90 m.
2025-06-11T20:54:24.925Z,1749675264.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483469
2025-06-11T20:54:25.069Z,1749675265.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:25.093Z,1749675265.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.02 m.
2025-06-11T20:54:25.095Z,1749675265.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 216.016708 m,
nav range: 209.263687 m,
bearing: 328.405029 deg,
approach rate: -0.446118 m/s,
LOS rate: -0.012393 deg/s,
cmd heading: 319.799183 deg,
new cmd heading: 319.784505 deg.
2025-06-11T20:54:25.101Z,1749675265.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581293 target range: 216.016708 and range: 217.90 m.
2025-06-11T20:54:25.178Z,1749675265.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736736
2025-06-11T20:54:25.432Z,1749675265.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990507
2025-06-11T20:54:25.455Z,1749675265.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.02 m.
2025-06-11T20:54:25.458Z,1749675265.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 216.016708 m,
nav range: 209.061478 m,
bearing: 328.399397 deg,
approach rate: -0.557805 m/s,
LOS rate: -0.015553 deg/s,
cmd heading: 319.784512 deg,
new cmd heading: 319.767597 deg.
2025-06-11T20:54:25.459Z,1749675265.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580997 target range: 216.016708 and range: 217.90 m.
2025-06-11T20:54:25.683Z,1749675265.683 [DAT](INFO): DAT read: Rx Time:20:54:26.8980
2025-06-11T20:54:25.683Z,1749675265.683 [DAT](INFO): Rx dataTimestamp_ set to:1749675265.682952
2025-06-11T20:54:25.684Z,1749675265.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242445
2025-06-11T20:54:25.870Z,1749675265.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.02 m.
2025-06-11T20:54:25.889Z,1749675265.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 216.016708 m,
nav range: 208.858307 m,
bearing: 328.395366 deg,
approach rate: -0.490188 m/s,
LOS rate: -0.009733 deg/s,
cmd heading: 319.767600 deg,
new cmd heading: 319.755498 deg.
2025-06-11T20:54:25.890Z,1749675265.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580786 target range: 216.016708 and range: 217.90 m.
2025-06-11T20:54:25.954Z,1749675265.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512262
2025-06-11T20:54:26.211Z,1749675266.211 [DAT](INFO): DAT read: 20:54:26.8980 LVL= 21232, 32753, 21842, 32755, AGC= 71, IDX= 420,-0.43,-2.241, 2.645,-2.485,-2.841, PHS= 0.689,-0.750, 0.353, RAW= 137.1, -4.5, CAL= 142.7, -14.4, ROT= 7.3, 14.4
2025-06-11T20:54:26.212Z,1749675266.212 [DAT](INFO): got valid direction response:
20:54:26.8980 LVL= 21232, 32753, 21842, 32755, AGC= 71, IDX= 420,-0.43,-2.241, 2.645,-2.485,-2.841, PHS= 0.689,-0.750, 0.353, RAW= 137.1, -4.5, CAL= 142.7, -14.4, ROT= 7.3, 14.4
2025-06-11T20:54:26.213Z,1749675266.213 [DAT](INFO): DAT read: Bearing 7.3, 14.4 (Local)
2025-06-11T20:54:26.213Z,1749675266.213 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.3, 14.4 (Local)
2025-06-11T20:54:26.215Z,1749675266.215 [DAT](INFO): DAT read: Range 10 to 50 : 216.1 m (Round-trip 288.2 ms) speed 1.1 m/s
2025-06-11T20:54:26.222Z,1749675266.222 [DAT](INFO): DAT read: user:573>
2025-06-11T20:54:26.223Z,1749675266.223 [DAT](INFO): DAT read: Tx time:20:54:28.0056
2025-06-11T20:54:26.223Z,1749675266.223 [DAT](INFO): Ping request sent.
2025-06-11T20:54:26.223Z,1749675266.223 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:26.224Z,1749675266.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:26.225Z,1749675266.225 [DAT](INFO): direction in FSK: [0.960732,0.123073,-0.248690]
2025-06-11T20:54:26.225Z,1749675266.225 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:26.225Z,1749675266.225 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:26.240Z,1749675266.240 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:26.241Z,1749675266.241 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:26.318Z,1749675266.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 216.100006 m,
deltaT: 3.799619 s,
deltaX: -1.799988 m,
approachRate: -0.473729 m/s,
rangeRepo size: 4
2025-06-11T20:54:26.325Z,1749675266.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 214.230942 m,
bearing: 328.610568 deg,
lat: 36.906411 deg,
lon: -122.115429 deg,
deltaT: 3.799619 s,
deltaX: -1.785767 m,
approachRate: -0.469986 m/s,
posRepo size: 4
2025-06-11T20:54:26.326Z,1749675266.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.23 m.
2025-06-11T20:54:26.333Z,1749675266.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.230942 m,
nav range: 208.263107 m,
bearing: 328.325536 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009733 deg/s,
cmd heading: 319.755497 deg,
new cmd heading: 319.742432 deg.
2025-06-11T20:54:26.334Z,1749675266.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580558 target range: 214.230942 and range: 216.10 m.
2025-06-11T20:54:26.457Z,1749675266.457 [DAT](INFO): DAT read: TxSync time:20:54:28.0048
2025-06-11T20:54:26.783Z,1749675266.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.23 m.
2025-06-11T20:54:26.786Z,1749675266.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.230942 m,
nav range: 208.027313 m,
bearing: 328.323450 deg,
approach rate: -0.506326 m/s,
LOS rate: -0.004483 deg/s,
cmd heading: 319.742438 deg,
new cmd heading: 319.736175 deg.
2025-06-11T20:54:26.787Z,1749675266.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580449 target range: 214.230942 and range: 216.10 m.
2025-06-11T20:54:27.160Z,1749675267.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:27.162Z,1749675267.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.23 m.
2025-06-11T20:54:27.165Z,1749675267.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.230942 m,
nav range: 207.848129 m,
bearing: 328.322049 deg,
approach rate: -0.472441 m/s,
LOS rate: -0.003698 deg/s,
cmd heading: 319.736181 deg,
new cmd heading: 319.731974 deg.
2025-06-11T20:54:27.166Z,1749675267.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580376 target range: 214.230942 and range: 216.10 m.
2025-06-11T20:54:27.213Z,1749675267.213 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:27.213Z,1749675267.213 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:27.213Z,1749675267.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:27.465Z,1749675267.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241449
2025-06-11T20:54:27.583Z,1749675267.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.23 m.
2025-06-11T20:54:27.585Z,1749675267.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.230942 m,
nav range: 207.643097 m,
bearing: 328.320487 deg,
approach rate: -0.487599 m/s,
LOS rate: -0.003718 deg/s,
cmd heading: 319.731974 deg,
new cmd heading: 319.727284 deg.
2025-06-11T20:54:27.586Z,1749675267.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580294 target range: 214.230942 and range: 216.10 m.
2025-06-11T20:54:27.717Z,1749675267.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493612
2025-06-11T20:54:27.969Z,1749675267.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745528
2025-06-11T20:54:28.023Z,1749675268.023 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS, -1,A
2025-06-11T20:54:28.063Z,1749675268.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.23 m.
2025-06-11T20:54:28.070Z,1749675268.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.230942 m,
nav range: 207.422791 m,
bearing: 328.318765 deg,
approach rate: -0.458873 m/s,
LOS rate: -0.003591 deg/s,
cmd heading: 319.727275 deg,
new cmd heading: 319.722103 deg.
2025-06-11T20:54:28.071Z,1749675268.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580204 target range: 214.230942 and range: 216.10 m.
2025-06-11T20:54:28.221Z,1749675268.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997826
2025-06-11T20:54:28.431Z,1749675268.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.23 m.
2025-06-11T20:54:28.435Z,1749675268.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.230942 m,
nav range: 207.235504 m,
bearing: 328.317267 deg,
approach rate: -0.508247 m/s,
LOS rate: -0.004070 deg/s,
cmd heading: 319.722111 deg,
new cmd heading: 319.717612 deg.
2025-06-11T20:54:28.437Z,1749675268.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580125 target range: 214.230942 and range: 216.10 m.
2025-06-11T20:54:28.474Z,1749675268.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250105
2025-06-11T20:54:28.725Z,1749675268.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501449
2025-06-11T20:54:28.866Z,1749675268.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.23 m.
2025-06-11T20:54:28.869Z,1749675268.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.230942 m,
nav range: 207.036545 m,
bearing: 328.321746 deg,
approach rate: -0.457324 m/s,
LOS rate: 0.010306 deg/s,
cmd heading: 319.717603 deg,
new cmd heading: 319.731054 deg.
2025-06-11T20:54:28.870Z,1749675268.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580359 target range: 214.230942 and range: 216.10 m.
2025-06-11T20:54:28.977Z,1749675268.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753607
2025-06-11T20:54:29.229Z,1749675269.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005636
2025-06-11T20:54:29.235Z,1749675269.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:29.238Z,1749675269.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.23 m.
2025-06-11T20:54:29.242Z,1749675269.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.230942 m,
nav range: 206.867676 m,
bearing: 328.325571 deg,
approach rate: -0.454043 m/s,
LOS rate: 0.010292 deg/s,
cmd heading: 319.731045 deg,
new cmd heading: 319.742529 deg.
2025-06-11T20:54:29.243Z,1749675269.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580560 target range: 214.230942 and range: 216.10 m.
2025-06-11T20:54:29.481Z,1749675269.481 [DAT](INFO): DAT read: Rx Time:20:54:30.6955
2025-06-11T20:54:29.481Z,1749675269.481 [DAT](INFO): Rx dataTimestamp_ set to:1749675269.481062
2025-06-11T20:54:29.482Z,1749675269.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258624
2025-06-11T20:54:29.682Z,1749675269.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.23 m.
2025-06-11T20:54:29.704Z,1749675269.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 214.230942 m,
nav range: 206.680298 m,
bearing: 328.329856 deg,
approach rate: -0.423680 m/s,
LOS rate: 0.009697 deg/s,
cmd heading: 319.742520 deg,
new cmd heading: 319.755386 deg.
2025-06-11T20:54:29.707Z,1749675269.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580784 target range: 214.230942 and range: 216.10 m.
2025-06-11T20:54:29.733Z,1749675269.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509811
2025-06-11T20:54:29.991Z,1749675269.991 [DAT](INFO): DAT read: 20:54:30.6956 LVL= 26992, 32753, 23666, 32755, AGC= 66, IDX= 410,-0.00,-1.742, 3.094,-1.979,-2.343, PHS= 0.689,-0.799, 0.361, RAW= 137.9, -3.7, CAL= 143.3, -13.4, ROT= 6.7, 13.4
2025-06-11T20:54:29.992Z,1749675269.992 [DAT](INFO): got valid direction response:
20:54:30.6956 LVL= 26992, 32753, 23666, 32755, AGC= 66, IDX= 410,-0.00,-1.742, 3.094,-1.979,-2.343, PHS= 0.689,-0.799, 0.361, RAW= 137.9, -3.7, CAL= 143.3, -13.4, ROT= 6.7, 13.4
2025-06-11T20:54:29.993Z,1749675269.993 [DAT](INFO): DAT read: Bearing 6.7, 13.4 (Local)
2025-06-11T20:54:29.993Z,1749675269.993 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.7, 13.4 (Local)
2025-06-11T20:54:29.995Z,1749675269.995 [DAT](INFO): DAT read: Range 10 to 50 : 214.2 m (Round-trip 285.7 ms) speed 0.2 m/s
2025-06-11T20:54:29.996Z,1749675269.996 [DAT](INFO): DAT read: user:574>
2025-06-11T20:54:29.996Z,1749675269.996 [DAT](INFO): DAT read: Tx time:20:54:31.8057
2025-06-11T20:54:29.997Z,1749675269.997 [DAT](INFO): Ping request sent.
2025-06-11T20:54:29.997Z,1749675269.997 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:29.997Z,1749675269.997 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:29.998Z,1749675269.998 [DAT](INFO): direction in FSK: [0.966132,0.113494,-0.231748]
2025-06-11T20:54:29.998Z,1749675269.998 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:29.999Z,1749675269.999 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:30.006Z,1749675270.006 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:30.006Z,1749675270.006 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:30.221Z,1749675270.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 214.199997 m,
deltaT: 3.779984 s,
deltaX: -1.900009 m,
approachRate: -0.502650 m/s,
rangeRepo size: 4
2025-06-11T20:54:30.223Z,1749675270.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 212.350235 m,
bearing: 327.675002 deg,
lat: 36.906401 deg,
lon: -122.115441 deg,
deltaT: 3.779984 s,
deltaX: -1.880707 m,
approachRate: -0.497544 m/s,
posRepo size: 4
2025-06-11T20:54:30.223Z,1749675270.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.35 m.
2025-06-11T20:54:30.230Z,1749675270.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.350235 m,
nav range: 206.130402 m,
bearing: 327.919721 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009697 deg/s,
cmd heading: 319.755388 deg,
new cmd heading: 319.770965 deg.
2025-06-11T20:54:30.231Z,1749675270.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581056 target range: 212.350235 and range: 214.20 m.
2025-06-11T20:54:30.237Z,1749675270.237 [DAT](INFO): DAT read: TxSync time:20:54:31.8049
2025-06-11T20:54:30.523Z,1749675270.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.35 m.
2025-06-11T20:54:30.530Z,1749675270.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.350235 m,
nav range: 205.988113 m,
bearing: 327.923733 deg,
approach rate: -0.462639 m/s,
LOS rate: 0.013053 deg/s,
cmd heading: 319.770961 deg,
new cmd heading: 319.783005 deg.
2025-06-11T20:54:30.531Z,1749675270.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581266 target range: 212.350235 and range: 214.20 m.
2025-06-11T20:54:30.951Z,1749675270.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.35 m.
2025-06-11T20:54:30.970Z,1749675270.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.350235 m,
nav range: 205.794983 m,
bearing: 327.930965 deg,
approach rate: -0.452029 m/s,
LOS rate: 0.016944 deg/s,
cmd heading: 319.783009 deg,
new cmd heading: 319.804727 deg.
2025-06-11T20:54:30.971Z,1749675270.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581645 target range: 212.350235 and range: 214.20 m.
2025-06-11T20:54:31.318Z,1749675271.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:31.320Z,1749675271.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.35 m.
2025-06-11T20:54:31.323Z,1749675271.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.350235 m,
nav range: 205.627594 m,
bearing: 327.937276 deg,
approach rate: -0.453231 m/s,
LOS rate: 0.017101 deg/s,
cmd heading: 319.804729 deg,
new cmd heading: 319.823676 deg.
2025-06-11T20:54:31.324Z,1749675271.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581976 target range: 212.350235 and range: 214.20 m.
2025-06-11T20:54:31.497Z,1749675271.497 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:31.497Z,1749675271.497 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:31.497Z,1749675271.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:31.749Z,1749675271.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752011
2025-06-11T20:54:31.794Z,1749675271.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.35 m.
2025-06-11T20:54:31.797Z,1749675271.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.350235 m,
nav range: 205.410843 m,
bearing: 327.944745 deg,
approach rate: -0.457568 m/s,
LOS rate: 0.015784 deg/s,
cmd heading: 319.823663 deg,
new cmd heading: 319.846094 deg.
2025-06-11T20:54:31.798Z,1749675271.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582367 target range: 212.350235 and range: 214.20 m.
2025-06-11T20:54:32.001Z,1749675272.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004033
2025-06-11T20:54:32.169Z,1749675272.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.35 m.
2025-06-11T20:54:32.172Z,1749675272.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.350235 m,
nav range: 205.239426 m,
bearing: 327.950620 deg,
approach rate: -0.456753 m/s,
LOS rate: 0.015668 deg/s,
cmd heading: 319.846093 deg,
new cmd heading: 319.863733 deg.
2025-06-11T20:54:32.173Z,1749675272.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582675 target range: 212.350235 and range: 214.20 m.
2025-06-11T20:54:32.253Z,1749675272.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256065
2025-06-11T20:54:32.505Z,1749675272.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507976
2025-06-11T20:54:32.560Z,1749675272.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.35 m.
2025-06-11T20:54:32.563Z,1749675272.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.350235 m,
nav range: 205.061127 m,
bearing: 327.956748 deg,
approach rate: -0.456669 m/s,
LOS rate: 0.015708 deg/s,
cmd heading: 319.863742 deg,
new cmd heading: 319.882141 deg.
2025-06-11T20:54:32.563Z,1749675272.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582996 target range: 212.350235 and range: 214.20 m.
2025-06-11T20:54:32.757Z,1749675272.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760264
2025-06-11T20:54:32.979Z,1749675272.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.35 m.
2025-06-11T20:54:33.002Z,1749675273.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.350235 m,
nav range: 204.866013 m,
bearing: 327.962054 deg,
approach rate: -0.465254 m/s,
LOS rate: 0.012664 deg/s,
cmd heading: 319.882129 deg,
new cmd heading: 319.898061 deg.
2025-06-11T20:54:33.003Z,1749675273.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583274 target range: 212.350235 and range: 214.20 m.
2025-06-11T20:54:33.009Z,1749675273.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012053
2025-06-11T20:54:33.261Z,1749675273.261 [DAT](INFO): DAT read: Rx Time:20:54:34.4932
2025-06-11T20:54:33.261Z,1749675273.261 [DAT](INFO): Rx dataTimestamp_ set to:1749675273.261014
2025-06-11T20:54:33.262Z,1749675273.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265006
2025-06-11T20:54:33.361Z,1749675273.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:33.363Z,1749675273.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.35 m.
2025-06-11T20:54:33.370Z,1749675273.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 212.350235 m,
nav range: 204.694946 m,
bearing: 327.966790 deg,
approach rate: -0.445404 m/s,
LOS rate: 0.012342 deg/s,
cmd heading: 319.898057 deg,
new cmd heading: 319.912277 deg.
2025-06-11T20:54:33.371Z,1749675273.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583522 target range: 212.350235 and range: 214.20 m.
2025-06-11T20:54:33.513Z,1749675273.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516325
2025-06-11T20:54:33.776Z,1749675273.776 [DAT](INFO): DAT read: 20:54:34.4932 LVL= 26208, 32753, 22098, 32755, AGC= 68, IDX= 418,-0.19,-3.064, 1.870, 3.013, 2.607, PHS= 0.700,-0.690, 0.403, RAW= 138.3, -6.6, CAL= 144.2, -16.6, ROT= 5.8, 16.6
2025-06-11T20:54:33.777Z,1749675273.777 [DAT](INFO): got valid direction response:
20:54:34.4932 LVL= 26208, 32753, 22098, 32755, AGC= 68, IDX= 418,-0.19,-3.064, 1.870, 3.013, 2.607, PHS= 0.700,-0.690, 0.403, RAW= 138.3, -6.6, CAL= 144.2, -16.6, ROT= 5.8, 16.6
2025-06-11T20:54:33.778Z,1749675273.778 [DAT](INFO): DAT read: Bearing 5.8, 16.6 (Local)
2025-06-11T20:54:33.778Z,1749675273.778 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.8, 16.6 (Local)
2025-06-11T20:54:33.800Z,1749675273.800 [DAT](INFO): DAT read: Range 10 to 50 : 212.4 m (Round-trip 283.3 ms) speed -0.1 m/s
2025-06-11T20:54:33.801Z,1749675273.801 [DAT](INFO): DAT read: user:575>
2025-06-11T20:54:33.802Z,1749675273.802 [DAT](INFO): DAT read: Tx time:20:54:35.6057
2025-06-11T20:54:33.802Z,1749675273.802 [DAT](INFO): Ping request sent.
2025-06-11T20:54:33.802Z,1749675273.802 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:33.802Z,1749675273.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:33.803Z,1749675273.803 [DAT](INFO): direction in FSK: [0.953417,0.096845,-0.285688]
2025-06-11T20:54:33.811Z,1749675273.811 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:33.811Z,1749675273.811 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:33.831Z,1749675273.831 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:33.831Z,1749675273.831 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:34.006Z,1749675274.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 212.399994 m,
deltaT: 3.781639 s,
deltaX: -1.800003 m,
approachRate: -0.475985 m/s,
rangeRepo size: 4
2025-06-11T20:54:34.012Z,1749675274.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 210.567200 m,
bearing: 326.781807 deg,
lat: 36.906401 deg,
lon: -122.115441 deg,
deltaT: 3.781639 s,
deltaX: -1.783035 m,
approachRate: -0.471498 m/s,
posRepo size: 4
2025-06-11T20:54:34.013Z,1749675274.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:34.015Z,1749675274.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 204.404205 m,
bearing: 327.970419 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012342 deg/s,
cmd heading: 319.912264 deg,
new cmd heading: 319.936041 deg.
2025-06-11T20:54:34.017Z,1749675274.017 [DAT](INFO): DAT read: TxSync time:20:54:35.6049
2025-06-11T20:54:34.021Z,1749675274.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583937 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:34.305Z,1749675274.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:34.309Z,1749675274.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 204.244278 m,
bearing: 327.972501 deg,
approach rate: -0.532552 m/s,
LOS rate: 0.006939 deg/s,
cmd heading: 319.936033 deg,
new cmd heading: 319.942284 deg.
2025-06-11T20:54:34.309Z,1749675274.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584046 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:34.785Z,1749675274.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:34.792Z,1749675274.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 204.033844 m,
bearing: 327.975316 deg,
approach rate: -0.438676 m/s,
LOS rate: 0.005874 deg/s,
cmd heading: 319.942289 deg,
new cmd heading: 319.950742 deg.
2025-06-11T20:54:34.793Z,1749675274.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584194 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:35.155Z,1749675275.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:35.158Z,1749675275.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 203.842926 m,
bearing: 327.974160 deg,
approach rate: -0.515742 m/s,
LOS rate: -0.003126 deg/s,
cmd heading: 319.950731 deg,
new cmd heading: 319.947260 deg.
2025-06-11T20:54:35.159Z,1749675275.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584133 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:35.526Z,1749675275.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:35.529Z,1749675275.529 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:35.529Z,1749675275.529 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:35.529Z,1749675275.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:35.531Z,1749675275.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:35.534Z,1749675275.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 203.666214 m,
bearing: 327.973043 deg,
approach rate: -0.474354 m/s,
LOS rate: -0.003001 deg/s,
cmd heading: 319.947262 deg,
new cmd heading: 319.943908 deg.
2025-06-11T20:54:35.535Z,1749675275.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584074 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:35.783Z,1749675275.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980733
2025-06-11T20:54:35.959Z,1749675275.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:35.962Z,1749675275.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 203.462738 m,
bearing: 327.967182 deg,
approach rate: -0.472132 m/s,
LOS rate: -0.013613 deg/s,
cmd heading: 319.943901 deg,
new cmd heading: 319.926301 deg.
2025-06-11T20:54:35.963Z,1749675275.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583767 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:36.034Z,1749675276.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231429
2025-06-11T20:54:36.285Z,1749675276.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482550
2025-06-11T20:54:36.335Z,1749675276.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:36.338Z,1749675276.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 203.285065 m,
bearing: 327.962040 deg,
approach rate: -0.472381 m/s,
LOS rate: -0.013684 deg/s,
cmd heading: 319.926307 deg,
new cmd heading: 319.910866 deg.
2025-06-11T20:54:36.339Z,1749675276.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583498 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:36.539Z,1749675276.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736367
2025-06-11T20:54:36.759Z,1749675276.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:36.781Z,1749675276.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 203.096939 m,
bearing: 327.956568 deg,
approach rate: -0.445211 m/s,
LOS rate: -0.012962 deg/s,
cmd heading: 319.910870 deg,
new cmd heading: 319.894439 deg.
2025-06-11T20:54:36.792Z,1749675276.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989168
2025-06-11T20:54:36.794Z,1749675276.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583211 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:37.041Z,1749675277.041 [DAT](INFO): DAT read: Rx Time:20:54:38.2910
2025-06-11T20:54:37.041Z,1749675277.041 [DAT](INFO): Rx dataTimestamp_ set to:1749675277.040980
2025-06-11T20:54:37.042Z,1749675277.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239635
2025-06-11T20:54:37.177Z,1749675277.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:37.180Z,1749675277.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 202.891068 m,
bearing: 327.947079 deg,
approach rate: -0.491157 m/s,
LOS rate: -0.022662 deg/s,
cmd heading: 319.894451 deg,
new cmd heading: 319.865953 deg.
2025-06-11T20:54:37.181Z,1749675277.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582714 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:37.293Z,1749675277.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490626
2025-06-11T20:54:37.542Z,1749675277.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:37.551Z,1749675277.551 [DAT](INFO): DAT read: 20:54:38.2910 LVL= 28400, 32753, 26082, 32755, AGC= 69, IDX= 394, 0.33, 0.249,-1.331, 0.000,-0.499, PHS= 0.837,-0.785, 0.496, RAW= 138.5, -7.5, CAL= 144.6, -17.6, ROT= 5.4, 17.6
2025-06-11T20:54:37.552Z,1749675277.552 [DAT](INFO): got valid direction response:
20:54:38.2910 LVL= 28400, 32753, 26082, 32755, AGC= 69, IDX= 394, 0.33, 0.249,-1.331, 0.000,-0.499, PHS= 0.837,-0.785, 0.496, RAW= 138.5, -7.5, CAL= 144.6, -17.6, ROT= 5.4, 17.6
2025-06-11T20:54:37.553Z,1749675277.553 [DAT](INFO): DAT read: Bearing 5.4, 17.6 (Local)
2025-06-11T20:54:37.553Z,1749675277.553 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.4, 17.6 (Local)
2025-06-11T20:54:37.555Z,1749675277.555 [DAT](INFO): DAT read: Range 10 to 50 : 210.8 m (Round-trip 281.1 ms) speed 0.2 m/s
2025-06-11T20:54:37.556Z,1749675277.556 [DAT](INFO): DAT read: user:576>
2025-06-11T20:54:37.557Z,1749675277.557 [DAT](INFO): DAT read: Tx time:20:54:39.4057
2025-06-11T20:54:37.557Z,1749675277.557 [DAT](INFO): Ping request sent.
2025-06-11T20:54:37.557Z,1749675277.557 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:37.557Z,1749675277.557 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:37.558Z,1749675277.558 [DAT](INFO): direction in FSK: [0.948960,0.089703,-0.302370]
2025-06-11T20:54:37.559Z,1749675277.559 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:37.559Z,1749675277.559 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:37.560Z,1749675277.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.57 m.
2025-06-11T20:54:37.563Z,1749675277.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.567200 m,
nav range: 202.720474 m,
bearing: 327.939154 deg,
approach rate: -0.464580 m/s,
LOS rate: -0.021600 deg/s,
cmd heading: 319.865955 deg,
new cmd heading: 319.842160 deg.
2025-06-11T20:54:37.566Z,1749675277.566 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:37.566Z,1749675277.566 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:37.584Z,1749675277.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582299 target range: 210.567200 and range: 212.40 m.
2025-06-11T20:54:37.807Z,1749675277.807 [DAT](INFO): DAT read: TxSync time:20:54:39.4049
2025-06-11T20:54:38.035Z,1749675278.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 210.800003 m,
deltaT: 3.778430 s,
deltaX: -1.599991 m,
approachRate: -0.423454 m/s,
rangeRepo size: 4
2025-06-11T20:54:38.037Z,1749675278.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 208.980560 m,
bearing: 326.562360 deg,
lat: 36.906401 deg,
lon: -122.115453 deg,
deltaT: 3.778430 s,
deltaX: -1.586639 m,
approachRate: -0.419920 m/s,
posRepo size: 4
2025-06-11T20:54:38.038Z,1749675278.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.98 m.
2025-06-11T20:54:38.041Z,1749675278.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.980560 m,
nav range: 203.049667 m,
bearing: 327.677477 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.021600 deg/s,
cmd heading: 319.842159 deg,
new cmd heading: 319.810358 deg.
2025-06-11T20:54:38.042Z,1749675278.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581744 target range: 208.980560 and range: 210.80 m.
2025-06-11T20:54:38.336Z,1749675278.336 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T20:54:38.366Z,1749675278.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.98 m.
2025-06-11T20:54:38.369Z,1749675278.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.980560 m,
nav range: 202.894913 m,
bearing: 327.668218 deg,
approach rate: -0.467432 m/s,
LOS rate: -0.027989 deg/s,
cmd heading: 319.810357 deg,
new cmd heading: 319.782558 deg.
2025-06-11T20:54:38.369Z,1749675278.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581258 target range: 208.980560 and range: 210.80 m.
2025-06-11T20:54:38.841Z,1749675278.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.98 m.
2025-06-11T20:54:38.843Z,1749675278.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.980560 m,
nav range: 202.693619 m,
bearing: 327.656187 deg,
approach rate: -0.423817 m/s,
LOS rate: -0.025356 deg/s,
cmd heading: 319.782545 deg,
new cmd heading: 319.746416 deg.
2025-06-11T20:54:38.851Z,1749675278.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580628 target range: 208.980560 and range: 210.80 m.
2025-06-11T20:54:39.216Z,1749675279.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.98 m.
2025-06-11T20:54:39.218Z,1749675279.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.980560 m,
nav range: 202.504745 m,
bearing: 327.645513 deg,
approach rate: -0.503608 m/s,
LOS rate: -0.028489 deg/s,
cmd heading: 319.746427 deg,
new cmd heading: 319.714374 deg.
2025-06-11T20:54:39.219Z,1749675279.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580069 target range: 208.980560 and range: 210.80 m.
2025-06-11T20:54:39.568Z,1749675279.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:39.570Z,1749675279.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.98 m.
2025-06-11T20:54:39.573Z,1749675279.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.980560 m,
nav range: 202.342834 m,
bearing: 327.636347 deg,
approach rate: -0.457018 m/s,
LOS rate: -0.025893 deg/s,
cmd heading: 319.714380 deg,
new cmd heading: 319.686860 deg.
2025-06-11T20:54:39.574Z,1749675279.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579588 target range: 208.980560 and range: 210.80 m.
2025-06-11T20:54:39.577Z,1749675279.577 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:39.577Z,1749675279.577 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:39.577Z,1749675279.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:39.831Z,1749675279.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273822
2025-06-11T20:54:40.006Z,1749675280.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.98 m.
2025-06-11T20:54:40.021Z,1749675280.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.980560 m,
nav range: 202.155609 m,
bearing: 327.626304 deg,
approach rate: -0.429045 m/s,
LOS rate: -0.023035 deg/s,
cmd heading: 319.686867 deg,
new cmd heading: 319.656711 deg.
2025-06-11T20:54:40.022Z,1749675280.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579062 target range: 208.980560 and range: 210.80 m.
2025-06-11T20:54:40.082Z,1749675280.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524453
2025-06-11T20:54:40.333Z,1749675280.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775663
2025-06-11T20:54:40.366Z,1749675280.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.98 m.
2025-06-11T20:54:40.369Z,1749675280.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.980560 m,
nav range: 201.984894 m,
bearing: 327.617042 deg,
approach rate: -0.475001 m/s,
LOS rate: -0.025793 deg/s,
cmd heading: 319.656705 deg,
new cmd heading: 319.628895 deg.
2025-06-11T20:54:40.370Z,1749675280.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578577 target range: 208.980560 and range: 210.80 m.
2025-06-11T20:54:40.585Z,1749675280.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027769
2025-06-11T20:54:40.825Z,1749675280.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.98 m.
2025-06-11T20:54:40.840Z,1749675280.840 [DAT](INFO): DAT read: Rx Time:20:54:42.0886
2025-06-11T20:54:40.842Z,1749675280.842 [DAT](INFO): Rx dataTimestamp_ set to:1749675280.840683
2025-06-11T20:54:40.843Z,1749675280.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285787
2025-06-11T20:54:40.850Z,1749675280.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.980560 m,
nav range: 201.800873 m,
bearing: 327.606987 deg,
approach rate: -0.406295 m/s,
LOS rate: -0.022220 deg/s,
cmd heading: 319.628893 deg,
new cmd heading: 319.598700 deg.
2025-06-11T20:54:40.858Z,1749675280.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578050 target range: 208.980560 and range: 210.80 m.
2025-06-11T20:54:41.092Z,1749675281.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534629
2025-06-11T20:54:41.277Z,1749675281.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.98 m.
2025-06-11T20:54:41.286Z,1749675281.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.980560 m,
nav range: 201.597580 m,
bearing: 327.600883 deg,
approach rate: -0.449591 m/s,
LOS rate: -0.013512 deg/s,
cmd heading: 319.598703 deg,
new cmd heading: 319.580374 deg.
2025-06-11T20:54:41.287Z,1749675281.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577730 target range: 208.980560 and range: 210.80 m.
2025-06-11T20:54:41.348Z,1749675281.348 [DAT](INFO): DAT read: 20:54:42.0886 LVL= 24672, 30433, 23618, 28051, AGC= 69, IDX= 417, 0.29, 2.100, 0.501, 1.895, 1.381, PHS= 0.807,-0.833, 0.511, RAW= 140.3, -6.5, CAL= 146.2, -16.1, ROT= 3.8, 16.1
2025-06-11T20:54:41.349Z,1749675281.349 [DAT](INFO): got valid direction response:
20:54:42.0886 LVL= 24672, 30433, 23618, 28051, AGC= 69, IDX= 417, 0.29, 2.100, 0.501, 1.895, 1.381, PHS= 0.807,-0.833, 0.511, RAW= 140.3, -6.5, CAL= 146.2, -16.1, ROT= 3.8, 16.1
2025-06-11T20:54:41.350Z,1749675281.350 [DAT](INFO): DAT read: Bearing 3.8, 16.1 (Local)
2025-06-11T20:54:41.350Z,1749675281.350 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.8, 16.1 (Local)
2025-06-11T20:54:41.353Z,1749675281.353 [DAT](INFO): DAT read: Range 10 to 50 : 209.0 m (Round-trip 278.7 ms) speed 0.0 m/s
2025-06-11T20:54:41.354Z,1749675281.354 [DAT](INFO): DAT read: user:577>
2025-06-11T20:54:41.355Z,1749675281.355 [DAT](INFO): DAT read: Tx time:20:54:43.2058
2025-06-11T20:54:41.355Z,1749675281.355 [DAT](INFO): Ping request sent.
2025-06-11T20:54:41.355Z,1749675281.355 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:41.364Z,1749675281.364 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:41.366Z,1749675281.366 [DAT](INFO): direction in FSK: [0.958667,0.063675,-0.277315]
2025-06-11T20:54:41.366Z,1749675281.366 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:41.367Z,1749675281.367 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:41.385Z,1749675281.385 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:41.386Z,1749675281.386 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:41.593Z,1749675281.593 [DAT](INFO): DAT read: TxSync time:20:54:43.2050
2025-06-11T20:54:41.636Z,1749675281.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 209.000000 m,
deltaT: 3.797091 s,
deltaX: -1.800003 m,
approachRate: -0.474048 m/s,
rangeRepo size: 4
2025-06-11T20:54:41.638Z,1749675281.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 207.198074 m,
bearing: 325.142963 deg,
lat: 36.906366 deg,
lon: -122.115469 deg,
deltaT: 3.797091 s,
deltaX: -1.782486 m,
approachRate: -0.469435 m/s,
posRepo size: 4
2025-06-11T20:54:41.639Z,1749675281.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.20 m.
2025-06-11T20:54:41.646Z,1749675281.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 207.198074 m,
nav range: 198.882858 m,
bearing: 326.635490 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013512 deg/s,
cmd heading: 319.580371 deg,
new cmd heading: 319.565766 deg.
2025-06-11T20:54:41.647Z,1749675281.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577475 target range: 207.198074 and range: 209.00 m.
2025-06-11T20:54:42.025Z,1749675282.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:42.027Z,1749675282.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.20 m.
2025-06-11T20:54:42.034Z,1749675282.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 207.198074 m,
nav range: 198.702713 m,
bearing: 326.632923 deg,
approach rate: -0.454483 m/s,
LOS rate: -0.006482 deg/s,
cmd heading: 319.565755 deg,
new cmd heading: 319.558047 deg.
2025-06-11T20:54:42.035Z,1749675282.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577340 target range: 207.198074 and range: 209.00 m.
2025-06-11T20:54:42.097Z,1749675282.097 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:42.097Z,1749675282.097 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:42.098Z,1749675282.098 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:42.349Z,1749675282.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993330
2025-06-11T20:54:42.402Z,1749675282.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.20 m.
2025-06-11T20:54:42.406Z,1749675282.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 207.198074 m,
nav range: 198.524002 m,
bearing: 326.630505 deg,
approach rate: -0.483170 m/s,
LOS rate: -0.006541 deg/s,
cmd heading: 319.558050 deg,
new cmd heading: 319.550792 deg.
2025-06-11T20:54:42.407Z,1749675282.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577213 target range: 207.198074 and range: 209.00 m.
2025-06-11T20:54:42.601Z,1749675282.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245566
2025-06-11T20:54:42.791Z,1749675282.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.20 m.
2025-06-11T20:54:42.799Z,1749675282.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 207.198074 m,
nav range: 198.336517 m,
bearing: 326.628109 deg,
approach rate: -0.476630 m/s,
LOS rate: -0.006099 deg/s,
cmd heading: 319.550783 deg,
new cmd heading: 319.543586 deg.
2025-06-11T20:54:42.800Z,1749675282.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577088 target range: 207.198074 and range: 209.00 m.
2025-06-11T20:54:42.855Z,1749675282.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499465
2025-06-11T20:54:43.105Z,1749675283.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749279
2025-06-11T20:54:43.223Z,1749675283.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.20 m.
2025-06-11T20:54:43.226Z,1749675283.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 207.198074 m,
nav range: 198.135330 m,
bearing: 326.629953 deg,
approach rate: -0.465652 m/s,
LOS rate: 0.004273 deg/s,
cmd heading: 319.543597 deg,
new cmd heading: 319.549136 deg.
2025-06-11T20:54:43.227Z,1749675283.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577185 target range: 207.198074 and range: 209.00 m.
2025-06-11T20:54:43.357Z,1749675283.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001815
2025-06-11T20:54:43.609Z,1749675283.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253512
2025-06-11T20:54:43.613Z,1749675283.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.20 m.
2025-06-11T20:54:43.632Z,1749675283.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 207.198074 m,
nav range: 197.954575 m,
bearing: 326.631648 deg,
approach rate: -0.462929 m/s,
LOS rate: 0.004344 deg/s,
cmd heading: 319.549144 deg,
new cmd heading: 319.554232 deg.
2025-06-11T20:54:43.633Z,1749675283.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577273 target range: 207.198074 and range: 209.00 m.
2025-06-11T20:54:43.864Z,1749675283.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507530
2025-06-11T20:54:44.032Z,1749675284.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:44.034Z,1749675284.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.20 m.
2025-06-11T20:54:44.037Z,1749675284.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 207.198074 m,
nav range: 197.754257 m,
bearing: 326.637887 deg,
approach rate: -0.475622 m/s,
LOS rate: 0.014830 deg/s,
cmd heading: 319.554225 deg,
new cmd heading: 319.572962 deg.
2025-06-11T20:54:44.038Z,1749675284.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577600 target range: 207.198074 and range: 209.00 m.
2025-06-11T20:54:44.114Z,1749675284.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758456
2025-06-11T20:54:44.122Z,1749675284.122 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:54:44.365Z,1749675284.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009407
2025-06-11T20:54:44.420Z,1749675284.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.20 m.
2025-06-11T20:54:44.423Z,1749675284.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 207.198074 m,
nav range: 197.567612 m,
bearing: 326.643775 deg,
approach rate: -0.484611 m/s,
LOS rate: 0.015300 deg/s,
cmd heading: 319.572967 deg,
new cmd heading: 319.590646 deg.
2025-06-11T20:54:44.424Z,1749675284.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577909 target range: 207.198074 and range: 209.00 m.
2025-06-11T20:54:44.617Z,1749675284.617 [DAT](INFO): DAT read: Rx Time:20:54:45.8863
2025-06-11T20:54:44.617Z,1749675284.617 [DAT](INFO): Rx dataTimestamp_ set to:1749675284.617081
2025-06-11T20:54:44.618Z,1749675284.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262517
2025-06-11T20:54:44.815Z,1749675284.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.20 m.
2025-06-11T20:54:44.818Z,1749675284.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 207.198074 m,
nav range: 197.378326 m,
bearing: 326.649816 deg,
approach rate: -0.478357 m/s,
LOS rate: 0.015283 deg/s,
cmd heading: 319.590644 deg,
new cmd heading: 319.608786 deg.
2025-06-11T20:54:44.819Z,1749675284.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578226 target range: 207.198074 and range: 209.00 m.
2025-06-11T20:54:44.874Z,1749675284.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517599
2025-06-11T20:54:45.125Z,1749675285.125 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:54:45.130Z,1749675285.130 [DAT](INFO): DAT read: 20:54:45.8863 LVL= 25872, 31313, 20978, 32755, AGC= 63, IDX= 409, 0.47, 2.371, 0.835, 2.098, 1.637, PHS= 0.822,-0.756, 0.458, RAW= 137.3, -7.4, CAL= 143.2, -17.8, ROT= 6.8, 17.8
2025-06-11T20:54:45.131Z,1749675285.131 [DAT](INFO): got valid direction response:
20:54:45.8863 LVL= 25872, 31313, 20978, 32755, AGC= 63, IDX= 409, 0.47, 2.371, 0.835, 2.098, 1.637, PHS= 0.822,-0.756, 0.458, RAW= 137.3, -7.4, CAL= 143.2, -17.8, ROT= 6.8, 17.8
2025-06-11T20:54:45.133Z,1749675285.133 [DAT](INFO): DAT read: Bearing 6.8, 17.8 (Local)
2025-06-11T20:54:45.133Z,1749675285.133 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.8, 17.8 (Local)
2025-06-11T20:54:45.134Z,1749675285.134 [DAT](INFO): DAT read: Range 10 to 50 : 207.2 m (Round-trip 276.3 ms) speed 0.1 m/s
2025-06-11T20:54:45.135Z,1749675285.135 [DAT](INFO): DAT read: user:578>
2025-06-11T20:54:45.139Z,1749675285.139 [DAT](INFO): DAT read: Tx time:20:54:47.0058
2025-06-11T20:54:45.141Z,1749675285.141 [DAT](INFO): Ping request sent.
2025-06-11T20:54:45.142Z,1749675285.142 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:45.142Z,1749675285.142 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:45.143Z,1749675285.143 [DAT](INFO): direction in FSK: [0.945432,0.112736,-0.305695]
2025-06-11T20:54:45.143Z,1749675285.143 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:45.144Z,1749675285.144 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:45.147Z,1749675285.147 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:45.147Z,1749675285.147 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:45.316Z,1749675285.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 207.199997 m,
deltaT: 3.778949 s,
deltaX: -1.800003 m,
approachRate: -0.476324 m/s,
rangeRepo size: 4
2025-06-11T20:54:45.318Z,1749675285.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 205.409012 m,
bearing: 327.496773 deg,
lat: 36.906366 deg,
lon: -122.115469 deg,
deltaT: 3.778949 s,
deltaX: -1.789062 m,
approachRate: -0.473429 m/s,
posRepo size: 4
2025-06-11T20:54:45.319Z,1749675285.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-06-11T20:54:45.326Z,1749675285.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409012 m,
nav range: 197.149033 m,
bearing: 326.659548 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015283 deg/s,
cmd heading: 319.608785 deg,
new cmd heading: 319.631532 deg.
2025-06-11T20:54:45.327Z,1749675285.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578623 target range: 205.409012 and range: 207.20 m.
2025-06-11T20:54:45.373Z,1749675285.373 [DAT](INFO): DAT read: TxSync time:20:54:47.0050
2025-06-11T20:54:45.639Z,1749675285.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-06-11T20:54:45.642Z,1749675285.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409012 m,
nav range: 196.984848 m,
bearing: 326.666606 deg,
approach rate: -0.501653 m/s,
LOS rate: 0.021583 deg/s,
cmd heading: 319.631543 deg,
new cmd heading: 319.652735 deg.
2025-06-11T20:54:45.642Z,1749675285.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578993 target range: 205.409012 and range: 207.20 m.
2025-06-11T20:54:46.070Z,1749675286.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:46.072Z,1749675286.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-06-11T20:54:46.075Z,1749675286.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409012 m,
nav range: 196.778320 m,
bearing: 326.674402 deg,
approach rate: -0.477018 m/s,
LOS rate: 0.018024 deg/s,
cmd heading: 319.652744 deg,
new cmd heading: 319.676154 deg.
2025-06-11T20:54:46.076Z,1749675286.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579401 target range: 205.409012 and range: 207.20 m.
2025-06-11T20:54:46.129Z,1749675286.129 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:46.129Z,1749675286.129 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:46.129Z,1749675286.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:46.381Z,1749675286.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239553
2025-06-11T20:54:46.447Z,1749675286.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-06-11T20:54:46.450Z,1749675286.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409012 m,
nav range: 196.598648 m,
bearing: 326.681329 deg,
approach rate: -0.478412 m/s,
LOS rate: 0.018462 deg/s,
cmd heading: 319.676158 deg,
new cmd heading: 319.696959 deg.
2025-06-11T20:54:46.451Z,1749675286.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579764 target range: 205.409012 and range: 207.20 m.
2025-06-11T20:54:46.633Z,1749675286.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491563
2025-06-11T20:54:46.861Z,1749675286.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-06-11T20:54:46.869Z,1749675286.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409012 m,
nav range: 196.408600 m,
bearing: 326.688689 deg,
approach rate: -0.459050 m/s,
LOS rate: 0.017796 deg/s,
cmd heading: 319.696949 deg,
new cmd heading: 319.719051 deg.
2025-06-11T20:54:46.870Z,1749675286.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580150 target range: 205.409012 and range: 207.20 m.
2025-06-11T20:54:46.888Z,1749675286.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746083
2025-06-11T20:54:47.140Z,1749675287.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998984
2025-06-11T20:54:47.279Z,1749675287.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-06-11T20:54:47.283Z,1749675287.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409012 m,
nav range: 196.206116 m,
bearing: 326.695461 deg,
approach rate: -0.484361 m/s,
LOS rate: 0.016215 deg/s,
cmd heading: 319.719051 deg,
new cmd heading: 319.739387 deg.
2025-06-11T20:54:47.283Z,1749675287.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580505 target range: 205.409012 and range: 207.20 m.
2025-06-11T20:54:47.390Z,1749675287.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248383
2025-06-11T20:54:47.641Z,1749675287.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499636
2025-06-11T20:54:47.663Z,1749675287.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-06-11T20:54:47.667Z,1749675287.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409012 m,
nav range: 196.026855 m,
bearing: 326.701448 deg,
approach rate: -0.466663 m/s,
LOS rate: 0.015599 deg/s,
cmd heading: 319.739378 deg,
new cmd heading: 319.757355 deg.
2025-06-11T20:54:47.668Z,1749675287.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580819 target range: 205.409012 and range: 207.20 m.
2025-06-11T20:54:47.895Z,1749675287.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753306
2025-06-11T20:54:48.145Z,1749675288.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003634
2025-06-11T20:54:48.312Z,1749675288.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:48.314Z,1749675288.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-06-11T20:54:48.317Z,1749675288.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409012 m,
nav range: 195.728897 m,
bearing: 326.707604 deg,
approach rate: -0.457744 m/s,
LOS rate: 0.009472 deg/s,
cmd heading: 319.757355 deg,
new cmd heading: 319.775851 deg.
2025-06-11T20:54:48.320Z,1749675288.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581141 target range: 205.409012 and range: 207.20 m.
2025-06-11T20:54:48.398Z,1749675288.398 [DAT](INFO): DAT read: Rx Time:20:54:49.6840
2025-06-11T20:54:48.398Z,1749675288.398 [DAT](INFO): Rx dataTimestamp_ set to:1749675288.398081
2025-06-11T20:54:48.399Z,1749675288.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258070
2025-06-11T20:54:48.597Z,1749675288.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.41 m.
2025-06-11T20:54:48.600Z,1749675288.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 205.409012 m,
nav range: 195.599121 m,
bearing: 326.710281 deg,
approach rate: -0.458973 m/s,
LOS rate: 0.009475 deg/s,
cmd heading: 319.775851 deg,
new cmd heading: 319.783888 deg.
2025-06-11T20:54:48.601Z,1749675288.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581282 target range: 205.409012 and range: 207.20 m.
2025-06-11T20:54:48.650Z,1749675288.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508848
2025-06-11T20:54:48.907Z,1749675288.907 [DAT](INFO): DAT read: 20:54:49.6841 LVL= 23968, 31217, 22226, 32547, AGC= 66, IDX= 418, 0.15,-0.955,-2.655,-1.259,-1.706, PHS= 0.839,-0.902, 0.444, RAW= 137.5, -4.9, CAL= 143.1, -14.8, ROT= 6.9, 14.8
2025-06-11T20:54:48.908Z,1749675288.908 [DAT](INFO): got valid direction response:
20:54:49.6841 LVL= 23968, 31217, 22226, 32547, AGC= 66, IDX= 418, 0.15,-0.955,-2.655,-1.259,-1.706, PHS= 0.839,-0.902, 0.444, RAW= 137.5, -4.9, CAL= 143.1, -14.8, ROT= 6.9, 14.8
2025-06-11T20:54:48.910Z,1749675288.910 [DAT](INFO): DAT read: Bearing 6.9, 14.8 (Local)
2025-06-11T20:54:48.910Z,1749675288.910 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.9, 14.8 (Local)
2025-06-11T20:54:48.915Z,1749675288.915 [DAT](INFO): DAT read: Range 10 to 50 : 205.5 m (Round-trip 274.1 ms) speed 0.4 m/s
2025-06-11T20:54:48.918Z,1749675288.918 [DAT](INFO): DAT read: user:579>
2025-06-11T20:54:48.923Z,1749675288.923 [DAT](INFO): DAT read: Tx time:20:54:50.8059
2025-06-11T20:54:48.925Z,1749675288.925 [DAT](INFO): Ping request sent.
2025-06-11T20:54:48.925Z,1749675288.925 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:48.926Z,1749675288.926 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:48.931Z,1749675288.931 [DAT](INFO): direction in FSK: [0.959821,0.116151,-0.255446]
2025-06-11T20:54:48.932Z,1749675288.932 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:48.933Z,1749675288.933 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:48.984Z,1749675288.984 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:48.984Z,1749675288.984 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:49.119Z,1749675289.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 205.500000 m,
deltaT: 3.779933 s,
deltaX: -1.699997 m,
approachRate: -0.449743 m/s,
rangeRepo size: 4
2025-06-11T20:54:49.125Z,1749675289.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 203.721130 m,
bearing: 327.114387 deg,
lat: 36.906366 deg,
lon: -122.115474 deg,
deltaT: 3.779933 s,
deltaX: -1.687881 m,
approachRate: -0.446537 m/s,
posRepo size: 4
2025-06-11T20:54:49.126Z,1749675289.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.72 m.
2025-06-11T20:54:49.133Z,1749675289.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.721130 m,
nav range: 195.605377 m,
bearing: 326.608940 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009475 deg/s,
cmd heading: 319.783884 deg,
new cmd heading: 319.798704 deg.
2025-06-11T20:54:49.134Z,1749675289.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581540 target range: 203.721130 and range: 205.50 m.
2025-06-11T20:54:49.153Z,1749675289.153 [DAT](INFO): DAT read: TxSync time:20:54:50.8051
2025-06-11T20:54:49.468Z,1749675289.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.72 m.
2025-06-11T20:54:49.471Z,1749675289.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.721130 m,
nav range: 195.449554 m,
bearing: 326.609281 deg,
approach rate: -0.456755 m/s,
LOS rate: 0.001000 deg/s,
cmd heading: 319.798691 deg,
new cmd heading: 319.799715 deg.
2025-06-11T20:54:49.480Z,1749675289.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581558 target range: 203.721130 and range: 205.50 m.
2025-06-11T20:54:49.845Z,1749675289.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.72 m.
2025-06-11T20:54:49.848Z,1749675289.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.721130 m,
nav range: 195.278336 m,
bearing: 326.609693 deg,
approach rate: -0.444401 m/s,
LOS rate: 0.001071 deg/s,
cmd heading: 319.799702 deg,
new cmd heading: 319.800940 deg.
2025-06-11T20:54:49.849Z,1749675289.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581579 target range: 203.721130 and range: 205.50 m.
2025-06-11T20:54:50.267Z,1749675290.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.72 m.
2025-06-11T20:54:50.274Z,1749675290.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.721130 m,
nav range: 195.091507 m,
bearing: 326.606917 deg,
approach rate: -0.442931 m/s,
LOS rate: -0.006588 deg/s,
cmd heading: 319.800932 deg,
new cmd heading: 319.792596 deg.
2025-06-11T20:54:50.275Z,1749675290.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581434 target range: 203.721130 and range: 205.50 m.
2025-06-11T20:54:50.693Z,1749675290.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:50.695Z,1749675290.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.72 m.
2025-06-11T20:54:50.698Z,1749675290.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.721130 m,
nav range: 194.895264 m,
bearing: 326.603995 deg,
approach rate: -0.457870 m/s,
LOS rate: -0.006824 deg/s,
cmd heading: 319.792599 deg,
new cmd heading: 319.783825 deg.
2025-06-11T20:54:50.699Z,1749675290.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581281 target range: 203.721130 and range: 205.50 m.
2025-06-11T20:54:50.918Z,1749675290.918 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:50.918Z,1749675290.918 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:50.918Z,1749675290.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:51.033Z,1749675291.033 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T20:54:51.169Z,1749675291.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244353
2025-06-11T20:54:51.193Z,1749675291.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.72 m.
2025-06-11T20:54:51.195Z,1749675291.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.721130 m,
nav range: 194.678574 m,
bearing: 326.598351 deg,
approach rate: -0.435631 m/s,
LOS rate: -0.011359 deg/s,
cmd heading: 319.783829 deg,
new cmd heading: 319.766878 deg.
2025-06-11T20:54:51.201Z,1749675291.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580985 target range: 203.721130 and range: 205.50 m.
2025-06-11T20:54:51.422Z,1749675291.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497700
2025-06-11T20:54:51.671Z,1749675291.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.72 m.
2025-06-11T20:54:51.673Z,1749675291.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748318
2025-06-11T20:54:51.678Z,1749675291.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.721130 m,
nav range: 194.462128 m,
bearing: 326.592452 deg,
approach rate: -0.452313 m/s,
LOS rate: -0.012341 deg/s,
cmd heading: 319.766890 deg,
new cmd heading: 319.749173 deg.
2025-06-11T20:54:51.679Z,1749675291.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580676 target range: 203.721130 and range: 205.50 m.
2025-06-11T20:54:51.925Z,1749675291.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000832
2025-06-11T20:54:52.122Z,1749675292.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.72 m.
2025-06-11T20:54:52.141Z,1749675292.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.721130 m,
nav range: 194.251465 m,
bearing: 326.584870 deg,
approach rate: -0.467555 m/s,
LOS rate: -0.016847 deg/s,
cmd heading: 319.749186 deg,
new cmd heading: 319.726414 deg.
2025-06-11T20:54:52.142Z,1749675292.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580278 target range: 203.721130 and range: 205.50 m.
2025-06-11T20:54:52.177Z,1749675292.177 [DAT](INFO): DAT read: Rx Time:20:54:53.4815
2025-06-11T20:54:52.178Z,1749675292.178 [DAT](INFO): Rx dataTimestamp_ set to:1749675292.177293
2025-06-11T20:54:52.178Z,1749675292.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253572
2025-06-11T20:54:52.429Z,1749675292.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504167
2025-06-11T20:54:52.581Z,1749675292.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.72 m.
2025-06-11T20:54:52.590Z,1749675292.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.721130 m,
nav range: 194.053696 m,
bearing: 326.577653 deg,
approach rate: -0.447159 m/s,
LOS rate: -0.016332 deg/s,
cmd heading: 319.726401 deg,
new cmd heading: 319.704730 deg.
2025-06-11T20:54:52.597Z,1749675292.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579900 target range: 203.721130 and range: 205.50 m.
2025-06-11T20:54:52.687Z,1749675292.687 [DAT](INFO): DAT read: 20:54:53.4815 LVL= 28768, 30449, 26066, 30579, AGC= 69, IDX= 408, 0.07,-1.966, 2.664,-2.236,-2.762, PHS= 0.883,-0.811, 0.523, RAW= 138.3, -7.8, CAL= 144.5, -18.0, ROT= 5.5, 18.0
2025-06-11T20:54:52.688Z,1749675292.688 [DAT](INFO): got valid direction response:
20:54:53.4815 LVL= 28768, 30449, 26066, 30579, AGC= 69, IDX= 408, 0.07,-1.966, 2.664,-2.236,-2.762, PHS= 0.883,-0.811, 0.523, RAW= 138.3, -7.8, CAL= 144.5, -18.0, ROT= 5.5, 18.0
2025-06-11T20:54:52.689Z,1749675292.689 [DAT](INFO): DAT read: Bearing 5.5, 18.0 (Local)
2025-06-11T20:54:52.689Z,1749675292.689 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.5, 18.0 (Local)
2025-06-11T20:54:52.691Z,1749675292.691 [DAT](INFO): DAT read: Range 10 to 50 : 203.5 m (Round-trip 271.4 ms) speed 0.4 m/s
2025-06-11T20:54:52.692Z,1749675292.692 [DAT](INFO): DAT read: user:580>
2025-06-11T20:54:52.693Z,1749675292.693 [DAT](INFO): DAT read: Tx time:20:54:54.6059
2025-06-11T20:54:52.693Z,1749675292.693 [DAT](INFO): Ping request sent.
2025-06-11T20:54:52.693Z,1749675292.693 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:52.693Z,1749675292.693 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:52.694Z,1749675292.694 [DAT](INFO): direction in FSK: [0.946678,0.091155,-0.309017]
2025-06-11T20:54:52.695Z,1749675292.695 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:52.695Z,1749675292.695 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:52.698Z,1749675292.698 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:52.699Z,1749675292.699 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:52.935Z,1749675292.935 [DAT](INFO): DAT read: TxSync time:20:54:54.6051
2025-06-11T20:54:53.124Z,1749675293.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 203.500000 m,
deltaT: 3.779990 s,
deltaX: -2.000000 m,
approachRate: -0.529102 m/s,
rangeRepo size: 4
2025-06-11T20:54:53.126Z,1749675293.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 201.737503 m,
bearing: 326.617992 deg,
lat: 36.906374 deg,
lon: -122.115478 deg,
deltaT: 3.779990 s,
deltaX: -1.983627 m,
approachRate: -0.524770 m/s,
posRepo size: 4
2025-06-11T20:54:53.127Z,1749675293.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.74 m.
2025-06-11T20:54:53.130Z,1749675293.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.737503 m,
nav range: 194.743927 m,
bearing: 326.618606 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016332 deg/s,
cmd heading: 319.704735 deg,
new cmd heading: 319.677329 deg.
2025-06-11T20:54:53.131Z,1749675293.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579422 target range: 201.737503 and range: 203.50 m.
2025-06-11T20:54:53.439Z,1749675293.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:53.457Z,1749675293.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.74 m.
2025-06-11T20:54:53.464Z,1749675293.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.737503 m,
nav range: 194.598160 m,
bearing: 326.613820 deg,
approach rate: -0.436475 m/s,
LOS rate: -0.014342 deg/s,
cmd heading: 319.677333 deg,
new cmd heading: 319.662964 deg.
2025-06-11T20:54:53.465Z,1749675293.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579171 target range: 201.737503 and range: 203.50 m.
2025-06-11T20:54:53.688Z,1749675293.688 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:53.689Z,1749675293.689 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:53.689Z,1749675293.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:53.845Z,1749675293.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.74 m.
2025-06-11T20:54:53.852Z,1749675293.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.737503 m,
nav range: 194.414734 m,
bearing: 326.607657 deg,
approach rate: -0.474524 m/s,
LOS rate: -0.015958 deg/s,
cmd heading: 319.662962 deg,
new cmd heading: 319.644456 deg.
2025-06-11T20:54:53.853Z,1749675293.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578848 target range: 201.737503 and range: 203.50 m.
2025-06-11T20:54:53.942Z,1749675293.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248531
2025-06-11T20:54:54.193Z,1749675294.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499638
2025-06-11T20:54:54.274Z,1749675294.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.74 m.
2025-06-11T20:54:54.277Z,1749675294.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.737503 m,
nav range: 194.213531 m,
bearing: 326.601399 deg,
approach rate: -0.467467 m/s,
LOS rate: -0.014555 deg/s,
cmd heading: 319.644466 deg,
new cmd heading: 319.625672 deg.
2025-06-11T20:54:54.278Z,1749675294.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578520 target range: 201.737503 and range: 203.50 m.
2025-06-11T20:54:54.445Z,1749675294.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751602
2025-06-11T20:54:54.651Z,1749675294.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.74 m.
2025-06-11T20:54:54.654Z,1749675294.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.737503 m,
nav range: 194.037537 m,
bearing: 326.595915 deg,
approach rate: -0.467291 m/s,
LOS rate: -0.014576 deg/s,
cmd heading: 319.625669 deg,
new cmd heading: 319.609200 deg.
2025-06-11T20:54:54.655Z,1749675294.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578233 target range: 201.737503 and range: 203.50 m.
2025-06-11T20:54:54.698Z,1749675294.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004764
2025-06-11T20:54:54.949Z,1749675294.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255753
2025-06-11T20:54:55.149Z,1749675295.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.74 m.
2025-06-11T20:54:55.151Z,1749675295.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.737503 m,
nav range: 193.801346 m,
bearing: 326.591998 deg,
approach rate: -0.474553 m/s,
LOS rate: -0.007878 deg/s,
cmd heading: 319.609195 deg,
new cmd heading: 319.597431 deg.
2025-06-11T20:54:55.176Z,1749675295.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578027 target range: 201.737503 and range: 203.50 m.
2025-06-11T20:54:55.201Z,1749675295.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507779
2025-06-11T20:54:55.453Z,1749675295.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759955
2025-06-11T20:54:55.473Z,1749675295.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:55.475Z,1749675295.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.74 m.
2025-06-11T20:54:55.478Z,1749675295.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.737503 m,
nav range: 193.647247 m,
bearing: 326.589575 deg,
approach rate: -0.472635 m/s,
LOS rate: -0.007438 deg/s,
cmd heading: 319.597419 deg,
new cmd heading: 319.590144 deg.
2025-06-11T20:54:55.478Z,1749675295.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577900 target range: 201.737503 and range: 203.50 m.
2025-06-11T20:54:55.706Z,1749675295.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012968
2025-06-11T20:54:55.879Z,1749675295.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.74 m.
2025-06-11T20:54:55.898Z,1749675295.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.737503 m,
nav range: 193.456314 m,
bearing: 326.586744 deg,
approach rate: -0.471707 m/s,
LOS rate: -0.007001 deg/s,
cmd heading: 319.590152 deg,
new cmd heading: 319.581651 deg.
2025-06-11T20:54:55.899Z,1749675295.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577752 target range: 201.737503 and range: 203.50 m.
2025-06-11T20:54:55.957Z,1749675295.957 [DAT](INFO): DAT read: Rx Time:20:54:57.2791
2025-06-11T20:54:55.958Z,1749675295.958 [DAT](INFO): Rx dataTimestamp_ set to:1749675295.957567
2025-06-11T20:54:55.959Z,1749675295.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266062
2025-06-11T20:54:56.209Z,1749675296.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515631
2025-06-11T20:54:56.309Z,1749675296.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.74 m.
2025-06-11T20:54:56.311Z,1749675296.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.737503 m,
nav range: 193.252411 m,
bearing: 326.585338 deg,
approach rate: -0.475955 m/s,
LOS rate: -0.003285 deg/s,
cmd heading: 319.581655 deg,
new cmd heading: 319.577433 deg.
2025-06-11T20:54:56.312Z,1749675296.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577678 target range: 201.737503 and range: 203.50 m.
2025-06-11T20:54:56.469Z,1749675296.469 [DAT](INFO): DAT read: 20:54:57.2791 LVL= 25168, 32753, 24114, 32755, AGC= 70, IDX= 416,-0.25, 2.004, 0.390, 1.693, 1.219, PHS= 0.873,-0.782, 0.471, RAW= 136.5, -7.6, CAL= 142.4, -18.2, ROT= 7.6, 18.2
2025-06-11T20:54:56.471Z,1749675296.471 [DAT](INFO): got valid direction response:
20:54:57.2791 LVL= 25168, 32753, 24114, 32755, AGC= 70, IDX= 416,-0.25, 2.004, 0.390, 1.693, 1.219, PHS= 0.873,-0.782, 0.471, RAW= 136.5, -7.6, CAL= 142.4, -18.2, ROT= 7.6, 18.2
2025-06-11T20:54:56.472Z,1749675296.472 [DAT](INFO): DAT read: Bearing 7.6, 18.2 (Local)
2025-06-11T20:54:56.472Z,1749675296.472 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.6, 18.2 (Local)
2025-06-11T20:54:56.474Z,1749675296.474 [DAT](INFO): DAT read: Range 10 to 50 : 201.8 m (Round-trip 269.1 ms) speed 0.4 m/s
2025-06-11T20:54:56.474Z,1749675296.474 [DAT](INFO): DAT read: user:581>
2025-06-11T20:54:56.475Z,1749675296.475 [DAT](INFO): DAT read: Tx time:20:54:58.3559
2025-06-11T20:54:56.475Z,1749675296.475 [DAT](INFO): Ping request sent.
2025-06-11T20:54:56.476Z,1749675296.476 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:54:56.476Z,1749675296.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:54:56.477Z,1749675296.477 [DAT](INFO): direction in FSK: [0.941627,0.125640,-0.312335]
2025-06-11T20:54:56.477Z,1749675296.477 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:56.478Z,1749675296.478 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:56.492Z,1749675296.492 [DAT](INFO): publishing transmit ping time
2025-06-11T20:54:56.493Z,1749675296.493 [DAT](INFO): publishing direction and range info
2025-06-11T20:54:56.702Z,1749675296.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 201.800003 m,
deltaT: 3.782380 s,
deltaX: -1.699997 m,
approachRate: -0.449452 m/s,
rangeRepo size: 4
2025-06-11T20:54:56.709Z,1749675296.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 200.047119 m,
bearing: 327.948851 deg,
lat: 36.906384 deg,
lon: -122.115478 deg,
deltaT: 3.782380 s,
deltaX: -1.690384 m,
approachRate: -0.446910 m/s,
posRepo size: 4
2025-06-11T20:54:56.709Z,1749675296.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.05 m.
2025-06-11T20:54:56.713Z,1749675296.713 [DAT](INFO): DAT read: TxSync time:20:54:58.3551
2025-06-11T20:54:56.716Z,1749675296.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.047119 m,
nav range: 194.080948 m,
bearing: 326.780164 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003285 deg/s,
cmd heading: 319.577421 deg,
new cmd heading: 319.573539 deg.
2025-06-11T20:54:56.717Z,1749675296.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577610 target range: 200.047119 and range: 201.80 m.
2025-06-11T20:54:57.164Z,1749675297.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.05 m.
2025-06-11T20:54:57.167Z,1749675297.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.047119 m,
nav range: 193.854568 m,
bearing: 326.782423 deg,
approach rate: -0.490043 m/s,
LOS rate: 0.004897 deg/s,
cmd heading: 319.573541 deg,
new cmd heading: 319.580328 deg.
2025-06-11T20:54:57.167Z,1749675297.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577729 target range: 200.047119 and range: 201.80 m.
2025-06-11T20:54:57.498Z,1749675297.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:57.500Z,1749675297.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.05 m.
2025-06-11T20:54:57.502Z,1749675297.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.047119 m,
nav range: 193.695801 m,
bearing: 326.784091 deg,
approach rate: -0.472700 m/s,
LOS rate: 0.004969 deg/s,
cmd heading: 319.580317 deg,
new cmd heading: 319.585324 deg.
2025-06-11T20:54:57.503Z,1749675297.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577816 target range: 200.047119 and range: 201.80 m.
2025-06-11T20:54:57.721Z,1749675297.721 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:54:57.721Z,1749675297.721 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:54:57.721Z,1749675297.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:54:57.973Z,1749675297.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497354
2025-06-11T20:54:57.989Z,1749675297.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.05 m.
2025-06-11T20:54:57.992Z,1749675297.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.047119 m,
nav range: 193.470932 m,
bearing: 326.786458 deg,
approach rate: -0.459063 m/s,
LOS rate: 0.004837 deg/s,
cmd heading: 319.585316 deg,
new cmd heading: 319.592425 deg.
2025-06-11T20:54:57.993Z,1749675297.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577940 target range: 200.047119 and range: 201.80 m.
2025-06-11T20:54:58.227Z,1749675298.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751058
2025-06-11T20:54:58.342Z,1749675298.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.05 m.
2025-06-11T20:54:58.349Z,1749675298.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.047119 m,
nav range: 193.309738 m,
bearing: 326.789167 deg,
approach rate: -0.457290 m/s,
LOS rate: 0.007691 deg/s,
cmd heading: 319.592420 deg,
new cmd heading: 319.600553 deg.
2025-06-11T20:54:58.350Z,1749675298.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578082 target range: 200.047119 and range: 201.80 m.
2025-06-11T20:54:58.477Z,1749675298.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001110
2025-06-11T20:54:58.702Z,1749675298.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.05 m.
2025-06-11T20:54:58.705Z,1749675298.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.047119 m,
nav range: 193.129257 m,
bearing: 326.791996 deg,
approach rate: -0.500974 m/s,
LOS rate: 0.007862 deg/s,
cmd heading: 319.600561 deg,
new cmd heading: 319.609058 deg.
2025-06-11T20:54:58.706Z,1749675298.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578230 target range: 200.047119 and range: 201.80 m.
2025-06-11T20:54:58.746Z,1749675298.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269979
2025-06-11T20:54:58.997Z,1749675298.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521098
2025-06-11T20:54:59.191Z,1749675299.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.05 m.
2025-06-11T20:54:59.198Z,1749675299.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.047119 m,
nav range: 192.906784 m,
bearing: 326.794608 deg,
approach rate: -0.455095 m/s,
LOS rate: 0.005350 deg/s,
cmd heading: 319.609058 deg,
new cmd heading: 319.616904 deg.
2025-06-11T20:54:59.199Z,1749675299.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578367 target range: 200.047119 and range: 201.80 m.
2025-06-11T20:54:59.251Z,1749675299.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775441
2025-06-11T20:54:59.505Z,1749675299.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029308
2025-06-11T20:54:59.512Z,1749675299.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:54:59.514Z,1749675299.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.05 m.
2025-06-11T20:54:59.517Z,1749675299.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.047119 m,
nav range: 192.754272 m,
bearing: 326.796277 deg,
approach rate: -0.472272 m/s,
LOS rate: 0.005172 deg/s,
cmd heading: 319.616899 deg,
new cmd heading: 319.621910 deg.
2025-06-11T20:54:59.518Z,1749675299.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578454 target range: 200.047119 and range: 201.80 m.
2025-06-11T20:54:59.757Z,1749675299.757 [DAT](INFO): DAT read: Rx Time:20:55:01.0270
2025-06-11T20:54:59.757Z,1749675299.757 [DAT](INFO): Rx dataTimestamp_ set to:1749675299.757031
2025-06-11T20:54:59.758Z,1749675299.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282242
2025-06-11T20:54:59.930Z,1749675299.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.05 m.
2025-06-11T20:54:59.934Z,1749675299.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.047119 m,
nav range: 192.562622 m,
bearing: 326.798250 deg,
approach rate: -0.460791 m/s,
LOS rate: 0.004747 deg/s,
cmd heading: 319.621899 deg,
new cmd heading: 319.627822 deg.
2025-06-11T20:54:59.936Z,1749675299.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578558 target range: 200.047119 and range: 201.80 m.
2025-06-11T20:55:00.010Z,1749675300.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534354
2025-06-11T20:55:00.267Z,1749675300.267 [DAT](INFO): DAT read: 20:55:01.0270 LVL= 24368, 26161, 21714, 30259, AGC= 68, IDX= 425, 0.10,-0.503,-2.166,-0.780,-1.288, PHS= 0.873,-0.831, 0.505, RAW= 138.1, -7.1, CAL= 144.1, -17.3, ROT= 5.9, 17.3
2025-06-11T20:55:00.268Z,1749675300.268 [DAT](INFO): got valid direction response:
20:55:01.0270 LVL= 24368, 26161, 21714, 30259, AGC= 68, IDX= 425, 0.10,-0.503,-2.166,-0.780,-1.288, PHS= 0.873,-0.831, 0.505, RAW= 138.1, -7.1, CAL= 144.1, -17.3, ROT= 5.9, 17.3
2025-06-11T20:55:00.269Z,1749675300.269 [DAT](INFO): DAT read: Bearing 5.9, 17.3 (Local)
2025-06-11T20:55:00.269Z,1749675300.269 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.9, 17.3 (Local)
2025-06-11T20:55:00.271Z,1749675300.271 [DAT](INFO): DAT read: Range 10 to 50 : 200.1 m (Round-trip 266.9 ms) speed 0.4 m/s
2025-06-11T20:55:00.272Z,1749675300.272 [DAT](INFO): DAT read: user:582>
2025-06-11T20:55:00.272Z,1749675300.272 [DAT](INFO): DAT read: Tx time:20:55:02.1059
2025-06-11T20:55:00.273Z,1749675300.273 [DAT](INFO): Ping request sent.
2025-06-11T20:55:00.273Z,1749675300.273 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:00.273Z,1749675300.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:00.274Z,1749675300.274 [DAT](INFO): direction in FSK: [0.949703,0.098142,-0.297375]
2025-06-11T20:55:00.274Z,1749675300.274 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:00.275Z,1749675300.275 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:00.298Z,1749675300.298 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:00.298Z,1749675300.298 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:00.429Z,1749675300.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 200.100006 m,
deltaT: 3.797564 s,
deltaX: -1.699997 m,
approachRate: -0.447655 m/s,
rangeRepo size: 4
2025-06-11T20:55:00.431Z,1749675300.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 198.356339 m,
bearing: 327.120976 deg,
lat: 36.906385 deg,
lon: -122.115464 deg,
deltaT: 3.797564 s,
deltaX: -1.690781 m,
approachRate: -0.445228 m/s,
posRepo size: 4
2025-06-11T20:55:00.436Z,1749675300.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:00.439Z,1749675300.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 191.744827 m,
bearing: 327.121576 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004747 deg/s,
cmd heading: 319.627827 deg,
new cmd heading: 319.634865 deg.
2025-06-11T20:55:00.444Z,1749675300.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578681 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:00.514Z,1749675300.514 [DAT](INFO): DAT read: TxSync time:20:55:02.1051
2025-06-11T20:55:00.730Z,1749675300.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:00.733Z,1749675300.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 191.595215 m,
bearing: 327.123216 deg,
approach rate: -0.489099 m/s,
LOS rate: 0.005368 deg/s,
cmd heading: 319.634876 deg,
new cmd heading: 319.639803 deg.
2025-06-11T20:55:00.734Z,1749675300.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578767 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:01.221Z,1749675301.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:01.224Z,1749675301.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 191.370956 m,
bearing: 327.126398 deg,
approach rate: -0.457543 m/s,
LOS rate: 0.006498 deg/s,
cmd heading: 319.639794 deg,
new cmd heading: 319.649349 deg.
2025-06-11T20:55:01.225Z,1749675301.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578934 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:01.538Z,1749675301.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:01.540Z,1749675301.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:01.543Z,1749675301.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 191.224808 m,
bearing: 327.128476 deg,
approach rate: -0.456079 m/s,
LOS rate: 0.006490 deg/s,
cmd heading: 319.649356 deg,
new cmd heading: 319.655595 deg.
2025-06-11T20:55:01.544Z,1749675301.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579042 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:01.773Z,1749675301.773 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:01.773Z,1749675301.773 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:01.773Z,1749675301.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:01.966Z,1749675301.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:01.973Z,1749675301.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 191.037689 m,
bearing: 327.131161 deg,
approach rate: -0.439530 m/s,
LOS rate: 0.006314 deg/s,
cmd heading: 319.655585 deg,
new cmd heading: 319.663649 deg.
2025-06-11T20:55:01.974Z,1749675301.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579183 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:02.025Z,1749675302.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752015
2025-06-11T20:55:02.277Z,1749675302.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004110
2025-06-11T20:55:02.361Z,1749675302.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:02.364Z,1749675302.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 190.849991 m,
bearing: 327.133313 deg,
approach rate: -0.474943 m/s,
LOS rate: 0.005450 deg/s,
cmd heading: 319.663645 deg,
new cmd heading: 319.670107 deg.
2025-06-11T20:55:02.365Z,1749675302.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579296 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:02.533Z,1749675302.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259549
2025-06-11T20:55:02.768Z,1749675302.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:02.771Z,1749675302.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 190.674149 m,
bearing: 327.135378 deg,
approach rate: -0.432733 m/s,
LOS rate: 0.005087 deg/s,
cmd heading: 319.670120 deg,
new cmd heading: 319.676321 deg.
2025-06-11T20:55:02.776Z,1749675302.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579404 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:02.781Z,1749675302.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508024
2025-06-11T20:55:03.033Z,1749675303.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760374
2025-06-11T20:55:03.250Z,1749675303.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:03.257Z,1749675303.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 190.453033 m,
bearing: 327.137757 deg,
approach rate: -0.458432 m/s,
LOS rate: 0.004938 deg/s,
cmd heading: 319.676322 deg,
new cmd heading: 319.683467 deg.
2025-06-11T20:55:03.258Z,1749675303.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579529 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:03.285Z,1749675303.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012134
2025-06-11T20:55:03.537Z,1749675303.537 [DAT](INFO): DAT read: Rx Time:20:55:04.7747
2025-06-11T20:55:03.537Z,1749675303.537 [DAT](INFO): Rx dataTimestamp_ set to:1749675303.537088
2025-06-11T20:55:03.538Z,1749675303.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265081
2025-06-11T20:55:03.554Z,1749675303.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:03.556Z,1749675303.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:03.559Z,1749675303.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 190.303055 m,
bearing: 327.139411 deg,
approach rate: -0.489605 m/s,
LOS rate: 0.005404 deg/s,
cmd heading: 319.683480 deg,
new cmd heading: 319.688446 deg.
2025-06-11T20:55:03.560Z,1749675303.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579616 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:03.789Z,1749675303.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515864
2025-06-11T20:55:04.055Z,1749675304.055 [DAT](INFO): DAT read: 20:55:04.7748 LVL= 31008, 28561, 26978, 32755, AGC= 65, IDX= 417, 0.21, 2.633, 0.986, 2.388, 1.849, PHS= 0.872,-0.816, 0.536, RAW= 139.1, -7.7, CAL= 145.3, -17.7, ROT= 4.7, 17.7
2025-06-11T20:55:04.057Z,1749675304.057 [DAT](INFO): got valid direction response:
20:55:04.7748 LVL= 31008, 28561, 26978, 32755, AGC= 65, IDX= 417, 0.21, 2.633, 0.986, 2.388, 1.849, PHS= 0.872,-0.816, 0.536, RAW= 139.1, -7.7, CAL= 145.3, -17.7, ROT= 4.7, 17.7
2025-06-11T20:55:04.058Z,1749675304.058 [DAT](INFO): DAT read: Bearing 4.7, 17.7 (Local)
2025-06-11T20:55:04.058Z,1749675304.058 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.7, 17.7 (Local)
2025-06-11T20:55:04.060Z,1749675304.060 [DAT](INFO): DAT read: Range 10 to 50 : 198.4 m (Round-trip 264.6 ms) speed 0.4 m/s
2025-06-11T20:55:04.060Z,1749675304.060 [DAT](INFO): DAT read: user:583>
2025-06-11T20:55:04.061Z,1749675304.061 [DAT](INFO): DAT read: Tx time:20:55:05.8560
2025-06-11T20:55:04.061Z,1749675304.061 [DAT](INFO): Ping request sent.
2025-06-11T20:55:04.062Z,1749675304.062 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:04.062Z,1749675304.062 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:04.063Z,1749675304.063 [DAT](INFO): direction in FSK: [0.949458,0.078060,-0.304033]
2025-06-11T20:55:04.063Z,1749675304.063 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:04.063Z,1749675304.063 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:04.074Z,1749675304.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.36 m.
2025-06-11T20:55:04.079Z,1749675304.079 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:04.079Z,1749675304.079 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:04.081Z,1749675304.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.356339 m,
nav range: 190.079697 m,
bearing: 327.141932 deg,
approach rate: -0.431254 m/s,
LOS rate: 0.004873 deg/s,
cmd heading: 319.688452 deg,
new cmd heading: 319.696024 deg.
2025-06-11T20:55:04.082Z,1749675304.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579748 target range: 198.356339 and range: 200.10 m.
2025-06-11T20:55:04.293Z,1749675304.293 [DAT](INFO): DAT read: TxSync time:20:55:05.8552
2025-06-11T20:55:04.407Z,1749675304.407 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T20:55:04.494Z,1749675304.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 198.399994 m,
deltaT: 3.780087 s,
deltaX: -1.700012 m,
approachRate: -0.449728 m/s,
rangeRepo size: 4
2025-06-11T20:55:04.500Z,1749675304.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 196.680664 m,
bearing: 325.770627 deg,
lat: 36.906385 deg,
lon: -122.115478 deg,
deltaT: 3.780087 s,
deltaX: -1.675674 m,
approachRate: -0.443290 m/s,
posRepo size: 4
2025-06-11T20:55:04.501Z,1749675304.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.68 m.
2025-06-11T20:55:04.510Z,1749675304.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.680664 m,
nav range: 190.544250 m,
bearing: 326.834215 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004873 deg/s,
cmd heading: 319.696020 deg,
new cmd heading: 319.702143 deg.
2025-06-11T20:55:04.511Z,1749675304.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579855 target range: 196.680664 and range: 198.40 m.
2025-06-11T20:55:04.927Z,1749675304.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.68 m.
2025-06-11T20:55:04.931Z,1749675304.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.680664 m,
nav range: 190.342575 m,
bearing: 326.836028 deg,
approach rate: -0.465431 m/s,
LOS rate: 0.004190 deg/s,
cmd heading: 319.702140 deg,
new cmd heading: 319.707587 deg.
2025-06-11T20:55:04.933Z,1749675304.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579950 target range: 196.680664 and range: 198.40 m.
2025-06-11T20:55:05.324Z,1749675305.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.68 m.
2025-06-11T20:55:05.327Z,1749675305.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.680664 m,
nav range: 190.151459 m,
bearing: 326.836730 deg,
approach rate: -0.485929 m/s,
LOS rate: 0.001785 deg/s,
cmd heading: 319.707577 deg,
new cmd heading: 319.709683 deg.
2025-06-11T20:55:05.332Z,1749675305.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579987 target range: 196.680664 and range: 198.40 m.
2025-06-11T20:55:05.681Z,1749675305.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:05.683Z,1749675305.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.68 m.
2025-06-11T20:55:05.690Z,1749675305.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.680664 m,
nav range: 189.981232 m,
bearing: 326.837356 deg,
approach rate: -0.468658 m/s,
LOS rate: 0.001725 deg/s,
cmd heading: 319.709680 deg,
new cmd heading: 319.711560 deg.
2025-06-11T20:55:05.692Z,1749675305.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580019 target range: 196.680664 and range: 198.40 m.
2025-06-11T20:55:05.804Z,1749675305.804 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:05.805Z,1749675305.805 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:05.805Z,1749675305.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:06.057Z,1749675306.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995519
2025-06-11T20:55:06.063Z,1749675306.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.68 m.
2025-06-11T20:55:06.066Z,1749675306.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.680664 m,
nav range: 189.796997 m,
bearing: 326.838012 deg,
approach rate: -0.484948 m/s,
LOS rate: 0.001730 deg/s,
cmd heading: 319.711565 deg,
new cmd heading: 319.713537 deg.
2025-06-11T20:55:06.067Z,1749675306.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580054 target range: 196.680664 and range: 198.40 m.
2025-06-11T20:55:06.309Z,1749675306.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247223
2025-06-11T20:55:06.542Z,1749675306.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.68 m.
2025-06-11T20:55:06.549Z,1749675306.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.680664 m,
nav range: 189.575180 m,
bearing: 326.838206 deg,
approach rate: -0.463276 m/s,
LOS rate: 0.000405 deg/s,
cmd heading: 319.713533 deg,
new cmd heading: 319.714114 deg.
2025-06-11T20:55:06.550Z,1749675306.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580064 target range: 196.680664 and range: 198.40 m.
2025-06-11T20:55:06.561Z,1749675306.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499314
2025-06-11T20:55:06.814Z,1749675306.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752267
2025-06-11T20:55:06.909Z,1749675306.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.68 m.
2025-06-11T20:55:06.926Z,1749675306.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.680664 m,
nav range: 189.392349 m,
bearing: 326.838300 deg,
approach rate: -0.498060 m/s,
LOS rate: 0.000256 deg/s,
cmd heading: 319.714106 deg,
new cmd heading: 319.714388 deg.
2025-06-11T20:55:06.929Z,1749675306.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580069 target range: 196.680664 and range: 198.40 m.
2025-06-11T20:55:07.065Z,1749675307.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003218
2025-06-11T20:55:07.317Z,1749675307.317 [DAT](INFO): DAT read: Rx Time:20:55:08.5223
2025-06-11T20:55:07.317Z,1749675307.317 [DAT](INFO): Rx dataTimestamp_ set to:1749675307.317119
2025-06-11T20:55:07.318Z,1749675307.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256378
2025-06-11T20:55:07.376Z,1749675307.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.68 m.
2025-06-11T20:55:07.379Z,1749675307.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.680664 m,
nav range: 189.170074 m,
bearing: 326.836763 deg,
approach rate: -0.475950 m/s,
LOS rate: -0.003294 deg/s,
cmd heading: 319.714380 deg,
new cmd heading: 319.709764 deg.
2025-06-11T20:55:07.396Z,1749675307.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579988 target range: 196.680664 and range: 198.40 m.
2025-06-11T20:55:07.569Z,1749675307.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507287
2025-06-11T20:55:07.742Z,1749675307.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:07.745Z,1749675307.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.68 m.
2025-06-11T20:55:07.747Z,1749675307.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.680664 m,
nav range: 188.994736 m,
bearing: 326.835473 deg,
approach rate: -0.475222 m/s,
LOS rate: -0.003500 deg/s,
cmd heading: 319.709762 deg,
new cmd heading: 319.705888 deg.
2025-06-11T20:55:07.749Z,1749675307.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579920 target range: 196.680664 and range: 198.40 m.
2025-06-11T20:55:07.829Z,1749675307.829 [DAT](INFO): DAT read: 20:55:08.5223 LVL= 21936, 32753, 21682, 32755, AGC= 69, IDX= 409,-0.16, 1.567, 0.099, 1.308, 0.853, PHS= 0.802,-0.708, 0.452, RAW= 137.2, -8.0, CAL= 143.2, -18.6, ROT= 6.8, 18.6
2025-06-11T20:55:07.830Z,1749675307.830 [DAT](INFO): got valid direction response:
20:55:08.5223 LVL= 21936, 32753, 21682, 32755, AGC= 69, IDX= 409,-0.16, 1.567, 0.099, 1.308, 0.853, PHS= 0.802,-0.708, 0.452, RAW= 137.2, -8.0, CAL= 143.2, -18.6, ROT= 6.8, 18.6
2025-06-11T20:55:07.831Z,1749675307.831 [DAT](INFO): DAT read: Bearing 6.8, 18.6 (Local)
2025-06-11T20:55:07.832Z,1749675307.832 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.8, 18.6 (Local)
2025-06-11T20:55:07.834Z,1749675307.834 [DAT](INFO): DAT read: Range 10 to 50 : 196.6 m (Round-trip 262.2 ms) speed 0.2 m/s
2025-06-11T20:55:07.835Z,1749675307.835 [DAT](INFO): DAT read: user:584>
2025-06-11T20:55:07.838Z,1749675307.838 [DAT](INFO): DAT read: Tx time:20:55:09.6060
2025-06-11T20:55:07.839Z,1749675307.839 [DAT](INFO): Ping request sent.
2025-06-11T20:55:07.839Z,1749675307.839 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:07.839Z,1749675307.839 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:07.841Z,1749675307.841 [DAT](INFO): direction in FSK: [0.941101,0.112220,-0.318959]
2025-06-11T20:55:07.841Z,1749675307.841 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:07.841Z,1749675307.841 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:07.864Z,1749675307.864 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:07.865Z,1749675307.865 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:08.073Z,1749675308.073 [DAT](INFO): DAT read: TxSync time:20:55:09.6052
2025-06-11T20:55:08.160Z,1749675308.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 196.600006 m,
deltaT: 3.781689 s,
deltaX: -1.799988 m,
approachRate: -0.475975 m/s,
rangeRepo size: 4
2025-06-11T20:55:08.162Z,1749675308.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 194.894943 m,
bearing: 327.987875 deg,
lat: 36.906385 deg,
lon: -122.115464 deg,
deltaT: 3.781689 s,
deltaX: -1.785721 m,
approachRate: -0.472202 m/s,
posRepo size: 4
2025-06-11T20:55:08.163Z,1749675308.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.89 m.
2025-06-11T20:55:08.166Z,1749675308.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.894943 m,
nav range: 188.131165 m,
bearing: 327.146646 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003500 deg/s,
cmd heading: 319.705883 deg,
new cmd heading: 319.701532 deg.
2025-06-11T20:55:08.167Z,1749675308.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579844 target range: 194.894943 and range: 196.60 m.
2025-06-11T20:55:08.573Z,1749675308.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.89 m.
2025-06-11T20:55:08.575Z,1749675308.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.894943 m,
nav range: 187.934570 m,
bearing: 327.144677 deg,
approach rate: -0.475494 m/s,
LOS rate: -0.004769 deg/s,
cmd heading: 319.701539 deg,
new cmd heading: 319.695624 deg.
2025-06-11T20:55:08.578Z,1749675308.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579741 target range: 194.894943 and range: 196.60 m.
2025-06-11T20:55:08.962Z,1749675308.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.89 m.
2025-06-11T20:55:08.965Z,1749675308.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.894943 m,
nav range: 187.750992 m,
bearing: 327.142816 deg,
approach rate: -0.470939 m/s,
LOS rate: -0.004777 deg/s,
cmd heading: 319.695610 deg,
new cmd heading: 319.690024 deg.
2025-06-11T20:55:08.966Z,1749675308.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579644 target range: 194.894943 and range: 196.60 m.
2025-06-11T20:55:09.395Z,1749675309.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.89 m.
2025-06-11T20:55:09.402Z,1749675309.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.894943 m,
nav range: 187.560547 m,
bearing: 327.139486 deg,
approach rate: -0.440422 m/s,
LOS rate: -0.007709 deg/s,
cmd heading: 319.690037 deg,
new cmd heading: 319.680037 deg.
2025-06-11T20:55:09.403Z,1749675309.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579469 target range: 194.894943 and range: 196.60 m.
2025-06-11T20:55:09.753Z,1749675309.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:09.755Z,1749675309.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.89 m.
2025-06-11T20:55:09.759Z,1749675309.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.894943 m,
nav range: 187.385132 m,
bearing: 327.136300 deg,
approach rate: -0.487183 m/s,
LOS rate: -0.008859 deg/s,
cmd heading: 319.680037 deg,
new cmd heading: 319.670468 deg.
2025-06-11T20:55:09.760Z,1749675309.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579302 target range: 194.894943 and range: 196.60 m.
2025-06-11T20:55:09.837Z,1749675309.837 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:09.850Z,1749675309.850 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:09.851Z,1749675309.851 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:10.089Z,1749675310.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250224
2025-06-11T20:55:10.165Z,1749675310.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.89 m.
2025-06-11T20:55:10.184Z,1749675310.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.894943 m,
nav range: 187.195358 m,
bearing: 327.132749 deg,
approach rate: -0.462940 m/s,
LOS rate: -0.008671 deg/s,
cmd heading: 319.670475 deg,
new cmd heading: 319.659812 deg.
2025-06-11T20:55:10.185Z,1749675310.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579116 target range: 194.894943 and range: 196.60 m.
2025-06-11T20:55:10.341Z,1749675310.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501995
2025-06-11T20:55:10.580Z,1749675310.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.89 m.
2025-06-11T20:55:10.583Z,1749675310.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.894943 m,
nav range: 187.006409 m,
bearing: 327.130121 deg,
approach rate: -0.454765 m/s,
LOS rate: -0.006332 deg/s,
cmd heading: 319.659820 deg,
new cmd heading: 319.651928 deg.
2025-06-11T20:55:10.584Z,1749675310.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578979 target range: 194.894943 and range: 196.60 m.
2025-06-11T20:55:10.593Z,1749675310.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754396
2025-06-11T20:55:10.845Z,1749675310.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006532
2025-06-11T20:55:10.989Z,1749675310.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.89 m.
2025-06-11T20:55:10.992Z,1749675310.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.894943 m,
nav range: 186.820404 m,
bearing: 327.127500 deg,
approach rate: -0.455116 m/s,
LOS rate: -0.006418 deg/s,
cmd heading: 319.651924 deg,
new cmd heading: 319.644056 deg.
2025-06-11T20:55:10.993Z,1749675310.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578841 target range: 194.894943 and range: 196.60 m.
2025-06-11T20:55:11.097Z,1749675311.097 [DAT](INFO): DAT read: Rx Time:20:55:12.2700
2025-06-11T20:55:11.097Z,1749675311.097 [DAT](INFO): Rx dataTimestamp_ set to:1749675311.097047
2025-06-11T20:55:11.098Z,1749675311.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259158
2025-06-11T20:55:11.349Z,1749675311.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509992
2025-06-11T20:55:11.455Z,1749675311.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.89 m.
2025-06-11T20:55:11.462Z,1749675311.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.894943 m,
nav range: 186.640945 m,
bearing: 327.125448 deg,
approach rate: -0.385728 m/s,
LOS rate: -0.004416 deg/s,
cmd heading: 319.644056 deg,
new cmd heading: 319.637892 deg.
2025-06-11T20:55:11.463Z,1749675311.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578733 target range: 194.894943 and range: 196.60 m.
2025-06-11T20:55:11.614Z,1749675311.614 [DAT](INFO): DAT read: 20:55:12.2700 LVL= 23136, 32673, 20978, 32755, AGC= 69, IDX= 417,-0.08,-0.849,-2.426,-1.120,-1.596, PHS= 0.835,-0.784, 0.473, RAW= 137.7, -7.2, CAL= 143.7, -17.5, ROT= 6.3, 17.5
2025-06-11T20:55:11.615Z,1749675311.615 [DAT](INFO): got valid direction response:
20:55:12.2700 LVL= 23136, 32673, 20978, 32755, AGC= 69, IDX= 417,-0.08,-0.849,-2.426,-1.120,-1.596, PHS= 0.835,-0.784, 0.473, RAW= 137.7, -7.2, CAL= 143.7, -17.5, ROT= 6.3, 17.5
2025-06-11T20:55:11.616Z,1749675311.616 [DAT](INFO): DAT read: Bearing 6.3, 17.5 (Local)
2025-06-11T20:55:11.617Z,1749675311.617 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.3, 17.5 (Local)
2025-06-11T20:55:11.618Z,1749675311.618 [DAT](INFO): DAT read: Range 10 to 50 : 194.8 m (Round-trip 259.8 ms) speed 0.1 m/s
2025-06-11T20:55:11.619Z,1749675311.619 [DAT](INFO): DAT read: user:585>
2025-06-11T20:55:11.620Z,1749675311.620 [DAT](INFO): DAT read: Tx time:20:55:13.3560
2025-06-11T20:55:11.620Z,1749675311.620 [DAT](INFO): Ping request sent.
2025-06-11T20:55:11.620Z,1749675311.620 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:11.621Z,1749675311.621 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:11.622Z,1749675311.622 [DAT](INFO): direction in FSK: [0.947957,0.104655,-0.300706]
2025-06-11T20:55:11.622Z,1749675311.622 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:11.622Z,1749675311.622 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:11.630Z,1749675311.630 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:11.631Z,1749675311.631 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:11.819Z,1749675311.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 194.800003 m,
deltaT: 3.780012 s,
deltaX: -1.800003 m,
approachRate: -0.476190 m/s,
rangeRepo size: 4
2025-06-11T20:55:11.826Z,1749675311.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 193.111404 m,
bearing: 327.621875 deg,
lat: 36.906388 deg,
lon: -122.115445 deg,
deltaT: 3.780012 s,
deltaX: -1.783539 m,
approachRate: -0.471834 m/s,
posRepo size: 4
2025-06-11T20:55:11.826Z,1749675311.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.11 m.
2025-06-11T20:55:11.834Z,1749675311.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.111404 m,
nav range: 185.776108 m,
bearing: 327.622449 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004416 deg/s,
cmd heading: 319.637881 deg,
new cmd heading: 319.633054 deg.
2025-06-11T20:55:11.835Z,1749675311.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578649 target range: 193.111404 and range: 194.80 m.
2025-06-11T20:55:11.853Z,1749675311.853 [DAT](INFO): DAT read: TxSync time:20:55:13.3552
2025-06-11T20:55:12.200Z,1749675312.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:12.202Z,1749675312.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.11 m.
2025-06-11T20:55:12.205Z,1749675312.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.111404 m,
nav range: 185.596542 m,
bearing: 327.621136 deg,
approach rate: -0.467967 m/s,
LOS rate: -0.003426 deg/s,
cmd heading: 319.633046 deg,
new cmd heading: 319.629102 deg.
2025-06-11T20:55:12.206Z,1749675312.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578580 target range: 193.111404 and range: 194.80 m.
2025-06-11T20:55:12.357Z,1749675312.357 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:12.357Z,1749675312.357 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:12.357Z,1749675312.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:12.609Z,1749675312.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988364
2025-06-11T20:55:12.614Z,1749675312.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.11 m.
2025-06-11T20:55:12.617Z,1749675312.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.111404 m,
nav range: 185.411362 m,
bearing: 327.621331 deg,
approach rate: -0.450029 m/s,
LOS rate: 0.000476 deg/s,
cmd heading: 319.629111 deg,
new cmd heading: 319.629699 deg.
2025-06-11T20:55:12.618Z,1749675312.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578591 target range: 193.111404 and range: 194.80 m.
2025-06-11T20:55:12.861Z,1749675312.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240517
2025-06-11T20:55:12.988Z,1749675312.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.11 m.
2025-06-11T20:55:12.991Z,1749675312.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.111404 m,
nav range: 185.241699 m,
bearing: 327.621542 deg,
approach rate: -0.453007 m/s,
LOS rate: 0.000564 deg/s,
cmd heading: 319.629712 deg,
new cmd heading: 319.630346 deg.
2025-06-11T20:55:12.992Z,1749675312.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578602 target range: 193.111404 and range: 194.80 m.
2025-06-11T20:55:13.113Z,1749675313.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492340
2025-06-11T20:55:13.365Z,1749675313.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744399
2025-06-11T20:55:13.434Z,1749675313.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.11 m.
2025-06-11T20:55:13.441Z,1749675313.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.111404 m,
nav range: 185.050507 m,
bearing: 327.623441 deg,
approach rate: -0.429281 m/s,
LOS rate: 0.004267 deg/s,
cmd heading: 319.630341 deg,
new cmd heading: 319.636043 deg.
2025-06-11T20:55:13.442Z,1749675313.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578701 target range: 193.111404 and range: 194.80 m.
2025-06-11T20:55:13.617Z,1749675313.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996265
2025-06-11T20:55:13.794Z,1749675313.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.11 m.
2025-06-11T20:55:13.797Z,1749675313.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.111404 m,
nav range: 184.875504 m,
bearing: 327.625076 deg,
approach rate: -0.485692 m/s,
LOS rate: 0.004542 deg/s,
cmd heading: 319.636051 deg,
new cmd heading: 319.640961 deg.
2025-06-11T20:55:13.798Z,1749675313.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578787 target range: 193.111404 and range: 194.80 m.
2025-06-11T20:55:13.871Z,1749675313.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250350
2025-06-11T20:55:14.125Z,1749675314.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504300
2025-06-11T20:55:14.201Z,1749675314.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.11 m.
2025-06-11T20:55:14.203Z,1749675314.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.111404 m,
nav range: 184.691177 m,
bearing: 327.626700 deg,
approach rate: -0.453419 m/s,
LOS rate: 0.004001 deg/s,
cmd heading: 319.640969 deg,
new cmd heading: 319.645848 deg.
2025-06-11T20:55:14.205Z,1749675314.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578873 target range: 193.111404 and range: 194.80 m.
2025-06-11T20:55:14.377Z,1749675314.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756361
2025-06-11T20:55:14.629Z,1749675314.629 [DAT](INFO): DAT read: Rx Time:20:55:16.0178
2025-06-11T20:55:14.630Z,1749675314.630 [DAT](INFO): Rx dataTimestamp_ set to:1749675314.629585
2025-06-11T20:55:14.630Z,1749675314.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009982
2025-06-11T20:55:14.638Z,1749675314.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:14.640Z,1749675314.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.11 m.
2025-06-11T20:55:14.643Z,1749675314.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.111404 m,
nav range: 184.487198 m,
bearing: 327.629548 deg,
approach rate: -0.464571 m/s,
LOS rate: 0.006493 deg/s,
cmd heading: 319.645859 deg,
new cmd heading: 319.654411 deg.
2025-06-11T20:55:14.643Z,1749675314.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579022 target range: 193.111404 and range: 194.80 m.
2025-06-11T20:55:14.881Z,1749675314.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260399
2025-06-11T20:55:15.006Z,1749675315.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.11 m.
2025-06-11T20:55:15.009Z,1749675315.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.111404 m,
nav range: 184.313477 m,
bearing: 327.631887 deg,
approach rate: -0.473798 m/s,
LOS rate: 0.006385 deg/s,
cmd heading: 319.654410 deg,
new cmd heading: 319.661434 deg.
2025-06-11T20:55:15.010Z,1749675315.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579144 target range: 193.111404 and range: 194.80 m.
2025-06-11T20:55:15.134Z,1749675315.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513239
2025-06-11T20:55:15.248Z,1749675315.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:55:15.391Z,1749675315.391 [DAT](INFO): DAT read: 20:55:16.0179 LVL= 23200, 30993, 21026, 29987, AGC= 69, IDX= 426, 0.25,-1.768, 2.985,-2.018,-2.487, PHS= 0.807,-0.764, 0.465, RAW= 138.1, -7.2, CAL= 144.1, -17.4, ROT= 5.9, 17.4
2025-06-11T20:55:15.392Z,1749675315.392 [DAT](INFO): got valid direction response:
20:55:16.0179 LVL= 23200, 30993, 21026, 29987, AGC= 69, IDX= 426, 0.25,-1.768, 2.985,-2.018,-2.487, PHS= 0.807,-0.764, 0.465, RAW= 138.1, -7.2, CAL= 144.1, -17.4, ROT= 5.9, 17.4
2025-06-11T20:55:15.393Z,1749675315.393 [DAT](INFO): DAT read: Bearing 5.9, 17.4 (Local)
2025-06-11T20:55:15.394Z,1749675315.394 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.9, 17.4 (Local)
2025-06-11T20:55:15.395Z,1749675315.395 [DAT](INFO): DAT read: Range 10 to 50 : 193.2 m (Round-trip 257.7 ms) speed 0.6 m/s
2025-06-11T20:55:15.396Z,1749675315.396 [DAT](INFO): DAT read: user:586>
2025-06-11T20:55:15.397Z,1749675315.397 [DAT](INFO): DAT read: Tx time:20:55:17.1061
2025-06-11T20:55:15.397Z,1749675315.397 [DAT](INFO): Ping request sent.
2025-06-11T20:55:15.397Z,1749675315.397 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:15.398Z,1749675315.398 [DAT](INFO): DAT read: TxSync time:20:55:17.1053
2025-06-11T20:55:15.398Z,1749675315.398 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:15.399Z,1749675315.399 [DAT](INFO): direction in FSK: [0.949186,0.098089,-0.299041]
2025-06-11T20:55:15.400Z,1749675315.400 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:15.400Z,1749675315.400 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:15.403Z,1749675315.403 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:15.403Z,1749675315.403 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:15.567Z,1749675315.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 193.199997 m,
deltaT: 3.782134 s,
deltaX: -1.600006 m,
approachRate: -0.423043 m/s,
rangeRepo size: 4
2025-06-11T20:55:15.573Z,1749675315.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 191.519531 m,
bearing: 327.583203 deg,
lat: 36.906385 deg,
lon: -122.115445 deg,
deltaT: 3.782134 s,
deltaX: -1.591873 m,
approachRate: -0.420893 m/s,
posRepo size: 4
2025-06-11T20:55:15.574Z,1749675315.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:15.589Z,1749675315.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 183.812256 m,
bearing: 327.586841 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.006385 deg/s,
cmd heading: 319.661432 deg,
new cmd heading: 319.672152 deg.
2025-06-11T20:55:15.590Z,1749675315.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579331 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:15.875Z,1749675315.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:15.882Z,1749675315.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 183.661713 m,
bearing: 327.590084 deg,
approach rate: -0.487184 m/s,
LOS rate: 0.010502 deg/s,
cmd heading: 319.672142 deg,
new cmd heading: 319.681877 deg.
2025-06-11T20:55:15.883Z,1749675315.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579501 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:16.252Z,1749675316.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:55:16.270Z,1749675316.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:16.274Z,1749675316.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 183.473663 m,
bearing: 327.594289 deg,
approach rate: -0.476791 m/s,
LOS rate: 0.010674 deg/s,
cmd heading: 319.681868 deg,
new cmd heading: 319.694497 deg.
2025-06-11T20:55:16.277Z,1749675316.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579721 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:16.703Z,1749675316.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:16.705Z,1749675316.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:16.708Z,1749675316.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 183.267563 m,
bearing: 327.599082 deg,
approach rate: -0.473174 m/s,
LOS rate: 0.011016 deg/s,
cmd heading: 319.694490 deg,
new cmd heading: 319.708885 deg.
2025-06-11T20:55:16.709Z,1749675316.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579973 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:16.897Z,1749675316.897 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:16.897Z,1749675316.897 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:16.897Z,1749675316.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:17.123Z,1749675317.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:17.126Z,1749675317.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 183.075317 m,
bearing: 327.603579 deg,
approach rate: -0.459583 m/s,
LOS rate: 0.010763 deg/s,
cmd heading: 319.708888 deg,
new cmd heading: 319.722395 deg.
2025-06-11T20:55:17.127Z,1749675317.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580208 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:17.151Z,1749675317.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753913
2025-06-11T20:55:17.402Z,1749675317.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004357
2025-06-11T20:55:17.455Z,1749675317.455 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T20:55:17.545Z,1749675317.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:17.552Z,1749675317.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 182.885437 m,
bearing: 327.609133 deg,
approach rate: -0.450084 m/s,
LOS rate: 0.013177 deg/s,
cmd heading: 319.722384 deg,
new cmd heading: 319.739062 deg.
2025-06-11T20:55:17.553Z,1749675317.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580499 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:17.654Z,1749675317.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256300
2025-06-11T20:55:17.905Z,1749675317.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507547
2025-06-11T20:55:17.903Z,1749675317.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:17.909Z,1749675317.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 182.713455 m,
bearing: 327.614172 deg,
approach rate: -0.479939 m/s,
LOS rate: 0.014076 deg/s,
cmd heading: 319.739050 deg,
new cmd heading: 319.754183 deg.
2025-06-11T20:55:17.911Z,1749675317.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580763 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:18.157Z,1749675318.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759765
2025-06-11T20:55:18.355Z,1749675318.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:18.358Z,1749675318.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 182.507034 m,
bearing: 327.620493 deg,
approach rate: -0.456769 m/s,
LOS rate: 0.014002 deg/s,
cmd heading: 319.754186 deg,
new cmd heading: 319.773170 deg.
2025-06-11T20:55:18.359Z,1749675318.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581095 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:18.412Z,1749675318.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013793
2025-06-11T20:55:18.661Z,1749675318.661 [DAT](INFO): DAT read: Rx Time:20:55:19.8193
2025-06-11T20:55:18.661Z,1749675318.661 [DAT](INFO): Rx dataTimestamp_ set to:1749675318.660960
2025-06-11T20:55:18.662Z,1749675318.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264504
2025-06-11T20:55:18.790Z,1749675318.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:18.796Z,1749675318.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:18.799Z,1749675318.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 182.306183 m,
bearing: 327.625320 deg,
approach rate: -0.460190 m/s,
LOS rate: 0.011071 deg/s,
cmd heading: 319.773174 deg,
new cmd heading: 319.787670 deg.
2025-06-11T20:55:18.804Z,1749675318.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581348 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:18.914Z,1749675318.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516214
2025-06-11T20:55:19.127Z,1749675319.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:19.130Z,1749675319.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 182.148895 m,
bearing: 327.629185 deg,
approach rate: -0.468835 m/s,
LOS rate: 0.011532 deg/s,
cmd heading: 319.787681 deg,
new cmd heading: 319.799288 deg.
2025-06-11T20:55:19.131Z,1749675319.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581551 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:19.171Z,1749675319.171 [DAT](INFO): DAT read: 20:55:19.8193 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 182,-0.23, 0.110,-1.199,-0.138,-0.500, PHS= 0.698,-0.652, 0.359, RAW= 136.0, -6.7, CAL= 141.8, -17.3, ROT= 8.2, 17.3
2025-06-11T20:55:19.172Z,1749675319.172 [DAT](INFO): got valid direction response:
20:55:19.8193 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 182,-0.23, 0.110,-1.199,-0.138,-0.500, PHS= 0.698,-0.652, 0.359, RAW= 136.0, -6.7, CAL= 141.8, -17.3, ROT= 8.2, 17.3
2025-06-11T20:55:19.173Z,1749675319.173 [DAT](INFO): DAT read: Bearing 8.2, 17.3 (Local)
2025-06-11T20:55:19.173Z,1749675319.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.2, 17.3 (Local)
2025-06-11T20:55:19.180Z,1749675319.180 [DAT](INFO): DAT read: Range 10 to 50 : 231.7 m (Round-trip 309.0 ms) speed 0.0 m/s
2025-06-11T20:55:19.181Z,1749675319.181 [DAT](INFO): DAT read: user:587>
2025-06-11T20:55:19.182Z,1749675319.182 [DAT](INFO): DAT read: Tx time:20:55:20.9061
2025-06-11T20:55:19.182Z,1749675319.182 [DAT](INFO): Ping request sent.
2025-06-11T20:55:19.182Z,1749675319.182 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:19.183Z,1749675319.183 [DAT](INFO): DAT read: TxSync time:20:55:20.9053
2025-06-11T20:55:19.183Z,1749675319.183 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:19.188Z,1749675319.188 [DAT](INFO): direction in FSK: [0.945000,0.136177,-0.297375]
2025-06-11T20:55:19.189Z,1749675319.189 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:19.189Z,1749675319.189 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:19.204Z,1749675319.204 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:19.205Z,1749675319.205 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:19.576Z,1749675319.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 231.699997 m,
deltaT: 3.780158 s,
deltaX: 38.500000 m,
approachRate: 10.184759 m/s,
rangeRepo size: 4
2025-06-11T20:55:19.577Z,1749675319.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:19.584Z,1749675319.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 181.956085 m,
bearing: 327.634765 deg,
approach rate: -0.430489 m/s,
LOS rate: 0.012471 deg/s,
cmd heading: 319.799292 deg,
new cmd heading: 319.816049 deg.
2025-06-11T20:55:19.585Z,1749675319.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581843 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:19.930Z,1749675319.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:19.934Z,1749675319.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 181.782745 m,
bearing: 327.639946 deg,
approach rate: -0.489276 m/s,
LOS rate: 0.014638 deg/s,
cmd heading: 319.816040 deg,
new cmd heading: 319.831598 deg.
2025-06-11T20:55:19.936Z,1749675319.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582114 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:20.337Z,1749675320.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:20.339Z,1749675320.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 181.598450 m,
bearing: 327.645583 deg,
approach rate: -0.452387 m/s,
LOS rate: 0.013852 deg/s,
cmd heading: 319.831586 deg,
new cmd heading: 319.848515 deg.
2025-06-11T20:55:20.341Z,1749675320.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582410 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:20.742Z,1749675320.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:20.761Z,1749675320.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 181.405396 m,
bearing: 327.650128 deg,
approach rate: -0.476924 m/s,
LOS rate: 0.011241 deg/s,
cmd heading: 319.848524 deg,
new cmd heading: 319.862175 deg.
2025-06-11T20:55:20.762Z,1749675320.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582648 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:21.142Z,1749675321.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:21.144Z,1749675321.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:21.147Z,1749675321.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 181.225784 m,
bearing: 327.654269 deg,
approach rate: -0.446150 m/s,
LOS rate: 0.010295 deg/s,
cmd heading: 319.862185 deg,
new cmd heading: 319.874618 deg.
2025-06-11T20:55:21.148Z,1749675321.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582865 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:21.181Z,1749675321.181 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:21.181Z,1749675321.181 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:21.182Z,1749675321.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:21.435Z,1749675321.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252987
2025-06-11T20:55:21.557Z,1749675321.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:21.560Z,1749675321.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 181.035675 m,
bearing: 327.657428 deg,
approach rate: -0.460894 m/s,
LOS rate: 0.007667 deg/s,
cmd heading: 319.874616 deg,
new cmd heading: 319.884103 deg.
2025-06-11T20:55:21.561Z,1749675321.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583031 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:21.685Z,1749675321.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502684
2025-06-11T20:55:21.938Z,1749675321.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755511
2025-06-11T20:55:21.970Z,1749675321.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:21.973Z,1749675321.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 180.850266 m,
bearing: 327.660455 deg,
approach rate: -0.448684 m/s,
LOS rate: 0.007332 deg/s,
cmd heading: 319.884096 deg,
new cmd heading: 319.893186 deg.
2025-06-11T20:55:21.974Z,1749675321.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583189 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:22.190Z,1749675322.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007128
2025-06-11T20:55:22.347Z,1749675322.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:22.350Z,1749675322.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 180.680801 m,
bearing: 327.663169 deg,
approach rate: -0.448998 m/s,
LOS rate: 0.007199 deg/s,
cmd heading: 319.893194 deg,
new cmd heading: 319.901345 deg.
2025-06-11T20:55:22.351Z,1749675322.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583332 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:22.446Z,1749675322.446 [DAT](INFO): DAT read: Rx Time:20:55:23.6162
2025-06-11T20:55:22.448Z,1749675322.448 [DAT](INFO): Rx dataTimestamp_ set to:1749675322.446591
2025-06-11T20:55:22.450Z,1749675322.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267214
2025-06-11T20:55:22.693Z,1749675322.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510700
2025-06-11T20:55:22.825Z,1749675322.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.52 m.
2025-06-11T20:55:22.832Z,1749675322.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 191.519531 m,
nav range: 180.463089 m,
bearing: 327.665165 deg,
approach rate: -0.455723 m/s,
LOS rate: 0.004183 deg/s,
cmd heading: 319.901335 deg,
new cmd heading: 319.907331 deg.
2025-06-11T20:55:22.833Z,1749675322.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583436 target range: 191.519531 and range: 193.20 m.
2025-06-11T20:55:22.951Z,1749675322.951 [DAT](INFO): DAT read: 20:55:23.6162 LVL= 26016, 31057, 22754, 32755, AGC= 66, IDX= 137,-0.03,-0.490,-1.897,-0.705,-1.113, PHS= 0.711,-0.737, 0.405, RAW= 138.4, -5.8, CAL= 144.2, -15.7, ROT= 5.8, 15.7
2025-06-11T20:55:22.953Z,1749675322.953 [DAT](INFO): got valid direction response:
20:55:23.6162 LVL= 26016, 31057, 22754, 32755, AGC= 66, IDX= 137,-0.03,-0.490,-1.897,-0.705,-1.113, PHS= 0.711,-0.737, 0.405, RAW= 138.4, -5.8, CAL= 144.2, -15.7, ROT= 5.8, 15.7
2025-06-11T20:55:22.954Z,1749675322.954 [DAT](INFO): DAT read: Bearing 5.8, 15.7 (Local)
2025-06-11T20:55:22.954Z,1749675322.954 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.8, 15.7 (Local)
2025-06-11T20:55:22.956Z,1749675322.956 [DAT](INFO): DAT read: Range 10 to 50 : 229.4 m (Round-trip 305.9 ms) speed 0.1 m/s
2025-06-11T20:55:22.956Z,1749675322.956 [DAT](INFO): DAT read: user:588>
2025-06-11T20:55:22.957Z,1749675322.957 [DAT](INFO): DAT read: Tx time:20:55:24.7061
2025-06-11T20:55:22.957Z,1749675322.957 [DAT](INFO): Ping request sent.
2025-06-11T20:55:22.958Z,1749675322.958 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:22.958Z,1749675322.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:22.959Z,1749675322.959 [DAT](INFO): direction in FSK: [0.957763,0.097286,-0.270600]
2025-06-11T20:55:22.959Z,1749675322.959 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:22.959Z,1749675322.959 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:22.963Z,1749675322.963 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:22.963Z,1749675322.963 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:23.197Z,1749675323.197 [DAT](INFO): DAT read: TxSync time:20:55:24.7053
2025-06-11T20:55:23.281Z,1749675323.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 229.399994 m,
deltaT: 7.560505 s,
deltaX: 36.199997 m,
approachRate: 4.788040 m/s,
rangeRepo size: 4
2025-06-11T20:55:23.283Z,1749675323.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 227.407013 m,
bearing: 326.881414 deg,
lat: 36.906390 deg,
lon: -122.115445 deg,
deltaT: 7.560505 s,
deltaX: 35.887482 m,
approachRate: 4.746704 m/s,
posRepo size: 4
2025-06-11T20:55:23.292Z,1749675323.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.41 m.
2025-06-11T20:55:23.294Z,1749675323.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.407013 m,
nav range: 180.712540 m,
bearing: 327.751910 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004183 deg/s,
cmd heading: 319.907319 deg,
new cmd heading: 319.912717 deg.
2025-06-11T20:55:23.295Z,1749675323.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583530 target range: 227.407013 and range: 229.40 m.
2025-06-11T20:55:23.642Z,1749675323.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:23.644Z,1749675323.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.41 m.
2025-06-11T20:55:23.647Z,1749675323.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.407013 m,
nav range: 180.513092 m,
bearing: 327.753836 deg,
approach rate: -0.513545 m/s,
LOS rate: 0.004965 deg/s,
cmd heading: 319.912728 deg,
new cmd heading: 319.918513 deg.
2025-06-11T20:55:23.647Z,1749675323.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583632 target range: 227.407013 and range: 229.40 m.
2025-06-11T20:55:23.701Z,1749675323.701 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:23.702Z,1749675323.702 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:23.702Z,1749675323.702 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:23.953Z,1749675323.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995171
2025-06-11T20:55:24.010Z,1749675324.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.41 m.
2025-06-11T20:55:24.013Z,1749675324.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.407013 m,
nav range: 180.334595 m,
bearing: 327.755564 deg,
approach rate: -0.487751 m/s,
LOS rate: 0.004725 deg/s,
cmd heading: 319.918520 deg,
new cmd heading: 319.923708 deg.
2025-06-11T20:55:24.014Z,1749675324.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583722 target range: 227.407013 and range: 229.40 m.
2025-06-11T20:55:24.205Z,1749675324.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247139
2025-06-11T20:55:24.398Z,1749675324.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.41 m.
2025-06-11T20:55:24.401Z,1749675324.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.407013 m,
nav range: 180.154541 m,
bearing: 327.757267 deg,
approach rate: -0.463448 m/s,
LOS rate: 0.004388 deg/s,
cmd heading: 319.923711 deg,
new cmd heading: 319.928826 deg.
2025-06-11T20:55:24.402Z,1749675324.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583811 target range: 227.407013 and range: 229.40 m.
2025-06-11T20:55:24.463Z,1749675324.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504910
2025-06-11T20:55:24.709Z,1749675324.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751155
2025-06-11T20:55:24.826Z,1749675324.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.41 m.
2025-06-11T20:55:24.829Z,1749675324.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.407013 m,
nav range: 179.944641 m,
bearing: 327.758264 deg,
approach rate: -0.490609 m/s,
LOS rate: 0.002335 deg/s,
cmd heading: 319.928820 deg,
new cmd heading: 319.931817 deg.
2025-06-11T20:55:24.830Z,1749675324.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583864 target range: 227.407013 and range: 229.40 m.
2025-06-11T20:55:24.961Z,1749675324.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003319
2025-06-11T20:55:25.213Z,1749675325.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255313
2025-06-11T20:55:25.218Z,1749675325.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.41 m.
2025-06-11T20:55:25.221Z,1749675325.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.407013 m,
nav range: 179.754730 m,
bearing: 327.759141 deg,
approach rate: -0.484259 m/s,
LOS rate: 0.002238 deg/s,
cmd heading: 319.931825 deg,
new cmd heading: 319.934459 deg.
2025-06-11T20:55:25.222Z,1749675325.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583910 target range: 227.407013 and range: 229.40 m.
2025-06-11T20:55:25.467Z,1749675325.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508693
2025-06-11T20:55:25.642Z,1749675325.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.41 m.
2025-06-11T20:55:25.661Z,1749675325.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.407013 m,
nav range: 179.539627 m,
bearing: 327.759025 deg,
approach rate: -0.507035 m/s,
LOS rate: -0.000275 deg/s,
cmd heading: 319.934448 deg,
new cmd heading: 319.934098 deg.
2025-06-11T20:55:25.662Z,1749675325.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583903 target range: 227.407013 and range: 229.40 m.
2025-06-11T20:55:25.718Z,1749675325.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760396
2025-06-11T20:55:25.969Z,1749675325.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011248
2025-06-11T20:55:26.038Z,1749675326.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:26.040Z,1749675326.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.41 m.
2025-06-11T20:55:26.043Z,1749675326.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.407013 m,
nav range: 179.340668 m,
bearing: 327.758916 deg,
approach rate: -0.500444 m/s,
LOS rate: -0.000272 deg/s,
cmd heading: 319.934093 deg,
new cmd heading: 319.933768 deg.
2025-06-11T20:55:26.060Z,1749675326.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583898 target range: 227.407013 and range: 229.40 m.
2025-06-11T20:55:26.221Z,1749675326.221 [DAT](INFO): DAT read: Rx Time:20:55:27.4148
2025-06-11T20:55:26.221Z,1749675326.221 [DAT](INFO): Rx dataTimestamp_ set to:1749675326.221099
2025-06-11T20:55:26.222Z,1749675326.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264370
2025-06-11T20:55:26.436Z,1749675326.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.41 m.
2025-06-11T20:55:26.446Z,1749675326.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 227.407013 m,
nav range: 179.152115 m,
bearing: 327.758481 deg,
approach rate: -0.475679 m/s,
LOS rate: -0.001100 deg/s,
cmd heading: 319.933765 deg,
new cmd heading: 319.932457 deg.
2025-06-11T20:55:26.447Z,1749675326.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583875 target range: 227.407013 and range: 229.40 m.
2025-06-11T20:55:26.473Z,1749675326.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515444
2025-06-11T20:55:26.731Z,1749675326.731 [DAT](INFO): DAT read: 20:55:27.4148 LVL= 26400, 32753, 25874, 32755, AGC= 64, IDX= 145, 0.29, 3.029, 1.708, 2.887, 2.466, PHS= 0.652,-0.711, 0.419, RAW= 140.8, -5.7, CAL= 146.6, -15.2, ROT= 3.4, 15.2
2025-06-11T20:55:26.733Z,1749675326.733 [DAT](INFO): got valid direction response:
20:55:27.4148 LVL= 26400, 32753, 25874, 32755, AGC= 64, IDX= 145, 0.29, 3.029, 1.708, 2.887, 2.466, PHS= 0.652,-0.711, 0.419, RAW= 140.8, -5.7, CAL= 146.6, -15.2, ROT= 3.4, 15.2
2025-06-11T20:55:26.734Z,1749675326.734 [DAT](INFO): DAT read: Bearing 3.4, 15.2 (Local)
2025-06-11T20:55:26.734Z,1749675326.734 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.4, 15.2 (Local)
2025-06-11T20:55:26.736Z,1749675326.736 [DAT](INFO): DAT read: Range 10 to 50 : 228.3 m (Round-trip 304.4 ms) speed 0.5 m/s
2025-06-11T20:55:26.737Z,1749675326.737 [DAT](INFO): DAT read: user:589>
2025-06-11T20:55:26.737Z,1749675326.737 [DAT](INFO): DAT read: Tx time:20:55:28.5062
2025-06-11T20:55:26.738Z,1749675326.738 [DAT](INFO): Ping request sent.
2025-06-11T20:55:26.738Z,1749675326.738 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:26.738Z,1749675326.738 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:26.739Z,1749675326.739 [DAT](INFO): direction in FSK: [0.963318,0.057232,-0.262189]
2025-06-11T20:55:26.739Z,1749675326.739 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:26.740Z,1749675326.740 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:26.743Z,1749675326.743 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:26.743Z,1749675326.743 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:26.934Z,1749675326.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 228.300003 m,
deltaT: 3.779649 s,
deltaX: -1.099991 m,
approachRate: -0.291030 m/s,
rangeRepo size: 4
2025-06-11T20:55:26.945Z,1749675326.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 226.316772 m,
bearing: 324.995328 deg,
lat: 36.906631 deg,
lon: -122.115620 deg,
deltaT: 3.779649 s,
deltaX: -1.090240 m,
approachRate: -0.288450 m/s,
posRepo size: 4
2025-06-11T20:55:26.946Z,1749675326.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:26.953Z,1749675326.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 209.931931 m,
bearing: 328.076033 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001100 deg/s,
cmd heading: 319.932454 deg,
new cmd heading: 319.930834 deg.
2025-06-11T20:55:26.954Z,1749675326.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583847 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:26.977Z,1749675326.977 [DAT](INFO): DAT read: TxSync time:20:55:28.5054
2025-06-11T20:55:27.244Z,1749675327.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:27.247Z,1749675327.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 209.756287 m,
bearing: 328.077097 deg,
approach rate: -0.554919 m/s,
LOS rate: 0.003363 deg/s,
cmd heading: 319.930842 deg,
new cmd heading: 319.934035 deg.
2025-06-11T20:55:27.264Z,1749675327.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583902 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:27.690Z,1749675327.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:27.693Z,1749675327.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 209.540710 m,
bearing: 328.077719 deg,
approach rate: -0.482733 m/s,
LOS rate: 0.001396 deg/s,
cmd heading: 319.934038 deg,
new cmd heading: 319.935908 deg.
2025-06-11T20:55:27.694Z,1749675327.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583935 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:28.128Z,1749675328.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:28.130Z,1749675328.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:28.133Z,1749675328.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 209.328461 m,
bearing: 328.078470 deg,
approach rate: -0.482344 m/s,
LOS rate: 0.001708 deg/s,
cmd heading: 319.935896 deg,
new cmd heading: 319.938150 deg.
2025-06-11T20:55:28.134Z,1749675328.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583974 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:28.237Z,1749675328.237 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:28.237Z,1749675328.237 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:28.237Z,1749675328.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:28.452Z,1749675328.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:28.455Z,1749675328.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 209.173035 m,
bearing: 328.079025 deg,
approach rate: -0.483509 m/s,
LOS rate: 0.001729 deg/s,
cmd heading: 319.938164 deg,
new cmd heading: 319.939831 deg.
2025-06-11T20:55:28.456Z,1749675328.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584003 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:28.490Z,1749675328.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752621
2025-06-11T20:55:28.741Z,1749675328.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003195
2025-06-11T20:55:28.883Z,1749675328.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:28.886Z,1749675328.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 208.963638 m,
bearing: 328.081069 deg,
approach rate: -0.485239 m/s,
LOS rate: 0.004741 deg/s,
cmd heading: 319.939830 deg,
new cmd heading: 319.945968 deg.
2025-06-11T20:55:28.887Z,1749675328.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584111 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:28.993Z,1749675328.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255173
2025-06-11T20:55:29.245Z,1749675329.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506902
2025-06-11T20:55:29.274Z,1749675329.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:29.276Z,1749675329.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 208.774643 m,
bearing: 328.082940 deg,
approach rate: -0.484495 m/s,
LOS rate: 0.004800 deg/s,
cmd heading: 319.945978 deg,
new cmd heading: 319.951595 deg.
2025-06-11T20:55:29.277Z,1749675329.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584209 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:29.499Z,1749675329.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760977
2025-06-11T20:55:29.693Z,1749675329.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:29.695Z,1749675329.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 208.577728 m,
bearing: 328.085904 deg,
approach rate: -0.469622 m/s,
LOS rate: 0.007075 deg/s,
cmd heading: 319.951606 deg,
new cmd heading: 319.960506 deg.
2025-06-11T20:55:29.697Z,1749675329.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584364 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:29.750Z,1749675329.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011998
2025-06-11T20:55:30.001Z,1749675330.001 [DAT](INFO): DAT read: Rx Time:20:55:31.1584
2025-06-11T20:55:30.001Z,1749675330.001 [DAT](INFO): Rx dataTimestamp_ set to:1749675330.001043
2025-06-11T20:55:30.002Z,1749675330.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264130
2025-06-11T20:55:30.065Z,1749675330.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:30.067Z,1749675330.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 208.402527 m,
bearing: 328.088591 deg,
approach rate: -0.471010 m/s,
LOS rate: 0.007231 deg/s,
cmd heading: 319.960512 deg,
new cmd heading: 319.968581 deg.
2025-06-11T20:55:30.081Z,1749675330.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584505 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:30.253Z,1749675330.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515078
2025-06-11T20:55:30.511Z,1749675330.511 [DAT](INFO): DAT read: 20:55:31.1584 LVL= 29552, 32753, 24018, 32755, AGC= 62, IDX= 376, 0.12,-2.908, 1.801,-3.079, 2.763, PHS= 0.700,-0.915, 0.438, RAW= 141.3, -3.0, CAL= 146.4, -12.2, ROT= 3.6, 12.2
2025-06-11T20:55:30.512Z,1749675330.512 [DAT](INFO): got valid direction response:
20:55:31.1584 LVL= 29552, 32753, 24018, 32755, AGC= 62, IDX= 376, 0.12,-2.908, 1.801,-3.079, 2.763, PHS= 0.700,-0.915, 0.438, RAW= 141.3, -3.0, CAL= 146.4, -12.2, ROT= 3.6, 12.2
2025-06-11T20:55:30.513Z,1749675330.513 [DAT](INFO): DAT read: Bearing 3.6, 12.2 (Local)
2025-06-11T20:55:30.513Z,1749675330.513 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.6, 12.2 (Local)
2025-06-11T20:55:30.515Z,1749675330.515 [DAT](INFO): DAT read: Range 10 to 50 : 186.0 m (Round-trip 248.1 ms) speed 0.2 m/s
2025-06-11T20:55:30.517Z,1749675330.517 [DAT](INFO): DAT read: user:590>
2025-06-11T20:55:30.517Z,1749675330.517 [DAT](INFO): DAT read: Tx time:20:55:32.2562
2025-06-11T20:55:30.518Z,1749675330.518 [DAT](INFO): Ping request sent.
2025-06-11T20:55:30.518Z,1749675330.518 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:30.518Z,1749675330.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:30.519Z,1749675330.519 [DAT](INFO): direction in FSK: [0.975487,0.061372,-0.211325]
2025-06-11T20:55:30.519Z,1749675330.519 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:30.520Z,1749675330.520 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:30.530Z,1749675330.530 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:30.530Z,1749675330.530 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:30.621Z,1749675330.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 186.000000 m,
deltaT: 3.779994 s,
deltaX: -42.300003 m,
approachRate: -11.190495 m/s,
rangeRepo size: 4
2025-06-11T20:55:30.622Z,1749675330.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:30.632Z,1749675330.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 208.177414 m,
bearing: 328.092061 deg,
approach rate: -0.409193 m/s,
LOS rate: 0.006314 deg/s,
cmd heading: 319.968572 deg,
new cmd heading: 319.978993 deg.
2025-06-11T20:55:30.633Z,1749675330.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584687 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:30.758Z,1749675330.758 [DAT](INFO): DAT read: TxSync time:20:55:32.2554
2025-06-11T20:55:30.930Z,1749675330.930 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T20:55:31.025Z,1749675331.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:31.027Z,1749675331.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:31.030Z,1749675331.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 207.961304 m,
bearing: 328.096722 deg,
approach rate: -0.524811 m/s,
LOS rate: 0.011330 deg/s,
cmd heading: 319.978981 deg,
new cmd heading: 319.992978 deg.
2025-06-11T20:55:31.031Z,1749675331.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584931 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:31.261Z,1749675331.261 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:31.261Z,1749675331.261 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:31.261Z,1749675331.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:31.417Z,1749675331.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:31.419Z,1749675331.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 207.785965 m,
bearing: 328.100613 deg,
approach rate: -0.449682 m/s,
LOS rate: 0.009988 deg/s,
cmd heading: 319.992969 deg,
new cmd heading: 320.004653 deg.
2025-06-11T20:55:31.421Z,1749675331.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585135 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:31.514Z,1749675331.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995990
2025-06-11T20:55:31.765Z,1749675331.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247047
2025-06-11T20:55:31.815Z,1749675331.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:31.822Z,1749675331.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 207.618195 m,
bearing: 328.104458 deg,
approach rate: -0.421664 m/s,
LOS rate: 0.009673 deg/s,
cmd heading: 320.004663 deg,
new cmd heading: 320.016208 deg.
2025-06-11T20:55:31.823Z,1749675331.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585337 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:32.017Z,1749675332.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499002
2025-06-11T20:55:32.198Z,1749675332.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:32.201Z,1749675332.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 207.442261 m,
bearing: 328.108362 deg,
approach rate: -0.459042 m/s,
LOS rate: 0.010193 deg/s,
cmd heading: 320.016219 deg,
new cmd heading: 320.027939 deg.
2025-06-11T20:55:32.202Z,1749675332.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585541 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:32.270Z,1749675332.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751809
2025-06-11T20:55:32.521Z,1749675332.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002949
2025-06-11T20:55:32.651Z,1749675332.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:32.659Z,1749675332.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 207.261307 m,
bearing: 328.112281 deg,
approach rate: -0.399193 m/s,
LOS rate: 0.008653 deg/s,
cmd heading: 320.027940 deg,
new cmd heading: 320.039707 deg.
2025-06-11T20:55:32.664Z,1749675332.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585747 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:32.773Z,1749675332.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255060
2025-06-11T20:55:33.000Z,1749675333.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:33.003Z,1749675333.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 207.090286 m,
bearing: 328.116505 deg,
approach rate: -0.490422 m/s,
LOS rate: 0.012123 deg/s,
cmd heading: 320.039715 deg,
new cmd heading: 320.052398 deg.
2025-06-11T20:55:33.004Z,1749675333.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585968 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:33.025Z,1749675333.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507023
2025-06-11T20:55:33.277Z,1749675333.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758937
2025-06-11T20:55:33.382Z,1749675333.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:33.384Z,1749675333.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:33.387Z,1749675333.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 206.922684 m,
bearing: 328.120574 deg,
approach rate: -0.436242 m/s,
LOS rate: 0.010600 deg/s,
cmd heading: 320.052392 deg,
new cmd heading: 320.064609 deg.
2025-06-11T20:55:33.388Z,1749675333.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586181 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:33.530Z,1749675333.530 [DAT](INFO): DAT read: Rx Time:20:55:34.9337
2025-06-11T20:55:33.530Z,1749675333.530 [DAT](INFO): Rx dataTimestamp_ set to:1749675333.530071
2025-06-11T20:55:33.531Z,1749675333.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013111
2025-06-11T20:55:33.781Z,1749675333.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263038
2025-06-11T20:55:33.821Z,1749675333.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:33.831Z,1749675333.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 206.739822 m,
bearing: 328.125425 deg,
approach rate: -0.418234 m/s,
LOS rate: 0.011106 deg/s,
cmd heading: 320.064604 deg,
new cmd heading: 320.079171 deg.
2025-06-11T20:55:33.837Z,1749675333.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586435 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:34.033Z,1749675334.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514941
2025-06-11T20:55:34.195Z,1749675334.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.32 m.
2025-06-11T20:55:34.198Z,1749675334.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.316772 m,
nav range: 206.564133 m,
bearing: 328.130058 deg,
approach rate: -0.470234 m/s,
LOS rate: 0.012409 deg/s,
cmd heading: 320.079166 deg,
new cmd heading: 320.093075 deg.
2025-06-11T20:55:34.199Z,1749675334.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586678 target range: 226.316772 and range: 228.30 m.
2025-06-11T20:55:34.293Z,1749675334.293 [DAT](INFO): DAT read: 20:55:34.9337 LVL= 23696, 32753, 22466, 26371, AGC= 63, IDX= 188, 0.06, 2.387, 0.849, 2.220, 1.769, PHS= 0.706,-0.873, 0.448, RAW= 141.3, -3.9, CAL= 146.6, -13.2, ROT= 3.4, 13.2
2025-06-11T20:55:34.294Z,1749675334.294 [DAT](INFO): got valid direction response:
20:55:34.9337 LVL= 23696, 32753, 22466, 26371, AGC= 63, IDX= 188, 0.06, 2.387, 0.849, 2.220, 1.769, PHS= 0.706,-0.873, 0.448, RAW= 141.3, -3.9, CAL= 146.6, -13.2, ROT= 3.4, 13.2
2025-06-11T20:55:34.295Z,1749675334.295 [DAT](INFO): DAT read: Bearing 3.4, 13.2 (Local)
2025-06-11T20:55:34.297Z,1749675334.297 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.4, 13.2 (Local)
2025-06-11T20:55:34.299Z,1749675334.299 [DAT](INFO): DAT read: Range 10 to 50 : 205.0 m (Round-trip 273.4 ms) speed 0.4 m/s
2025-06-11T20:55:34.299Z,1749675334.299 [DAT](INFO): DAT read: user:591>
2025-06-11T20:55:34.300Z,1749675334.300 [DAT](INFO): DAT read: Tx time:20:55:36.0562
2025-06-11T20:55:34.300Z,1749675334.300 [DAT](INFO): Ping request sent.
2025-06-11T20:55:34.301Z,1749675334.301 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:34.301Z,1749675334.301 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:34.302Z,1749675334.302 [DAT](INFO): direction in FSK: [0.971865,0.057739,-0.228351]
2025-06-11T20:55:34.302Z,1749675334.302 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:34.302Z,1749675334.302 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:34.338Z,1749675334.338 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:34.338Z,1749675334.338 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:34.537Z,1749675334.537 [DAT](INFO): DAT read: TxSync time:20:55:36.0554
2025-06-11T20:55:34.686Z,1749675334.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 205.000000 m,
deltaT: 7.560620 s,
deltaX: -23.300003 m,
approachRate: -3.081758 m/s,
rangeRepo size: 4
2025-06-11T20:55:34.692Z,1749675334.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 203.219284 m,
bearing: 325.132816 deg,
lat: 36.906631 deg,
lon: -122.115663 deg,
deltaT: 7.560620 s,
deltaX: -23.097488 m,
approachRate: -3.054973 m/s,
posRepo size: 4
2025-06-11T20:55:34.693Z,1749675334.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.22 m.
2025-06-11T20:55:34.695Z,1749675334.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.219284 m,
nav range: 208.416473 m,
bearing: 327.247746 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012409 deg/s,
cmd heading: 320.093073 deg,
new cmd heading: 320.111336 deg.
2025-06-11T20:55:34.701Z,1749675334.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586997 target range: 203.219284 and range: 205.00 m.
2025-06-11T20:55:35.030Z,1749675335.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.22 m.
2025-06-11T20:55:35.033Z,1749675335.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.219284 m,
nav range: 208.222305 m,
bearing: 327.251302 deg,
approach rate: -0.563996 m/s,
LOS rate: 0.010340 deg/s,
cmd heading: 320.111323 deg,
new cmd heading: 320.122002 deg.
2025-06-11T20:55:35.033Z,1749675335.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587183 target range: 203.219284 and range: 205.00 m.
2025-06-11T20:55:35.395Z,1749675335.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:35.398Z,1749675335.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.22 m.
2025-06-11T20:55:35.400Z,1749675335.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.219284 m,
nav range: 208.057022 m,
bearing: 327.254434 deg,
approach rate: -0.449140 m/s,
LOS rate: 0.008516 deg/s,
cmd heading: 320.122005 deg,
new cmd heading: 320.131407 deg.
2025-06-11T20:55:35.401Z,1749675335.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587347 target range: 203.219284 and range: 205.00 m.
2025-06-11T20:55:35.545Z,1749675335.545 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:35.545Z,1749675335.545 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:35.545Z,1749675335.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:35.797Z,1749675335.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496202
2025-06-11T20:55:35.832Z,1749675335.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.22 m.
2025-06-11T20:55:35.835Z,1749675335.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.219284 m,
nav range: 207.854462 m,
bearing: 327.257546 deg,
approach rate: -0.466348 m/s,
LOS rate: 0.007170 deg/s,
cmd heading: 320.131404 deg,
new cmd heading: 320.140747 deg.
2025-06-11T20:55:35.852Z,1749675335.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587510 target range: 203.219284 and range: 205.00 m.
2025-06-11T20:55:36.049Z,1749675336.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748224
2025-06-11T20:55:36.220Z,1749675336.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.22 m.
2025-06-11T20:55:36.222Z,1749675336.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.219284 m,
nav range: 207.673737 m,
bearing: 327.260255 deg,
approach rate: -0.466291 m/s,
LOS rate: 0.006996 deg/s,
cmd heading: 320.140747 deg,
new cmd heading: 320.148882 deg.
2025-06-11T20:55:36.223Z,1749675336.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587652 target range: 203.219284 and range: 205.00 m.
2025-06-11T20:55:36.301Z,1749675336.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000707
2025-06-11T20:55:36.553Z,1749675336.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252279
2025-06-11T20:55:36.643Z,1749675336.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.22 m.
2025-06-11T20:55:36.671Z,1749675336.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.219284 m,
nav range: 207.483063 m,
bearing: 327.263062 deg,
approach rate: -0.451154 m/s,
LOS rate: 0.006648 deg/s,
cmd heading: 320.148889 deg,
new cmd heading: 320.157318 deg.
2025-06-11T20:55:36.695Z,1749675336.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587800 target range: 203.219284 and range: 205.00 m.
2025-06-11T20:55:36.805Z,1749675336.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504239
2025-06-11T20:55:37.034Z,1749675337.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.22 m.
2025-06-11T20:55:37.037Z,1749675337.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.219284 m,
nav range: 207.285767 m,
bearing: 327.264368 deg,
approach rate: -0.503653 m/s,
LOS rate: 0.003338 deg/s,
cmd heading: 320.157331 deg,
new cmd heading: 320.161254 deg.
2025-06-11T20:55:37.038Z,1749675337.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587868 target range: 203.219284 and range: 205.00 m.
2025-06-11T20:55:37.057Z,1749675337.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756180
2025-06-11T20:55:37.309Z,1749675337.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008276
2025-06-11T20:55:37.427Z,1749675337.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:37.430Z,1749675337.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.22 m.
2025-06-11T20:55:37.433Z,1749675337.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.219284 m,
nav range: 207.093277 m,
bearing: 327.265646 deg,
approach rate: -0.486268 m/s,
LOS rate: 0.003229 deg/s,
cmd heading: 320.161265 deg,
new cmd heading: 320.165100 deg.
2025-06-11T20:55:37.434Z,1749675337.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587935 target range: 203.219284 and range: 205.00 m.
2025-06-11T20:55:37.561Z,1749675337.561 [DAT](INFO): DAT read: Rx Time:20:55:38.7313
2025-06-11T20:55:37.561Z,1749675337.561 [DAT](INFO): Rx dataTimestamp_ set to:1749675337.561038
2025-06-11T20:55:37.562Z,1749675337.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261330
2025-06-11T20:55:37.813Z,1749675337.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512222
2025-06-11T20:55:37.926Z,1749675337.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.22 m.
2025-06-11T20:55:37.941Z,1749675337.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 203.219284 m,
nav range: 206.881790 m,
bearing: 327.266492 deg,
approach rate: -0.432127 m/s,
LOS rate: 0.001730 deg/s,
cmd heading: 320.165090 deg,
new cmd heading: 320.167631 deg.
2025-06-11T20:55:37.942Z,1749675337.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587979 target range: 203.219284 and range: 205.00 m.
2025-06-11T20:55:38.074Z,1749675338.074 [DAT](INFO): DAT read: 20:55:38.7313 LVL= 22000, 32753, 22226, 32755, AGC= 69, IDX= 418, 0.06, 0.052,-1.419,-0.122,-0.553, PHS= 0.693,-0.819, 0.428, RAW= 140.6, -4.4, CAL= 146.0, -13.8, ROT= 4.0, 13.8
2025-06-11T20:55:38.075Z,1749675338.075 [DAT](INFO): got valid direction response:
20:55:38.7313 LVL= 22000, 32753, 22226, 32755, AGC= 69, IDX= 418, 0.06, 0.052,-1.419,-0.122,-0.553, PHS= 0.693,-0.819, 0.428, RAW= 140.6, -4.4, CAL= 146.0, -13.8, ROT= 4.0, 13.8
2025-06-11T20:55:38.077Z,1749675338.077 [DAT](INFO): DAT read: Bearing 4.0, 13.8 (Local)
2025-06-11T20:55:38.077Z,1749675338.077 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.0, 13.8 (Local)
2025-06-11T20:55:38.078Z,1749675338.078 [DAT](INFO): DAT read: Range 10 to 50 : 203.1 m (Round-trip 270.8 ms) speed 0.1 m/s
2025-06-11T20:55:38.079Z,1749675338.079 [DAT](INFO): DAT read: user:592>
2025-06-11T20:55:38.080Z,1749675338.080 [DAT](INFO): DAT read: Tx time:20:55:39.8563
2025-06-11T20:55:38.081Z,1749675338.081 [DAT](INFO): Ping request sent.
2025-06-11T20:55:38.081Z,1749675338.081 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:38.081Z,1749675338.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:38.082Z,1749675338.082 [DAT](INFO): direction in FSK: [0.968769,0.067743,-0.238533]
2025-06-11T20:55:38.082Z,1749675338.082 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:38.082Z,1749675338.082 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:38.086Z,1749675338.086 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:38.086Z,1749675338.086 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:38.312Z,1749675338.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 203.100006 m,
deltaT: 3.782894 s,
deltaX: -1.899994 m,
approachRate: -0.502259 m/s,
rangeRepo size: 4
2025-06-11T20:55:38.314Z,1749675338.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 201.338181 m,
bearing: 325.845381 deg,
lat: 36.906516 deg,
lon: -122.115663 deg,
deltaT: 3.782894 s,
deltaX: -1.881104 m,
approachRate: -0.497266 m/s,
posRepo size: 4
2025-06-11T20:55:38.315Z,1749675338.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.34 m.
2025-06-11T20:55:38.318Z,1749675338.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.338181 m,
nav range: 195.980255 m,
bearing: 325.234058 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001730 deg/s,
cmd heading: 320.167631 deg,
new cmd heading: 320.169645 deg.
2025-06-11T20:55:38.319Z,1749675338.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588015 target range: 201.338181 and range: 203.10 m.
2025-06-11T20:55:38.321Z,1749675338.321 [DAT](INFO): DAT read: TxSync time:20:55:39.8555
2025-06-11T20:55:38.639Z,1749675338.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.34 m.
2025-06-11T20:55:38.645Z,1749675338.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.338181 m,
nav range: 195.798218 m,
bearing: 325.233012 deg,
approach rate: -0.548449 m/s,
LOS rate: -0.003155 deg/s,
cmd heading: 320.169653 deg,
new cmd heading: 320.166511 deg.
2025-06-11T20:55:38.647Z,1749675338.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587960 target range: 201.338181 and range: 203.10 m.
2025-06-11T20:55:39.065Z,1749675339.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.34 m.
2025-06-11T20:55:39.067Z,1749675339.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.338181 m,
nav range: 195.582932 m,
bearing: 325.230739 deg,
approach rate: -0.506136 m/s,
LOS rate: -0.005351 deg/s,
cmd heading: 320.166511 deg,
new cmd heading: 320.159683 deg.
2025-06-11T20:55:39.069Z,1749675339.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587841 target range: 201.338181 and range: 203.10 m.
2025-06-11T20:55:39.444Z,1749675339.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:39.446Z,1749675339.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.34 m.
2025-06-11T20:55:39.449Z,1749675339.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.338181 m,
nav range: 195.389862 m,
bearing: 325.228874 deg,
approach rate: -0.505702 m/s,
LOS rate: -0.004890 deg/s,
cmd heading: 320.159681 deg,
new cmd heading: 320.154080 deg.
2025-06-11T20:55:39.450Z,1749675339.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587743 target range: 201.338181 and range: 203.10 m.
2025-06-11T20:55:39.581Z,1749675339.581 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:39.581Z,1749675339.581 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:39.581Z,1749675339.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:39.833Z,1749675339.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752117
2025-06-11T20:55:39.894Z,1749675339.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.34 m.
2025-06-11T20:55:39.902Z,1749675339.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.338181 m,
nav range: 195.170074 m,
bearing: 325.225567 deg,
approach rate: -0.490955 m/s,
LOS rate: -0.007395 deg/s,
cmd heading: 320.154080 deg,
new cmd heading: 320.144149 deg.
2025-06-11T20:55:39.903Z,1749675339.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587569 target range: 201.338181 and range: 203.10 m.
2025-06-11T20:55:40.085Z,1749675340.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004048
2025-06-11T20:55:40.253Z,1749675340.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.34 m.
2025-06-11T20:55:40.255Z,1749675340.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.338181 m,
nav range: 194.990540 m,
bearing: 325.222821 deg,
approach rate: -0.500802 m/s,
LOS rate: -0.007666 deg/s,
cmd heading: 320.144135 deg,
new cmd heading: 320.135890 deg.
2025-06-11T20:55:40.256Z,1749675340.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587425 target range: 201.338181 and range: 203.10 m.
2025-06-11T20:55:40.338Z,1749675340.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256985
2025-06-11T20:55:40.589Z,1749675340.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508030
2025-06-11T20:55:40.664Z,1749675340.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.34 m.
2025-06-11T20:55:40.666Z,1749675340.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.338181 m,
nav range: 194.787186 m,
bearing: 325.219667 deg,
approach rate: -0.494686 m/s,
LOS rate: -0.007681 deg/s,
cmd heading: 320.135884 deg,
new cmd heading: 320.126412 deg.
2025-06-11T20:55:40.667Z,1749675340.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587260 target range: 201.338181 and range: 203.10 m.
2025-06-11T20:55:40.841Z,1749675340.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759995
2025-06-11T20:55:41.094Z,1749675341.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012778
2025-06-11T20:55:41.100Z,1749675341.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.34 m.
2025-06-11T20:55:41.106Z,1749675341.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.338181 m,
nav range: 194.577881 m,
bearing: 325.216686 deg,
approach rate: -0.479796 m/s,
LOS rate: -0.006840 deg/s,
cmd heading: 320.126404 deg,
new cmd heading: 320.117452 deg.
2025-06-11T20:55:41.107Z,1749675341.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587103 target range: 201.338181 and range: 203.10 m.
2025-06-11T20:55:41.346Z,1749675341.346 [DAT](INFO): DAT read: Rx Time:20:55:42.5289
2025-06-11T20:55:41.346Z,1749675341.346 [DAT](INFO): Rx dataTimestamp_ set to:1749675341.346172
2025-06-11T20:55:41.347Z,1749675341.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266305
2025-06-11T20:55:41.471Z,1749675341.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:41.473Z,1749675341.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.34 m.
2025-06-11T20:55:41.475Z,1749675341.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 201.338181 m,
nav range: 194.389893 m,
bearing: 325.213950 deg,
approach rate: -0.503945 m/s,
LOS rate: -0.007341 deg/s,
cmd heading: 320.117443 deg,
new cmd heading: 320.109227 deg.
2025-06-11T20:55:41.477Z,1749675341.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586960 target range: 201.338181 and range: 203.10 m.
2025-06-11T20:55:41.597Z,1749675341.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516068
2025-06-11T20:55:41.855Z,1749675341.855 [DAT](INFO): DAT read: 20:55:42.5289 LVL= 28272, 32753, 24018, 32755, AGC= 68, IDX= 409,-0.21,-0.104,-1.515,-0.313,-0.662, PHS= 0.645,-0.806, 0.346, RAW= 138.7, -2.8, CAL= 143.9, -12.2, ROT= 6.1, 12.2
2025-06-11T20:55:41.856Z,1749675341.856 [DAT](INFO): got valid direction response:
20:55:42.5289 LVL= 28272, 32753, 24018, 32755, AGC= 68, IDX= 409,-0.21,-0.104,-1.515,-0.313,-0.662, PHS= 0.645,-0.806, 0.346, RAW= 138.7, -2.8, CAL= 143.9, -12.2, ROT= 6.1, 12.2
2025-06-11T20:55:41.857Z,1749675341.857 [DAT](INFO): DAT read: Bearing 6.1, 12.2 (Local)
2025-06-11T20:55:41.857Z,1749675341.857 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.1, 12.2 (Local)
2025-06-11T20:55:41.859Z,1749675341.859 [DAT](INFO): DAT read: Range 10 to 50 : 201.3 m (Round-trip 268.4 ms) speed 0.2 m/s
2025-06-11T20:55:41.860Z,1749675341.860 [DAT](INFO): DAT read: user:593>
2025-06-11T20:55:41.860Z,1749675341.860 [DAT](INFO): DAT read: Tx time:20:55:43.6063
2025-06-11T20:55:41.861Z,1749675341.861 [DAT](INFO): Ping request sent.
2025-06-11T20:55:41.861Z,1749675341.861 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:41.861Z,1749675341.861 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:41.862Z,1749675341.862 [DAT](INFO): direction in FSK: [0.971882,0.103864,-0.211325]
2025-06-11T20:55:41.862Z,1749675341.862 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:41.863Z,1749675341.863 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:41.866Z,1749675341.866 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:41.866Z,1749675341.866 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:42.022Z,1749675342.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 201.300003 m,
deltaT: 3.780367 s,
deltaX: -1.800003 m,
approachRate: -0.476145 m/s,
rangeRepo size: 4
2025-06-11T20:55:42.023Z,1749675342.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 199.550812 m,
bearing: 327.459654 deg,
lat: 36.906516 deg,
lon: -122.115634 deg,
deltaT: 3.780367 s,
deltaX: -1.787369 m,
approachRate: -0.472803 m/s,
posRepo size: 4
2025-06-11T20:55:42.028Z,1749675342.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.55 m.
2025-06-11T20:55:42.031Z,1749675342.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 199.550812 m,
nav range: 192.704865 m,
bearing: 325.828084 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007341 deg/s,
cmd heading: 320.109219 deg,
new cmd heading: 320.097149 deg.
2025-06-11T20:55:42.037Z,1749675342.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586749 target range: 199.550812 and range: 201.30 m.
2025-06-11T20:55:42.102Z,1749675342.102 [DAT](INFO): DAT read: TxSync time:20:55:43.6055
2025-06-11T20:55:42.338Z,1749675342.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.55 m.
2025-06-11T20:55:42.345Z,1749675342.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 199.550812 m,
nav range: 192.537216 m,
bearing: 325.826246 deg,
approach rate: -0.539544 m/s,
LOS rate: -0.005921 deg/s,
cmd heading: 320.097143 deg,
new cmd heading: 320.091624 deg.
2025-06-11T20:55:42.346Z,1749675342.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586653 target range: 199.550812 and range: 201.30 m.
2025-06-11T20:55:42.755Z,1749675342.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.55 m.
2025-06-11T20:55:42.777Z,1749675342.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 199.550812 m,
nav range: 192.348938 m,
bearing: 325.824332 deg,
approach rate: -0.445826 m/s,
LOS rate: -0.004538 deg/s,
cmd heading: 320.091625 deg,
new cmd heading: 320.085875 deg.
2025-06-11T20:55:42.793Z,1749675342.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586553 target range: 199.550812 and range: 201.30 m.
2025-06-11T20:55:43.160Z,1749675343.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.55 m.
2025-06-11T20:55:43.163Z,1749675343.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 199.550812 m,
nav range: 192.139374 m,
bearing: 325.822159 deg,
approach rate: -0.521490 m/s,
LOS rate: -0.005413 deg/s,
cmd heading: 320.085887 deg,
new cmd heading: 320.079361 deg.
2025-06-11T20:55:43.163Z,1749675343.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586439 target range: 199.550812 and range: 201.30 m.
2025-06-11T20:55:43.559Z,1749675343.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:43.562Z,1749675343.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.55 m.
2025-06-11T20:55:43.565Z,1749675343.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 199.550812 m,
nav range: 191.928543 m,
bearing: 325.819925 deg,
approach rate: -0.518466 m/s,
LOS rate: -0.005499 deg/s,
cmd heading: 320.079357 deg,
new cmd heading: 320.072649 deg.
2025-06-11T20:55:43.566Z,1749675343.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586321 target range: 199.550812 and range: 201.30 m.
2025-06-11T20:55:43.613Z,1749675343.613 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:43.613Z,1749675343.613 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:43.613Z,1749675343.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:43.865Z,1749675343.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003950
2025-06-11T20:55:43.899Z,1749675343.899 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T20:55:44.004Z,1749675344.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.55 m.
2025-06-11T20:55:44.006Z,1749675344.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 199.550812 m,
nav range: 191.716064 m,
bearing: 325.818209 deg,
approach rate: -0.481597 m/s,
LOS rate: -0.003894 deg/s,
cmd heading: 320.072637 deg,
new cmd heading: 320.067482 deg.
2025-06-11T20:55:44.007Z,1749675344.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586231 target range: 199.550812 and range: 201.30 m.
2025-06-11T20:55:44.117Z,1749675344.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255996
2025-06-11T20:55:44.363Z,1749675344.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.55 m.
2025-06-11T20:55:44.372Z,1749675344.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511208
2025-06-11T20:55:44.373Z,1749675344.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 199.550812 m,
nav range: 191.544373 m,
bearing: 325.816819 deg,
approach rate: -0.478157 m/s,
LOS rate: -0.003873 deg/s,
cmd heading: 320.067473 deg,
new cmd heading: 320.063301 deg.
2025-06-11T20:55:44.374Z,1749675344.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586158 target range: 199.550812 and range: 201.30 m.
2025-06-11T20:55:44.621Z,1749675344.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760270
2025-06-11T20:55:44.873Z,1749675344.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011952
2025-06-11T20:55:44.905Z,1749675344.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.55 m.
2025-06-11T20:55:44.912Z,1749675344.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 199.550812 m,
nav range: 191.292358 m,
bearing: 325.814401 deg,
approach rate: -0.464397 m/s,
LOS rate: -0.004461 deg/s,
cmd heading: 320.063293 deg,
new cmd heading: 320.056030 deg.
2025-06-11T20:55:44.913Z,1749675344.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586031 target range: 199.550812 and range: 201.30 m.
2025-06-11T20:55:45.125Z,1749675345.125 [DAT](INFO): DAT read: Rx Time:20:55:46.2770
2025-06-11T20:55:45.125Z,1749675345.125 [DAT](INFO): Rx dataTimestamp_ set to:1749675345.124973
2025-06-11T20:55:45.126Z,1749675345.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264963
2025-06-11T20:55:45.311Z,1749675345.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.55 m.
2025-06-11T20:55:45.322Z,1749675345.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 199.550812 m,
nav range: 191.105408 m,
bearing: 325.812587 deg,
approach rate: -0.461211 m/s,
LOS rate: -0.004480 deg/s,
cmd heading: 320.056026 deg,
new cmd heading: 320.050577 deg.
2025-06-11T20:55:45.323Z,1749675345.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585937 target range: 199.550812 and range: 201.30 m.
2025-06-11T20:55:45.378Z,1749675345.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517356
2025-06-11T20:55:45.637Z,1749675345.637 [DAT](INFO): DAT read: 20:55:46.2770 LVL= 25072, 32753, 20914, 32755, AGC= 67, IDX= 421, 0.20,-1.511,-2.973,-1.660,-2.084, PHS= 0.660,-0.842, 0.421, RAW= 141.5, -3.5, CAL= 146.6, -12.7, ROT= 3.4, 12.7
2025-06-11T20:55:45.638Z,1749675345.638 [DAT](INFO): got valid direction response:
20:55:46.2770 LVL= 25072, 32753, 20914, 32755, AGC= 67, IDX= 421, 0.20,-1.511,-2.973,-1.660,-2.084, PHS= 0.660,-0.842, 0.421, RAW= 141.5, -3.5, CAL= 146.6, -12.7, ROT= 3.4, 12.7
2025-06-11T20:55:45.639Z,1749675345.639 [DAT](INFO): DAT read: Bearing 3.4, 12.7 (Local)
2025-06-11T20:55:45.640Z,1749675345.640 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.4, 12.7 (Local)
2025-06-11T20:55:45.641Z,1749675345.641 [DAT](INFO): DAT read: Range 10 to 50 : 199.9 m (Round-trip 266.6 ms) speed 0.4 m/s
2025-06-11T20:55:45.642Z,1749675345.642 [DAT](INFO): DAT read: user:594>
2025-06-11T20:55:45.643Z,1749675345.643 [DAT](INFO): DAT read: Tx time:20:55:47.3563
2025-06-11T20:55:45.643Z,1749675345.643 [DAT](INFO): Ping request sent.
2025-06-11T20:55:45.643Z,1749675345.643 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:45.648Z,1749675345.648 [DAT](INFO): DAT read: TxSync time:20:55:47.3555
2025-06-11T20:55:45.649Z,1749675345.649 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:45.650Z,1749675345.650 [DAT](INFO): direction in FSK: [0.973817,0.057855,-0.219846]
2025-06-11T20:55:45.650Z,1749675345.650 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:45.650Z,1749675345.650 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:45.653Z,1749675345.653 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:45.654Z,1749675345.654 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:45.767Z,1749675345.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 199.899994 m,
deltaT: 3.781944 s,
deltaX: -1.400009 m,
approachRate: -0.370182 m/s,
rangeRepo size: 4
2025-06-11T20:55:45.795Z,1749675345.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 198.163437 m,
bearing: 324.994947 deg,
lat: 36.906510 deg,
lon: -122.115634 deg,
deltaT: 3.781944 s,
deltaX: -1.387375 m,
approachRate: -0.366842 m/s,
posRepo size: 4
2025-06-11T20:55:45.813Z,1749675345.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.16 m.
2025-06-11T20:55:45.822Z,1749675345.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.163437 m,
nav range: 190.413544 m,
bearing: 325.710602 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004480 deg/s,
cmd heading: 320.050589 deg,
new cmd heading: 320.044713 deg.
2025-06-11T20:55:45.823Z,1749675345.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585834 target range: 198.163437 and range: 199.90 m.
2025-06-11T20:55:46.141Z,1749675346.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:46.143Z,1749675346.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.16 m.
2025-06-11T20:55:46.146Z,1749675346.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.163437 m,
nav range: 190.216049 m,
bearing: 325.709230 deg,
approach rate: -0.499727 m/s,
LOS rate: -0.003475 deg/s,
cmd heading: 320.044715 deg,
new cmd heading: 320.040595 deg.
2025-06-11T20:55:46.147Z,1749675346.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585762 target range: 198.163437 and range: 199.90 m.
2025-06-11T20:55:46.372Z,1749675346.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:55:46.385Z,1749675346.385 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:46.385Z,1749675346.385 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:46.385Z,1749675346.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:46.508Z,1749675346.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.16 m.
2025-06-11T20:55:46.511Z,1749675346.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.163437 m,
nav range: 190.042847 m,
bearing: 325.708053 deg,
approach rate: -0.474805 m/s,
LOS rate: -0.003232 deg/s,
cmd heading: 320.040589 deg,
new cmd heading: 320.037052 deg.
2025-06-11T20:55:46.512Z,1749675346.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585701 target range: 198.163437 and range: 199.90 m.
2025-06-11T20:55:46.637Z,1749675346.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993543
2025-06-11T20:55:46.889Z,1749675346.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245493
2025-06-11T20:55:46.955Z,1749675346.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.16 m.
2025-06-11T20:55:46.958Z,1749675346.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.163437 m,
nav range: 189.830948 m,
bearing: 325.707780 deg,
approach rate: -0.473854 m/s,
LOS rate: -0.000610 deg/s,
cmd heading: 320.037065 deg,
new cmd heading: 320.036247 deg.
2025-06-11T20:55:46.959Z,1749675346.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585686 target range: 198.163437 and range: 199.90 m.
2025-06-11T20:55:47.141Z,1749675347.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497477
2025-06-11T20:55:47.333Z,1749675347.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.16 m.
2025-06-11T20:55:47.340Z,1749675347.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.163437 m,
nav range: 189.663010 m,
bearing: 325.707458 deg,
approach rate: -0.444381 m/s,
LOS rate: -0.000852 deg/s,
cmd heading: 320.036245 deg,
new cmd heading: 320.035279 deg.
2025-06-11T20:55:47.341Z,1749675347.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585670 target range: 198.163437 and range: 199.90 m.
2025-06-11T20:55:47.376Z,1749675347.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:55:47.393Z,1749675347.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749543
2025-06-11T20:55:47.645Z,1749675347.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001673
2025-06-11T20:55:47.713Z,1749675347.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.16 m.
2025-06-11T20:55:47.715Z,1749675347.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.163437 m,
nav range: 189.471558 m,
bearing: 325.706948 deg,
approach rate: -0.504246 m/s,
LOS rate: -0.001346 deg/s,
cmd heading: 320.035289 deg,
new cmd heading: 320.033756 deg.
2025-06-11T20:55:47.739Z,1749675347.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585643 target range: 198.163437 and range: 199.90 m.
2025-06-11T20:55:47.897Z,1749675347.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253470
2025-06-11T20:55:48.149Z,1749675348.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505357
2025-06-11T20:55:48.353Z,1749675348.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:48.355Z,1749675348.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.16 m.
2025-06-11T20:55:48.358Z,1749675348.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.163437 m,
nav range: 189.166687 m,
bearing: 325.706397 deg,
approach rate: -0.474417 m/s,
LOS rate: -0.000859 deg/s,
cmd heading: 320.033759 deg,
new cmd heading: 320.032103 deg.
2025-06-11T20:55:48.359Z,1749675348.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585614 target range: 198.163437 and range: 199.90 m.
2025-06-11T20:55:48.401Z,1749675348.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758136
2025-06-11T20:55:48.630Z,1749675348.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.16 m.
2025-06-11T20:55:48.633Z,1749675348.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.163437 m,
nav range: 189.037613 m,
bearing: 325.706108 deg,
approach rate: -0.469425 m/s,
LOS rate: -0.001050 deg/s,
cmd heading: 320.032093 deg,
new cmd heading: 320.031226 deg.
2025-06-11T20:55:48.634Z,1749675348.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585598 target range: 198.163437 and range: 199.90 m.
2025-06-11T20:55:48.653Z,1749675348.653 [DAT](INFO): DAT read: Rx Time:20:55:50.0244
2025-06-11T20:55:48.654Z,1749675348.654 [DAT](INFO): Rx dataTimestamp_ set to:1749675348.653242
2025-06-11T20:55:48.654Z,1749675348.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010761
2025-06-11T20:55:48.905Z,1749675348.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261360
2025-06-11T20:55:49.072Z,1749675349.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.16 m.
2025-06-11T20:55:49.075Z,1749675349.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.163437 m,
nav range: 188.839905 m,
bearing: 325.706686 deg,
approach rate: -0.451764 m/s,
LOS rate: 0.001322 deg/s,
cmd heading: 320.031218 deg,
new cmd heading: 320.032954 deg.
2025-06-11T20:55:49.081Z,1749675349.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585629 target range: 198.163437 and range: 199.90 m.
2025-06-11T20:55:49.160Z,1749675349.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515932
2025-06-11T20:55:49.416Z,1749675349.416 [DAT](INFO): DAT read: 20:55:50.0244 LVL= 30960, 32753, 25746, 32755, AGC= 66, IDX= 410,-0.21, 0.182,-1.182, 0.068,-0.282, PHS= 0.552,-0.854, 0.346, RAW= 142.2, -0.7, CAL= 146.6, -9.8, ROT= 3.4, 9.8
2025-06-11T20:55:49.417Z,1749675349.417 [DAT](INFO): got valid direction response:
20:55:50.0244 LVL= 30960, 32753, 25746, 32755, AGC= 66, IDX= 410,-0.21, 0.182,-1.182, 0.068,-0.282, PHS= 0.552,-0.854, 0.346, RAW= 142.2, -0.7, CAL= 146.6, -9.8, ROT= 3.4, 9.8
2025-06-11T20:55:49.418Z,1749675349.418 [DAT](INFO): DAT read: Bearing 3.4, 9.8 (Local)
2025-06-11T20:55:49.418Z,1749675349.418 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.4, 9.8 (Local)
2025-06-11T20:55:49.420Z,1749675349.420 [DAT](INFO): DAT read: Range 10 to 50 : 197.8 m (Round-trip 263.8 ms) speed 0.0 m/s
2025-06-11T20:55:49.421Z,1749675349.421 [DAT](INFO): DAT read: user:595>
2025-06-11T20:55:49.422Z,1749675349.422 [DAT](INFO): DAT read: Tx time:20:55:51.1064
2025-06-11T20:55:49.422Z,1749675349.422 [DAT](INFO): Ping request sent.
2025-06-11T20:55:49.422Z,1749675349.422 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:49.423Z,1749675349.423 [DAT](INFO): DAT read: TxSync time:20:55:51.1056
2025-06-11T20:55:49.423Z,1749675349.423 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:49.424Z,1749675349.424 [DAT](INFO): direction in FSK: [0.983673,0.058441,-0.170209]
2025-06-11T20:55:49.424Z,1749675349.424 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:49.425Z,1749675349.425 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:49.428Z,1749675349.428 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:49.428Z,1749675349.428 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:49.537Z,1749675349.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 197.800003 m,
deltaT: 3.777986 s,
deltaX: -2.099991 m,
approachRate: -0.555849 m/s,
rangeRepo size: 4
2025-06-11T20:55:49.539Z,1749675349.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 196.086945 m,
bearing: 325.409926 deg,
lat: 36.906516 deg,
lon: -122.115663 deg,
deltaT: 3.777986 s,
deltaX: -2.076492 m,
approachRate: -0.549629 m/s,
posRepo size: 4
2025-06-11T20:55:49.539Z,1749675349.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.09 m.
2025-06-11T20:55:49.546Z,1749675349.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.086945 m,
nav range: 190.543976 m,
bearing: 325.179065 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001322 deg/s,
cmd heading: 320.032967 deg,
new cmd heading: 320.034807 deg.
2025-06-11T20:55:49.547Z,1749675349.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585661 target range: 196.086945 and range: 197.80 m.
2025-06-11T20:55:49.947Z,1749675349.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.09 m.
2025-06-11T20:55:49.954Z,1749675349.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.086945 m,
nav range: 190.349380 m,
bearing: 325.178480 deg,
approach rate: -0.469184 m/s,
LOS rate: -0.001414 deg/s,
cmd heading: 320.034797 deg,
new cmd heading: 320.033038 deg.
2025-06-11T20:55:49.955Z,1749675349.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585630 target range: 196.086945 and range: 197.80 m.
2025-06-11T20:55:50.275Z,1749675350.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.09 m.
2025-06-11T20:55:50.278Z,1749675350.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.086945 m,
nav range: 190.181717 m,
bearing: 325.177974 deg,
approach rate: -0.510160 m/s,
LOS rate: -0.001540 deg/s,
cmd heading: 320.033049 deg,
new cmd heading: 320.031530 deg.
2025-06-11T20:55:50.279Z,1749675350.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585604 target range: 196.086945 and range: 197.80 m.
2025-06-11T20:55:50.654Z,1749675350.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:50.657Z,1749675350.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.09 m.
2025-06-11T20:55:50.660Z,1749675350.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.086945 m,
nav range: 190.001053 m,
bearing: 325.177481 deg,
approach rate: -0.472933 m/s,
LOS rate: -0.001290 deg/s,
cmd heading: 320.031519 deg,
new cmd heading: 320.030040 deg.
2025-06-11T20:55:50.661Z,1749675350.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585578 target range: 196.086945 and range: 197.80 m.
2025-06-11T20:55:50.669Z,1749675350.669 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:50.669Z,1749675350.669 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:50.669Z,1749675350.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:50.922Z,1749675350.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499498
2025-06-11T20:55:51.098Z,1749675351.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.09 m.
2025-06-11T20:55:51.101Z,1749675351.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.086945 m,
nav range: 189.795731 m,
bearing: 325.177255 deg,
approach rate: -0.465626 m/s,
LOS rate: -0.000513 deg/s,
cmd heading: 320.030044 deg,
new cmd heading: 320.029365 deg.
2025-06-11T20:55:51.102Z,1749675351.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585566 target range: 196.086945 and range: 197.80 m.
2025-06-11T20:55:51.175Z,1749675351.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752636
2025-06-11T20:55:51.425Z,1749675351.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002747
2025-06-11T20:55:51.475Z,1749675351.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.09 m.
2025-06-11T20:55:51.479Z,1749675351.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.086945 m,
nav range: 189.622696 m,
bearing: 325.176983 deg,
approach rate: -0.461698 m/s,
LOS rate: -0.000727 deg/s,
cmd heading: 320.029361 deg,
new cmd heading: 320.028543 deg.
2025-06-11T20:55:51.480Z,1749675351.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585552 target range: 196.086945 and range: 197.80 m.
2025-06-11T20:55:51.677Z,1749675351.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254822
2025-06-11T20:55:51.930Z,1749675351.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507211
2025-06-11T20:55:51.957Z,1749675351.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.09 m.
2025-06-11T20:55:51.968Z,1749675351.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.086945 m,
nav range: 189.412460 m,
bearing: 325.176582 deg,
approach rate: -0.434115 m/s,
LOS rate: -0.000830 deg/s,
cmd heading: 320.028541 deg,
new cmd heading: 320.027335 deg.
2025-06-11T20:55:51.969Z,1749675351.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585531 target range: 196.086945 and range: 197.80 m.
2025-06-11T20:55:52.181Z,1749675352.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758789
2025-06-11T20:55:52.309Z,1749675352.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.09 m.
2025-06-11T20:55:52.312Z,1749675352.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.086945 m,
nav range: 189.232910 m,
bearing: 325.175689 deg,
approach rate: -0.510200 m/s,
LOS rate: -0.002539 deg/s,
cmd heading: 320.027339 deg,
new cmd heading: 320.024658 deg.
2025-06-11T20:55:52.313Z,1749675352.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585484 target range: 196.086945 and range: 197.80 m.
2025-06-11T20:55:52.433Z,1749675352.433 [DAT](INFO): DAT read: Rx Time:20:55:53.7727
2025-06-11T20:55:52.433Z,1749675352.433 [DAT](INFO): Rx dataTimestamp_ set to:1749675352.433170
2025-06-11T20:55:52.434Z,1749675352.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012026
2025-06-11T20:55:52.685Z,1749675352.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262610
2025-06-11T20:55:52.703Z,1749675352.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:52.722Z,1749675352.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.09 m.
2025-06-11T20:55:52.728Z,1749675352.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 196.086945 m,
nav range: 189.047714 m,
bearing: 325.174766 deg,
approach rate: -0.449228 m/s,
LOS rate: -0.002240 deg/s,
cmd heading: 320.024661 deg,
new cmd heading: 320.021891 deg.
2025-06-11T20:55:52.729Z,1749675352.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585436 target range: 196.086945 and range: 197.80 m.
2025-06-11T20:55:52.967Z,1749675352.967 [DAT](INFO): DAT read: 20:55:53.7727 LVL= 26464, 32753, 22770, 32403, AGC= 69, IDX= 425,-0.11, 0.995,-0.397, 0.887, 0.554, PHS= 0.528,-0.904, 0.330, RAW= 142.7, 0.7, CAL= 146.7, -8.2, ROT= 3.3, 8.2
2025-06-11T20:55:52.972Z,1749675352.972 [DAT](INFO): got valid direction response:
20:55:53.7727 LVL= 26464, 32753, 22770, 32403, AGC= 69, IDX= 425,-0.11, 0.995,-0.397, 0.887, 0.554, PHS= 0.528,-0.904, 0.330, RAW= 142.7, 0.7, CAL= 146.7, -8.2, ROT= 3.3, 8.2
2025-06-11T20:55:52.973Z,1749675352.973 [DAT](INFO): DAT read: Bearing 3.3, 8.2 (Local)
2025-06-11T20:55:52.974Z,1749675352.974 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.3, 8.2 (Local)
2025-06-11T20:55:52.980Z,1749675352.980 [DAT](INFO): DAT read: Range 10 to 50 : 196.6 m (Round-trip 262.2 ms) speed 0.0 m/s
2025-06-11T20:55:52.982Z,1749675352.982 [DAT](INFO): DAT read: user:596>
2025-06-11T20:55:52.983Z,1749675352.983 [DAT](INFO): DAT read: Tx time:20:55:54.8564
2025-06-11T20:55:52.983Z,1749675352.983 [DAT](INFO): Ping request sent.
2025-06-11T20:55:52.983Z,1749675352.983 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:53.016Z,1749675353.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:53.017Z,1749675353.017 [DAT](INFO): direction in FSK: [0.988135,0.056976,-0.142629]
2025-06-11T20:55:53.017Z,1749675353.017 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:53.017Z,1749675353.017 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:53.033Z,1749675353.033 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:53.033Z,1749675353.033 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:53.189Z,1749675353.189 [DAT](INFO): DAT read: TxSync time:20:55:54.8556
2025-06-11T20:55:53.201Z,1749675353.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 196.600006 m,
deltaT: 3.530473 s,
deltaX: -1.199997 m,
approachRate: -0.339897 m/s,
rangeRepo size: 4
2025-06-11T20:55:53.203Z,1749675353.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 194.904846 m,
bearing: 325.224405 deg,
lat: 36.906530 deg,
lon: -122.115664 deg,
deltaT: 3.530473 s,
deltaX: -1.182098 m,
approachRate: -0.334827 m/s,
posRepo size: 4
2025-06-11T20:55:53.205Z,1749675353.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.90 m.
2025-06-11T20:55:53.207Z,1749675353.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.904846 m,
nav range: 190.242172 m,
bearing: 325.407523 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002240 deg/s,
cmd heading: 320.021902 deg,
new cmd heading: 320.018683 deg.
2025-06-11T20:55:53.217Z,1749675353.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585380 target range: 194.904846 and range: 196.60 m.
2025-06-11T20:55:53.493Z,1749675353.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.90 m.
2025-06-11T20:55:53.500Z,1749675353.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.904846 m,
nav range: 190.097656 m,
bearing: 325.407223 deg,
approach rate: -0.494178 m/s,
LOS rate: -0.001026 deg/s,
cmd heading: 320.018678 deg,
new cmd heading: 320.017778 deg.
2025-06-11T20:55:53.501Z,1749675353.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585364 target range: 194.904846 and range: 196.60 m.
2025-06-11T20:55:53.954Z,1749675353.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.90 m.
2025-06-11T20:55:53.961Z,1749675353.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.904846 m,
nav range: 189.889236 m,
bearing: 325.406826 deg,
approach rate: -0.451995 m/s,
LOS rate: -0.000861 deg/s,
cmd heading: 320.017777 deg,
new cmd heading: 320.016585 deg.
2025-06-11T20:55:53.962Z,1749675353.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585343 target range: 194.904846 and range: 196.60 m.
2025-06-11T20:55:54.313Z,1749675354.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.90 m.
2025-06-11T20:55:54.316Z,1749675354.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.904846 m,
nav range: 189.710678 m,
bearing: 325.406254 deg,
approach rate: -0.497239 m/s,
LOS rate: -0.001596 deg/s,
cmd heading: 320.016574 deg,
new cmd heading: 320.014855 deg.
2025-06-11T20:55:54.317Z,1749675354.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585313 target range: 194.904846 and range: 196.60 m.
2025-06-11T20:55:54.701Z,1749675354.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.90 m.
2025-06-11T20:55:54.704Z,1749675354.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.904846 m,
nav range: 189.527802 m,
bearing: 325.405654 deg,
approach rate: -0.471184 m/s,
LOS rate: -0.001548 deg/s,
cmd heading: 320.014853 deg,
new cmd heading: 320.013051 deg.
2025-06-11T20:55:54.705Z,1749675354.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585281 target range: 194.904846 and range: 196.60 m.
2025-06-11T20:55:55.120Z,1749675355.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:55.123Z,1749675355.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.90 m.
2025-06-11T20:55:55.126Z,1749675355.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.904846 m,
nav range: 189.326614 m,
bearing: 325.403836 deg,
approach rate: -0.477647 m/s,
LOS rate: -0.004320 deg/s,
cmd heading: 320.013050 deg,
new cmd heading: 320.007591 deg.
2025-06-11T20:55:55.126Z,1749675355.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585186 target range: 194.904846 and range: 196.60 m.
2025-06-11T20:55:55.205Z,1749675355.205 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:55.205Z,1749675355.205 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:55.206Z,1749675355.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:55.457Z,1749675355.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473402
2025-06-11T20:55:55.501Z,1749675355.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.90 m.
2025-06-11T20:55:55.504Z,1749675355.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.904846 m,
nav range: 189.145935 m,
bearing: 325.402210 deg,
approach rate: -0.477221 m/s,
LOS rate: -0.004300 deg/s,
cmd heading: 320.007586 deg,
new cmd heading: 320.002702 deg.
2025-06-11T20:55:55.505Z,1749675355.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585101 target range: 194.904846 and range: 196.60 m.
2025-06-11T20:55:55.709Z,1749675355.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725858
2025-06-11T20:55:55.964Z,1749675355.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979664
2025-06-11T20:55:55.979Z,1749675355.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.90 m.
2025-06-11T20:55:55.986Z,1749675355.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.904846 m,
nav range: 188.935760 m,
bearing: 325.400347 deg,
approach rate: -0.439500 m/s,
LOS rate: -0.003900 deg/s,
cmd heading: 320.002695 deg,
new cmd heading: 319.997101 deg.
2025-06-11T20:55:55.987Z,1749675355.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585003 target range: 194.904846 and range: 196.60 m.
2025-06-11T20:55:56.213Z,1749675356.213 [DAT](INFO): DAT read: Rx Time:20:55:57.5212
2025-06-11T20:55:56.214Z,1749675356.214 [DAT](INFO): Rx dataTimestamp_ set to:1749675356.213677
2025-06-11T20:55:56.215Z,1749675356.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231121
2025-06-11T20:55:56.353Z,1749675356.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.90 m.
2025-06-11T20:55:56.355Z,1749675356.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 194.904846 m,
nav range: 188.739441 m,
bearing: 325.397757 deg,
approach rate: -0.525973 m/s,
LOS rate: -0.006945 deg/s,
cmd heading: 319.997095 deg,
new cmd heading: 319.989318 deg.
2025-06-11T20:55:56.357Z,1749675356.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584867 target range: 194.904846 and range: 196.60 m.
2025-06-11T20:55:56.465Z,1749675356.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481467
2025-06-11T20:55:56.723Z,1749675356.723 [DAT](INFO): DAT read: 20:55:57.5212 LVL= 22896, 32753, 21490, 32755, AGC= 68, IDX= 426,-0.39,-2.540, 2.227,-2.673,-3.046, PHS= 0.595,-0.963, 0.370, RAW= 142.3, -0.0, CAL= 146.6, -9.0, ROT= 3.4, 9.0
2025-06-11T20:55:56.725Z,1749675356.725 [DAT](INFO): got valid direction response:
20:55:57.5212 LVL= 22896, 32753, 21490, 32755, AGC= 68, IDX= 426,-0.39,-2.540, 2.227,-2.673,-3.046, PHS= 0.595,-0.963, 0.370, RAW= 142.3, -0.0, CAL= 146.6, -9.0, ROT= 3.4, 9.0
2025-06-11T20:55:56.726Z,1749675356.726 [DAT](INFO): DAT read: Bearing 3.4, 9.0 (Local)
2025-06-11T20:55:56.726Z,1749675356.726 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.4, 9.0 (Local)
2025-06-11T20:55:56.728Z,1749675356.728 [DAT](INFO): DAT read: Range 10 to 50 : 195.5 m (Round-trip 260.7 ms) speed -0.1 m/s
2025-06-11T20:55:56.729Z,1749675356.729 [DAT](INFO): DAT read: user:597>
2025-06-11T20:55:56.730Z,1749675356.730 [DAT](INFO): DAT read: Tx time:20:55:58.6064
2025-06-11T20:55:56.730Z,1749675356.730 [DAT](INFO): Ping request sent.
2025-06-11T20:55:56.730Z,1749675356.730 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:55:56.730Z,1749675356.730 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:55:56.731Z,1749675356.731 [DAT](INFO): direction in FSK: [0.985950,0.058576,-0.156434]
2025-06-11T20:55:56.732Z,1749675356.732 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:56.732Z,1749675356.732 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:56.735Z,1749675356.735 [DAT](INFO): publishing transmit ping time
2025-06-11T20:55:56.735Z,1749675356.735 [DAT](INFO): publishing direction and range info
2025-06-11T20:55:56.973Z,1749675356.973 [DAT](INFO): DAT read: TxSync time:20:55:58.6056
2025-06-11T20:55:57.002Z,1749675357.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 195.500000 m,
deltaT: 3.777977 s,
deltaX: -1.100006 m,
approachRate: -0.291163 m/s,
rangeRepo size: 4
2025-06-11T20:55:57.009Z,1749675357.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 193.818008 m,
bearing: 324.920142 deg,
lat: 36.906534 deg,
lon: -122.115665 deg,
deltaT: 3.777977 s,
deltaX: -1.086838 m,
approachRate: -0.287677 m/s,
posRepo size: 4
2025-06-11T20:55:57.009Z,1749675357.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:55:57.016Z,1749675357.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 188.827225 m,
bearing: 325.451395 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006945 deg/s,
cmd heading: 319.989308 deg,
new cmd heading: 319.975925 deg.
2025-06-11T20:55:57.017Z,1749675357.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584633 target range: 193.818008 and range: 195.50 m.
2025-06-11T20:55:57.292Z,1749675357.292 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T20:55:57.337Z,1749675357.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:57.339Z,1749675357.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:55:57.366Z,1749675357.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 188.616867 m,
bearing: 325.447242 deg,
approach rate: -0.611788 m/s,
LOS rate: -0.012092 deg/s,
cmd heading: 319.975921 deg,
new cmd heading: 319.963448 deg.
2025-06-11T20:55:57.366Z,1749675357.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584415 target range: 193.818008 and range: 195.50 m.
2025-06-11T20:55:57.473Z,1749675357.473 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:55:57.474Z,1749675357.474 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:55:57.474Z,1749675357.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:55:57.723Z,1749675357.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:55:57.725Z,1749675357.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994777
2025-06-11T20:55:57.727Z,1749675357.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 188.427567 m,
bearing: 325.443699 deg,
approach rate: -0.492969 m/s,
LOS rate: -0.009236 deg/s,
cmd heading: 319.963436 deg,
new cmd heading: 319.952796 deg.
2025-06-11T20:55:57.728Z,1749675357.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584230 target range: 193.818008 and range: 195.50 m.
2025-06-11T20:55:57.977Z,1749675357.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246476
2025-06-11T20:55:58.138Z,1749675358.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:55:58.157Z,1749675358.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 188.218277 m,
bearing: 325.440120 deg,
approach rate: -0.504463 m/s,
LOS rate: -0.008637 deg/s,
cmd heading: 319.952808 deg,
new cmd heading: 319.942058 deg.
2025-06-11T20:55:58.158Z,1749675358.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584043 target range: 193.818008 and range: 195.50 m.
2025-06-11T20:55:58.230Z,1749675358.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499460
2025-06-11T20:55:58.481Z,1749675358.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750835
2025-06-11T20:55:58.515Z,1749675358.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:55:58.518Z,1749675358.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 188.027298 m,
bearing: 325.436838 deg,
approach rate: -0.506177 m/s,
LOS rate: -0.008708 deg/s,
cmd heading: 319.942071 deg,
new cmd heading: 319.932214 deg.
2025-06-11T20:55:58.519Z,1749675358.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583870 target range: 193.818008 and range: 195.50 m.
2025-06-11T20:55:58.733Z,1749675358.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003181
2025-06-11T20:55:58.969Z,1749675358.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:55:58.988Z,1749675358.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257180
2025-06-11T20:55:58.999Z,1749675358.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 187.810120 m,
bearing: 325.433008 deg,
approach rate: -0.484248 m/s,
LOS rate: -0.008551 deg/s,
cmd heading: 319.932208 deg,
new cmd heading: 319.920703 deg.
2025-06-11T20:55:59.013Z,1749675359.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583670 target range: 193.818008 and range: 195.50 m.
2025-06-11T20:55:59.238Z,1749675359.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507829
2025-06-11T20:55:59.477Z,1749675359.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:55:59.479Z,1749675359.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:55:59.482Z,1749675359.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 187.535461 m,
bearing: 325.427867 deg,
approach rate: -0.532415 m/s,
LOS rate: -0.009979 deg/s,
cmd heading: 319.920706 deg,
new cmd heading: 319.905262 deg.
2025-06-11T20:55:59.483Z,1749675359.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583400 target range: 193.818008 and range: 195.50 m.
2025-06-11T20:55:59.489Z,1749675359.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758690
2025-06-11T20:55:59.741Z,1749675359.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010807
2025-06-11T20:55:59.867Z,1749675359.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:55:59.871Z,1749675359.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 187.335739 m,
bearing: 325.424166 deg,
approach rate: -0.514943 m/s,
LOS rate: -0.009553 deg/s,
cmd heading: 319.905270 deg,
new cmd heading: 319.894155 deg.
2025-06-11T20:55:59.888Z,1749675359.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583206 target range: 193.818008 and range: 195.50 m.
2025-06-11T20:55:59.997Z,1749675359.997 [DAT](INFO): DAT read: Rx Time:20:56:01.2684
2025-06-11T20:55:59.998Z,1749675359.998 [DAT](INFO): Rx dataTimestamp_ set to:1749675359.997450
2025-06-11T20:56:00.001Z,1749675360.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270133
2025-06-11T20:56:00.245Z,1749675360.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514635
2025-06-11T20:56:00.320Z,1749675360.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:00.323Z,1749675360.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 187.101929 m,
bearing: 325.417153 deg,
approach rate: -0.515797 m/s,
LOS rate: -0.015490 deg/s,
cmd heading: 319.894150 deg,
new cmd heading: 319.873085 deg.
2025-06-11T20:56:00.324Z,1749675360.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582839 target range: 193.818008 and range: 195.50 m.
2025-06-11T20:56:00.498Z,1749675360.498 [DAT](INFO): DAT read: Range 10 to 50 : 193.3 m (Round-trip 257.8 ms) speed 0.4 m/s
2025-06-11T20:56:00.499Z,1749675360.499 [DAT](INFO): DAT read: user:598>
2025-06-11T20:56:00.499Z,1749675360.499 [DAT](INFO): DAT read: Tx time:20:56:02.3565
2025-06-11T20:56:00.500Z,1749675360.500 [DAT](INFO): Ping request sent.
2025-06-11T20:56:00.500Z,1749675360.500 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:00.500Z,1749675360.500 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:56:00.500Z,1749675360.500 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:00.501Z,1749675360.501 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:00.689Z,1749675360.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 193.300003 m,
deltaT: 3.779632 s,
deltaX: -2.199997 m,
approachRate: -0.582066 m/s,
rangeRepo size: 4
2025-06-11T20:56:00.690Z,1749675360.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:00.693Z,1749675360.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 186.918304 m,
bearing: 325.411736 deg,
approach rate: -0.500013 m/s,
LOS rate: -0.014765 deg/s,
cmd heading: 319.873086 deg,
new cmd heading: 319.856819 deg.
2025-06-11T20:56:00.694Z,1749675360.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582555 target range: 193.818008 and range: 193.30 m.
2025-06-11T20:56:00.750Z,1749675360.750 [DAT](INFO): DAT read: TxSync time:20:56:02.3557
2025-06-11T20:56:01.113Z,1749675361.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:01.116Z,1749675361.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 186.696457 m,
bearing: 325.405598 deg,
approach rate: -0.521322 m/s,
LOS rate: -0.014440 deg/s,
cmd heading: 319.856830 deg,
new cmd heading: 319.838395 deg.
2025-06-11T20:56:01.117Z,1749675361.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582233 target range: 193.818008 and range: 193.30 m.
2025-06-11T20:56:01.493Z,1749675361.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:01.495Z,1749675361.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:01.498Z,1749675361.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 186.503128 m,
bearing: 325.400325 deg,
approach rate: -0.506692 m/s,
LOS rate: -0.013835 deg/s,
cmd heading: 319.838388 deg,
new cmd heading: 319.822552 deg.
2025-06-11T20:56:01.499Z,1749675361.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581956 target range: 193.818008 and range: 193.30 m.
2025-06-11T20:56:01.505Z,1749675361.505 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:01.505Z,1749675361.505 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:01.505Z,1749675361.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:01.757Z,1749675361.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256863
2025-06-11T20:56:01.886Z,1749675361.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:01.889Z,1749675361.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 186.304977 m,
bearing: 325.394945 deg,
approach rate: -0.506928 m/s,
LOS rate: -0.013778 deg/s,
cmd heading: 319.822542 deg,
new cmd heading: 319.806386 deg.
2025-06-11T20:56:01.890Z,1749675361.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581675 target range: 193.818008 and range: 193.30 m.
2025-06-11T20:56:02.012Z,1749675362.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511311
2025-06-11T20:56:02.261Z,1749675362.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760996
2025-06-11T20:56:02.324Z,1749675362.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:02.327Z,1749675362.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 186.084808 m,
bearing: 325.387674 deg,
approach rate: -0.502424 m/s,
LOS rate: -0.016613 deg/s,
cmd heading: 319.806396 deg,
new cmd heading: 319.784555 deg.
2025-06-11T20:56:02.328Z,1749675362.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581294 target range: 193.818008 and range: 193.30 m.
2025-06-11T20:56:02.514Z,1749675362.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013953
2025-06-11T20:56:02.704Z,1749675362.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:02.707Z,1749675362.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 185.893921 m,
bearing: 325.381333 deg,
approach rate: -0.502102 m/s,
LOS rate: -0.016696 deg/s,
cmd heading: 319.784567 deg,
new cmd heading: 319.765525 deg.
2025-06-11T20:56:02.708Z,1749675362.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580961 target range: 193.818008 and range: 193.30 m.
2025-06-11T20:56:02.766Z,1749675362.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265791
2025-06-11T20:56:03.017Z,1749675363.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516904
2025-06-11T20:56:03.269Z,1749675363.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768734
2025-06-11T20:56:03.287Z,1749675363.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:03.291Z,1749675363.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 185.613708 m,
bearing: 325.372031 deg,
approach rate: -0.480574 m/s,
LOS rate: -0.015978 deg/s,
cmd heading: 319.765524 deg,
new cmd heading: 319.737575 deg.
2025-06-11T20:56:03.292Z,1749675363.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580473 target range: 193.818008 and range: 193.30 m.
2025-06-11T20:56:03.521Z,1749675363.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020985
2025-06-11T20:56:03.566Z,1749675363.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:03.569Z,1749675363.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:03.571Z,1749675363.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 185.464050 m,
bearing: 325.367099 deg,
approach rate: -0.531562 m/s,
LOS rate: -0.017532 deg/s,
cmd heading: 319.737575 deg,
new cmd heading: 319.722767 deg.
2025-06-11T20:56:03.573Z,1749675363.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580215 target range: 193.818008 and range: 193.30 m.
2025-06-11T20:56:03.773Z,1749675363.773 [DAT](INFO): DAT read: Rx Time:20:56:05.0162
2025-06-11T20:56:03.773Z,1749675363.773 [DAT](INFO): Rx dataTimestamp_ set to:1749675363.773140
2025-06-11T20:56:03.774Z,1749675363.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274107
2025-06-11T20:56:03.000Z,1749675364.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.82 m.
2025-06-11T20:56:04.009Z,1749675364.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 193.818008 m,
nav range: 185.257050 m,
bearing: 325.360298 deg,
approach rate: -0.498605 m/s,
LOS rate: -0.016398 deg/s,
cmd heading: 319.722767 deg,
new cmd heading: 319.702343 deg.
2025-06-11T20:56:04.010Z,1749675364.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579858 target range: 193.818008 and range: 193.30 m.
2025-06-11T20:56:04.027Z,1749675364.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526954
2025-06-11T20:56:04.283Z,1749675364.283 [DAT](INFO): DAT read: 20:56:05.0162 LVL= 27584, 32753, 25170, 32755, AGC= 67, IDX= 420, 0.34, 0.520,-0.923, 0.342,-0.060, PHS= 0.668,-0.816, 0.399, RAW= 140.2, -3.7, CAL= 145.5, -13.1, ROT= 4.5, 13.1
2025-06-11T20:56:04.284Z,1749675364.284 [DAT](INFO): got valid direction response:
20:56:05.0162 LVL= 27584, 32753, 25170, 32755, AGC= 67, IDX= 420, 0.34, 0.520,-0.923, 0.342,-0.060, PHS= 0.668,-0.816, 0.399, RAW= 140.2, -3.7, CAL= 145.5, -13.1, ROT= 4.5, 13.1
2025-06-11T20:56:04.285Z,1749675364.285 [DAT](INFO): DAT read: Bearing 4.5, 13.1 (Local)
2025-06-11T20:56:04.285Z,1749675364.285 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.5, 13.1 (Local)
2025-06-11T20:56:04.287Z,1749675364.287 [DAT](INFO): DAT read: Range 10 to 50 : 191.6 m (Round-trip 255.5 ms) speed 0.4 m/s
2025-06-11T20:56:04.288Z,1749675364.288 [DAT](INFO): DAT read: user:599>
2025-06-11T20:56:04.289Z,1749675364.289 [DAT](INFO): DAT read: Tx time:20:56:06.1065
2025-06-11T20:56:04.289Z,1749675364.289 [DAT](INFO): Ping request sent.
2025-06-11T20:56:04.289Z,1749675364.289 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:04.289Z,1749675364.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:04.290Z,1749675364.290 [DAT](INFO): direction in FSK: [0.970974,0.076417,-0.226651]
2025-06-11T20:56:04.291Z,1749675364.291 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:04.291Z,1749675364.291 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:04.294Z,1749675364.294 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:04.294Z,1749675364.294 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:04.502Z,1749675364.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 191.600006 m,
deltaT: 3.780249 s,
deltaX: -1.699997 m,
approachRate: -0.449705 m/s,
rangeRepo size: 4
2025-06-11T20:56:04.508Z,1749675364.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 189.952774 m,
bearing: 325.868993 deg,
lat: 36.906533 deg,
lon: -122.115665 deg,
deltaT: 7.559881 s,
deltaX: -3.865234 m,
approachRate: -0.511282 m/s,
posRepo size: 4
2025-06-11T20:56:04.509Z,1749675364.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:04.511Z,1749675364.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 184.934052 m,
bearing: 325.335018 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016398 deg/s,
cmd heading: 319.702331 deg,
new cmd heading: 319.677170 deg.
2025-06-11T20:56:04.516Z,1749675364.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579419 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:04.529Z,1749675364.529 [DAT](INFO): DAT read: TxSync time:20:56:06.1057
2025-06-11T20:56:04.805Z,1749675364.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:04.808Z,1749675364.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 184.774353 m,
bearing: 325.329841 deg,
approach rate: -0.515078 m/s,
LOS rate: -0.016712 deg/s,
cmd heading: 319.677169 deg,
new cmd heading: 319.661624 deg.
2025-06-11T20:56:04.809Z,1749675364.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579148 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:05.231Z,1749675365.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:05.233Z,1749675365.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 184.573608 m,
bearing: 325.325260 deg,
approach rate: -0.472071 m/s,
LOS rate: -0.010786 deg/s,
cmd heading: 319.661623 deg,
new cmd heading: 319.647864 deg.
2025-06-11T20:56:05.234Z,1749675365.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578907 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:05.579Z,1749675365.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:05.581Z,1749675365.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:05.584Z,1749675365.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 184.408356 m,
bearing: 325.321524 deg,
approach rate: -0.471058 m/s,
LOS rate: -0.010660 deg/s,
cmd heading: 319.647853 deg,
new cmd heading: 319.636635 deg.
2025-06-11T20:56:05.585Z,1749675365.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578712 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:05.789Z,1749675365.789 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:05.789Z,1749675365.789 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:05.789Z,1749675365.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:05.989Z,1749675365.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:05.993Z,1749675365.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 184.215317 m,
bearing: 325.317258 deg,
approach rate: -0.473011 m/s,
LOS rate: -0.010464 deg/s,
cmd heading: 319.636625 deg,
new cmd heading: 319.623813 deg.
2025-06-11T20:56:05.994Z,1749675365.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578488 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:06.042Z,1749675366.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752578
2025-06-11T20:56:06.293Z,1749675366.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003757
2025-06-11T20:56:06.428Z,1749675366.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:06.431Z,1749675366.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 184.015381 m,
bearing: 325.314796 deg,
approach rate: -0.460627 m/s,
LOS rate: -0.005678 deg/s,
cmd heading: 319.623811 deg,
new cmd heading: 319.616418 deg.
2025-06-11T20:56:06.436Z,1749675366.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578359 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:06.550Z,1749675366.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260706
2025-06-11T20:56:06.787Z,1749675366.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:06.790Z,1749675366.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 183.843384 m,
bearing: 325.312672 deg,
approach rate: -0.473199 m/s,
LOS rate: -0.005849 deg/s,
cmd heading: 319.616407 deg,
new cmd heading: 319.610029 deg.
2025-06-11T20:56:06.791Z,1749675366.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578248 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:06.801Z,1749675366.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512054
2025-06-11T20:56:07.053Z,1749675367.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764375
2025-06-11T20:56:07.221Z,1749675367.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:07.224Z,1749675367.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 183.639252 m,
bearing: 325.312897 deg,
approach rate: -0.470405 m/s,
LOS rate: 0.000520 deg/s,
cmd heading: 319.610042 deg,
new cmd heading: 319.610718 deg.
2025-06-11T20:56:07.225Z,1749675367.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578259 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:07.305Z,1749675367.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016007
2025-06-11T20:56:07.557Z,1749675367.557 [DAT](INFO): DAT read: Rx Time:20:56:08.7637
2025-06-11T20:56:07.557Z,1749675367.557 [DAT](INFO): Rx dataTimestamp_ set to:1749675367.557017
2025-06-11T20:56:07.558Z,1749675367.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268846
2025-06-11T20:56:07.617Z,1749675367.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:07.619Z,1749675367.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:07.622Z,1749675367.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 183.452011 m,
bearing: 325.313112 deg,
approach rate: -0.470083 m/s,
LOS rate: 0.000540 deg/s,
cmd heading: 319.610725 deg,
new cmd heading: 319.611370 deg.
2025-06-11T20:56:07.623Z,1749675367.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578271 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:07.809Z,1749675367.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519907
2025-06-11T20:56:07.997Z,1749675367.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.95 m.
2025-06-11T20:56:07.000Z,1749675368.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 189.952774 m,
nav range: 183.274078 m,
bearing: 325.313326 deg,
approach rate: -0.470952 m/s,
LOS rate: 0.000567 deg/s,
cmd heading: 319.611380 deg,
new cmd heading: 319.612023 deg.
2025-06-11T20:56:08.001Z,1749675368.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578282 target range: 189.952774 and range: 191.60 m.
2025-06-11T20:56:08.073Z,1749675368.073 [DAT](INFO): DAT read: 20:56:08.7637 LVL= 24624, 32753, 25938, 32755, AGC= 73, IDX= 411, 0.15,-2.076, 2.729,-2.317,-2.691, PHS= 0.703,-0.816, 0.371, RAW= 138.0, -3.8, CAL= 143.4, -13.4, ROT= 6.6, 13.4
2025-06-11T20:56:08.075Z,1749675368.075 [DAT](INFO): got valid direction response:
20:56:08.7637 LVL= 24624, 32753, 25938, 32755, AGC= 73, IDX= 411, 0.15,-2.076, 2.729,-2.317,-2.691, PHS= 0.703,-0.816, 0.371, RAW= 138.0, -3.8, CAL= 143.4, -13.4, ROT= 6.6, 13.4
2025-06-11T20:56:08.076Z,1749675368.076 [DAT](INFO): DAT read: Bearing 6.6, 13.4 (Local)
2025-06-11T20:56:08.076Z,1749675368.076 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.6, 13.4 (Local)
2025-06-11T20:56:08.078Z,1749675368.078 [DAT](INFO): DAT read: Range 10 to 50 : 189.8 m (Round-trip 253.1 ms) speed 0.4 m/s
2025-06-11T20:56:08.079Z,1749675368.079 [DAT](INFO): DAT read: user:600>
2025-06-11T20:56:08.079Z,1749675368.079 [DAT](INFO): DAT read: Tx time:20:56:09.8565
2025-06-11T20:56:08.089Z,1749675368.089 [DAT](INFO): Ping request sent.
2025-06-11T20:56:08.089Z,1749675368.089 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:08.090Z,1749675368.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:08.102Z,1749675368.102 [DAT](INFO): direction in FSK: [0.966329,0.111808,-0.231748]
2025-06-11T20:56:08.103Z,1749675368.103 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:08.112Z,1749675368.112 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:08.152Z,1749675368.152 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:08.152Z,1749675368.152 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:08.313Z,1749675368.313 [DAT](INFO): DAT read: TxSync time:20:56:09.8557
2025-06-11T20:56:08.456Z,1749675368.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 189.800003 m,
deltaT: 3.784311 s,
deltaX: -1.800003 m,
approachRate: -0.475649 m/s,
rangeRepo size: 4
2025-06-11T20:56:08.458Z,1749675368.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 188.168686 m,
bearing: 327.687998 deg,
lat: 36.906534 deg,
lon: -122.115664 deg,
deltaT: 3.784311 s,
deltaX: -1.784088 m,
approachRate: -0.471443 m/s,
posRepo size: 4
2025-06-11T20:56:08.459Z,1749675368.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.17 m.
2025-06-11T20:56:08.462Z,1749675368.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.168686 m,
nav range: 183.116684 m,
bearing: 325.345568 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000567 deg/s,
cmd heading: 319.612036 deg,
new cmd heading: 319.612816 deg.
2025-06-11T20:56:08.463Z,1749675368.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578296 target range: 188.168686 and range: 189.80 m.
2025-06-11T20:56:08.821Z,1749675368.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.17 m.
2025-06-11T20:56:08.823Z,1749675368.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.168686 m,
nav range: 182.943512 m,
bearing: 325.347360 deg,
approach rate: -0.475029 m/s,
LOS rate: 0.004921 deg/s,
cmd heading: 319.612828 deg,
new cmd heading: 319.618210 deg.
2025-06-11T20:56:08.825Z,1749675368.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578390 target range: 188.168686 and range: 189.80 m.
2025-06-11T20:56:09.248Z,1749675369.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.17 m.
2025-06-11T20:56:09.251Z,1749675369.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.168686 m,
nav range: 182.733963 m,
bearing: 325.349987 deg,
approach rate: -0.490135 m/s,
LOS rate: 0.006152 deg/s,
cmd heading: 319.618210 deg,
new cmd heading: 319.626101 deg.
2025-06-11T20:56:09.252Z,1749675369.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578528 target range: 188.168686 and range: 189.80 m.
2025-06-11T20:56:09.622Z,1749675369.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:09.636Z,1749675369.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.17 m.
2025-06-11T20:56:09.639Z,1749675369.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.168686 m,
nav range: 182.559525 m,
bearing: 325.352332 deg,
approach rate: -0.455246 m/s,
LOS rate: 0.006126 deg/s,
cmd heading: 319.626106 deg,
new cmd heading: 319.633148 deg.
2025-06-11T20:56:09.645Z,1749675369.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578651 target range: 188.168686 and range: 189.80 m.
2025-06-11T20:56:09.825Z,1749675369.825 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:09.825Z,1749675369.825 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:09.825Z,1749675369.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:10.034Z,1749675370.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.17 m.
2025-06-11T20:56:10.036Z,1749675370.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.168686 m,
nav range: 182.367157 m,
bearing: 325.354911 deg,
approach rate: -0.477494 m/s,
LOS rate: 0.006408 deg/s,
cmd heading: 319.633155 deg,
new cmd heading: 319.640900 deg.
2025-06-11T20:56:10.037Z,1749675370.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578786 target range: 188.168686 and range: 189.80 m.
2025-06-11T20:56:10.078Z,1749675370.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988679
2025-06-11T20:56:10.329Z,1749675370.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239844
2025-06-11T20:56:10.456Z,1749675370.456 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 474, +0,A
2025-06-11T20:56:10.496Z,1749675370.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.17 m.
2025-06-11T20:56:10.498Z,1749675370.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.168686 m,
nav range: 182.144043 m,
bearing: 325.357837 deg,
approach rate: -0.487264 m/s,
LOS rate: 0.006398 deg/s,
cmd heading: 319.640887 deg,
new cmd heading: 319.649675 deg.
2025-06-11T20:56:10.499Z,1749675370.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578939 target range: 188.168686 and range: 189.80 m.
2025-06-11T20:56:10.581Z,1749675370.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492014
2025-06-11T20:56:10.833Z,1749675370.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743795
2025-06-11T20:56:10.868Z,1749675370.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.17 m.
2025-06-11T20:56:10.871Z,1749675370.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.168686 m,
nav range: 181.960861 m,
bearing: 325.360223 deg,
approach rate: -0.486801 m/s,
LOS rate: 0.006346 deg/s,
cmd heading: 319.649684 deg,
new cmd heading: 319.656848 deg.
2025-06-11T20:56:10.872Z,1749675370.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579064 target range: 188.168686 and range: 189.80 m.
2025-06-11T20:56:11.085Z,1749675371.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995949
2025-06-11T20:56:11.261Z,1749675371.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.17 m.
2025-06-11T20:56:11.264Z,1749675371.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.168686 m,
nav range: 181.769485 m,
bearing: 325.362190 deg,
approach rate: -0.486938 m/s,
LOS rate: 0.005010 deg/s,
cmd heading: 319.656842 deg,
new cmd heading: 319.662750 deg.
2025-06-11T20:56:11.265Z,1749675371.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579167 target range: 188.168686 and range: 189.80 m.
2025-06-11T20:56:11.338Z,1749675371.338 [DAT](INFO): DAT read: Rx Time:20:56:12.5115
2025-06-11T20:56:11.339Z,1749675371.339 [DAT](INFO): Rx dataTimestamp_ set to:1749675371.338432
2025-06-11T20:56:11.340Z,1749675371.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250722
2025-06-11T20:56:11.589Z,1749675371.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499839
2025-06-11T20:56:11.699Z,1749675371.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:11.705Z,1749675371.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.17 m.
2025-06-11T20:56:11.707Z,1749675371.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 188.168686 m,
nav range: 181.580048 m,
bearing: 325.364177 deg,
approach rate: -0.426676 m/s,
LOS rate: 0.004479 deg/s,
cmd heading: 319.662743 deg,
new cmd heading: 319.668710 deg.
2025-06-11T20:56:11.713Z,1749675371.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579271 target range: 188.168686 and range: 189.80 m.
2025-06-11T20:56:11.847Z,1749675371.847 [DAT](INFO): DAT read: 20:56:12.5115 LVL= 21632, 32753, 21426, 32755, AGC= 70, IDX= 420, 0.21,-0.649,-2.064,-0.821,-1.201, PHS= 0.640,-0.816, 0.376, RAW= 140.2, -3.0, CAL= 145.4, -12.3, ROT= 4.6, 12.3
2025-06-11T20:56:11.849Z,1749675371.849 [DAT](INFO): got valid direction response:
20:56:12.5115 LVL= 21632, 32753, 21426, 32755, AGC= 70, IDX= 420, 0.21,-0.649,-2.064,-0.821,-1.201, PHS= 0.640,-0.816, 0.376, RAW= 140.2, -3.0, CAL= 145.4, -12.3, ROT= 4.6, 12.3
2025-06-11T20:56:11.850Z,1749675371.850 [DAT](INFO): DAT read: Bearing 4.6, 12.3 (Local)
2025-06-11T20:56:11.850Z,1749675371.850 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.6, 12.3 (Local)
2025-06-11T20:56:11.851Z,1749675371.851 [DAT](INFO): DAT read: Range 10 to 50 : 188.1 m (Round-trip 250.8 ms) speed 0.4 m/s
2025-06-11T20:56:11.853Z,1749675371.853 [DAT](INFO): DAT read: user:601>
2025-06-11T20:56:11.853Z,1749675371.853 [DAT](INFO): DAT read: Tx time:20:56:13.6065
2025-06-11T20:56:11.854Z,1749675371.854 [DAT](INFO): Ping request sent.
2025-06-11T20:56:11.854Z,1749675371.854 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:11.854Z,1749675371.854 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:11.855Z,1749675371.855 [DAT](INFO): direction in FSK: [0.973898,0.078358,-0.213030]
2025-06-11T20:56:11.855Z,1749675371.855 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:11.856Z,1749675371.856 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:11.859Z,1749675371.859 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:11.859Z,1749675371.859 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:12.073Z,1749675372.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 188.100006 m,
deltaT: 3.779441 s,
deltaX: -1.699997 m,
approachRate: -0.449801 m/s,
rangeRepo size: 4
2025-06-11T20:56:12.075Z,1749675372.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 186.488602 m,
bearing: 325.431615 deg,
lat: 36.906536 deg,
lon: -122.115663 deg,
deltaT: 3.779441 s,
deltaX: -1.680084 m,
approachRate: -0.444532 m/s,
posRepo size: 4
2025-06-11T20:56:12.080Z,1749675372.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:12.083Z,1749675372.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 181.512009 m,
bearing: 325.432199 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004479 deg/s,
cmd heading: 319.668699 deg,
new cmd heading: 319.673644 deg.
2025-06-11T20:56:12.088Z,1749675372.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579358 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:12.093Z,1749675372.093 [DAT](INFO): DAT read: TxSync time:20:56:13.6057
2025-06-11T20:56:12.473Z,1749675372.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:12.493Z,1749675372.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 181.305878 m,
bearing: 325.432806 deg,
approach rate: -0.514995 m/s,
LOS rate: 0.001518 deg/s,
cmd heading: 319.673644 deg,
new cmd heading: 319.675467 deg.
2025-06-11T20:56:12.494Z,1749675372.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579390 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:12.860Z,1749675372.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:12.863Z,1749675372.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 181.122818 m,
bearing: 325.433376 deg,
approach rate: -0.478006 m/s,
LOS rate: 0.001490 deg/s,
cmd heading: 319.675475 deg,
new cmd heading: 319.677186 deg.
2025-06-11T20:56:12.865Z,1749675372.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579420 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:13.313Z,1749675373.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:13.315Z,1749675373.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 180.903748 m,
bearing: 325.431598 deg,
approach rate: -0.479822 m/s,
LOS rate: -0.003899 deg/s,
cmd heading: 319.677196 deg,
new cmd heading: 319.671855 deg.
2025-06-11T20:56:13.317Z,1749675373.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579327 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:13.667Z,1749675373.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:13.670Z,1749675373.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 180.714310 m,
bearing: 325.430057 deg,
approach rate: -0.533879 m/s,
LOS rate: -0.004347 deg/s,
cmd heading: 319.671868 deg,
new cmd heading: 319.667241 deg.
2025-06-11T20:56:13.671Z,1749675373.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579246 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:14.055Z,1749675374.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:14.057Z,1749675374.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:14.061Z,1749675374.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 180.521057 m,
bearing: 325.428356 deg,
approach rate: -0.495500 m/s,
LOS rate: -0.004364 deg/s,
cmd heading: 319.667251 deg,
new cmd heading: 319.662145 deg.
2025-06-11T20:56:14.062Z,1749675374.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579157 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:14.109Z,1749675374.109 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:14.110Z,1749675374.110 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:14.110Z,1749675374.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:14.361Z,1749675374.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507022
2025-06-11T20:56:14.504Z,1749675374.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:14.507Z,1749675374.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 180.311478 m,
bearing: 325.423832 deg,
approach rate: -0.473959 m/s,
LOS rate: -0.010244 deg/s,
cmd heading: 319.662142 deg,
new cmd heading: 319.648553 deg.
2025-06-11T20:56:14.512Z,1749675374.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578920 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:14.613Z,1749675374.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759005
2025-06-11T20:56:14.865Z,1749675374.865 [DAT](INFO): DAT read: Rx Time:20:56:16.2298
2025-06-11T20:56:14.865Z,1749675374.865 [DAT](INFO): Rx dataTimestamp_ set to:1749675374.865148
2025-06-11T20:56:14.866Z,1749675374.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012203
2025-06-11T20:56:14.869Z,1749675374.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:14.872Z,1749675374.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 180.119873 m,
bearing: 325.419703 deg,
approach rate: -0.518568 m/s,
LOS rate: -0.011188 deg/s,
cmd heading: 319.648564 deg,
new cmd heading: 319.636163 deg.
2025-06-11T20:56:14.873Z,1749675374.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578703 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:15.117Z,1749675375.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262993
2025-06-11T20:56:15.332Z,1749675375.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:15.335Z,1749675375.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 179.882568 m,
bearing: 325.412056 deg,
approach rate: -0.512700 m/s,
LOS rate: -0.016542 deg/s,
cmd heading: 319.636160 deg,
new cmd heading: 319.613190 deg.
2025-06-11T20:56:15.336Z,1749675375.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578302 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:15.372Z,1749675375.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517340
2025-06-11T20:56:15.627Z,1749675375.627 [DAT](INFO): DAT read: 20:56:16.2298 LVL= 24272, 29825, 21490, 32755, AGC= 69, IDX= 111, 0.36, 1.394,-0.073, 1.179, 0.843, PHS= 0.639,-0.868, 0.333, RAW= 138.9, -1.5, CAL= 143.9, -10.8, ROT= 6.1, 10.8
2025-06-11T20:56:15.633Z,1749675375.633 [DAT](INFO): got valid direction response:
20:56:16.2298 LVL= 24272, 29825, 21490, 32755, AGC= 69, IDX= 111, 0.36, 1.394,-0.073, 1.179, 0.843, PHS= 0.639,-0.868, 0.333, RAW= 138.9, -1.5, CAL= 143.9, -10.8, ROT= 6.1, 10.8
2025-06-11T20:56:15.634Z,1749675375.634 [DAT](INFO): DAT read: Bearing 6.1, 10.8 (Local)
2025-06-11T20:56:15.634Z,1749675375.634 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.1, 10.8 (Local)
2025-06-11T20:56:15.671Z,1749675375.671 [DAT](INFO): DAT read: Range 10 to 50 : 164.3 m (Round-trip 219.1 ms) speed 0.0 m/s
2025-06-11T20:56:15.672Z,1749675375.672 [DAT](INFO): DAT read: user:602>
2025-06-11T20:56:15.673Z,1749675375.673 [DAT](INFO): DAT read: Tx time:20:56:17.3066
2025-06-11T20:56:15.673Z,1749675375.673 [DAT](INFO): Ping request sent.
2025-06-11T20:56:15.673Z,1749675375.673 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:15.674Z,1749675375.674 [DAT](INFO): DAT read: TxSync time:20:56:17.3058
2025-06-11T20:56:15.674Z,1749675375.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:15.675Z,1749675375.675 [DAT](INFO): direction in FSK: [0.976725,0.104382,-0.187381]
2025-06-11T20:56:15.675Z,1749675375.675 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:15.700Z,1749675375.700 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:15.703Z,1749675375.703 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:15.703Z,1749675375.703 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:15.749Z,1749675375.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 164.300003 m,
deltaT: 3.779976 s,
deltaX: -23.800003 m,
approachRate: -6.296337 m/s,
rangeRepo size: 4
2025-06-11T20:56:15.749Z,1749675375.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:15.757Z,1749675375.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 179.681152 m,
bearing: 325.405552 deg,
approach rate: -0.488890 m/s,
LOS rate: -0.015805 deg/s,
cmd heading: 319.613183 deg,
new cmd heading: 319.593649 deg.
2025-06-11T20:56:15.758Z,1749675375.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577961 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:16.091Z,1749675376.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:16.094Z,1749675376.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:16.097Z,1749675376.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 179.495224 m,
bearing: 325.399681 deg,
approach rate: -0.531856 m/s,
LOS rate: -0.016812 deg/s,
cmd heading: 319.593649 deg,
new cmd heading: 319.576018 deg.
2025-06-11T20:56:16.098Z,1749675376.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577654 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:16.125Z,1749675376.125 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:16.125Z,1749675376.125 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:16.125Z,1749675376.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:16.377Z,1749675376.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.703782
2025-06-11T20:56:16.543Z,1749675376.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:16.546Z,1749675376.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 179.266541 m,
bearing: 325.391620 deg,
approach rate: -0.509025 m/s,
LOS rate: -0.017965 deg/s,
cmd heading: 319.576027 deg,
new cmd heading: 319.551815 deg.
2025-06-11T20:56:16.547Z,1749675376.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577231 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:16.630Z,1749675376.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.956919
2025-06-11T20:56:16.881Z,1749675376.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207930
2025-06-11T20:56:16.886Z,1749675376.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:16.889Z,1749675376.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 179.092636 m,
bearing: 325.385487 deg,
approach rate: -0.506424 m/s,
LOS rate: -0.017878 deg/s,
cmd heading: 319.551821 deg,
new cmd heading: 319.533403 deg.
2025-06-11T20:56:16.890Z,1749675376.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576910 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:17.134Z,1749675377.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460629
2025-06-11T20:56:17.385Z,1749675377.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711951
2025-06-11T20:56:17.405Z,1749675377.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:17.408Z,1749675377.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 178.825424 m,
bearing: 325.376191 deg,
approach rate: -0.514608 m/s,
LOS rate: -0.017930 deg/s,
cmd heading: 319.533407 deg,
new cmd heading: 319.505476 deg.
2025-06-11T20:56:17.409Z,1749675377.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576423 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:17.536Z,1749675377.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:56:17.637Z,1749675377.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964366
2025-06-11T20:56:17.721Z,1749675377.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:17.750Z,1749675377.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 178.663254 m,
bearing: 325.370480 deg,
approach rate: -0.513261 m/s,
LOS rate: -0.018089 deg/s,
cmd heading: 319.505485 deg,
new cmd heading: 319.488339 deg.
2025-06-11T20:56:17.751Z,1749675377.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576123 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:17.889Z,1749675377.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216058
2025-06-11T20:56:18.141Z,1749675378.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467996
2025-06-11T20:56:18.147Z,1749675378.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:18.149Z,1749675378.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:18.152Z,1749675378.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 178.444778 m,
bearing: 325.362723 deg,
approach rate: -0.510510 m/s,
LOS rate: -0.018148 deg/s,
cmd heading: 319.488328 deg,
new cmd heading: 319.465028 deg.
2025-06-11T20:56:18.153Z,1749675378.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575716 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:18.393Z,1749675378.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719878
2025-06-11T20:56:18.540Z,1749675378.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:56:18.586Z,1749675378.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:18.593Z,1749675378.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 178.223602 m,
bearing: 325.354986 deg,
approach rate: -0.506817 m/s,
LOS rate: -0.017752 deg/s,
cmd heading: 319.465023 deg,
new cmd heading: 319.441782 deg.
2025-06-11T20:56:18.594Z,1749675378.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575311 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:18.646Z,1749675378.646 [DAT](INFO): DAT read: Rx Time:20:56:19.9272
2025-06-11T20:56:18.647Z,1749675378.647 [DAT](INFO): Rx dataTimestamp_ set to:1749675378.646114
2025-06-11T20:56:18.647Z,1749675378.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974381
2025-06-11T20:56:18.897Z,1749675378.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223974
2025-06-11T20:56:18.927Z,1749675378.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.49 m.
2025-06-11T20:56:18.946Z,1749675378.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 186.488602 m,
nav range: 178.044540 m,
bearing: 325.348716 deg,
approach rate: -0.525355 m/s,
LOS rate: -0.018413 deg/s,
cmd heading: 319.441773 deg,
new cmd heading: 319.422945 deg.
2025-06-11T20:56:18.952Z,1749675378.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574982 target range: 186.488602 and range: 188.10 m.
2025-06-11T20:56:19.155Z,1749675379.155 [DAT](INFO): DAT read: 20:56:19.9272 LVL= 26720, 30993, 26722, 32755, AGC= 69, IDX= 421,-0.33,-1.548,-2.840,-1.716,-2.007, PHS= 0.547,-0.786, 0.288, RAW= 139.4, -0.8, CAL= 144.2, -9.9, ROT= 5.8, 9.9
2025-06-11T20:56:19.156Z,1749675379.156 [DAT](INFO): got valid direction response:
20:56:19.9272 LVL= 26720, 30993, 26722, 32755, AGC= 69, IDX= 421,-0.33,-1.548,-2.840,-1.716,-2.007, PHS= 0.547,-0.786, 0.288, RAW= 139.4, -0.8, CAL= 144.2, -9.9, ROT= 5.8, 9.9
2025-06-11T20:56:19.157Z,1749675379.157 [DAT](INFO): DAT read: Bearing 5.8, 9.9 (Local)
2025-06-11T20:56:19.157Z,1749675379.157 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.8, 9.9 (Local)
2025-06-11T20:56:19.159Z,1749675379.159 [DAT](INFO): DAT read: Range 10 to 50 : 162.3 m (Round-trip 216.5 ms) speed 0.5 m/s
2025-06-11T20:56:19.159Z,1749675379.159 [DAT](INFO): DAT read: user:603>
2025-06-11T20:56:19.163Z,1749675379.163 [DAT](INFO): DAT read: Tx time:20:56:21.0066
2025-06-11T20:56:19.165Z,1749675379.165 [DAT](INFO): Ping request sent.
2025-06-11T20:56:19.165Z,1749675379.165 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:19.167Z,1749675379.167 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:19.169Z,1749675379.169 [DAT](INFO): direction in FSK: [0.980066,0.099552,-0.171929]
2025-06-11T20:56:19.169Z,1749675379.169 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:19.169Z,1749675379.169 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:19.173Z,1749675379.173 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:19.173Z,1749675379.173 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:19.401Z,1749675379.401 [DAT](INFO): DAT read: TxSync time:20:56:21.0058
2025-06-11T20:56:19.461Z,1749675379.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 162.300003 m,
deltaT: 7.307973 s,
deltaX: -25.800003 m,
approachRate: -3.530391 m/s,
rangeRepo size: 4
2025-06-11T20:56:19.463Z,1749675379.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 160.908737 m,
bearing: 326.411926 deg,
lat: 36.906533 deg,
lon: -122.115588 deg,
deltaT: 7.307973 s,
deltaX: -25.579865 m,
approachRate: -3.500268 m/s,
posRepo size: 4
2025-06-11T20:56:19.465Z,1749675379.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.91 m.
2025-06-11T20:56:19.467Z,1749675379.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.908737 m,
nav range: 173.816406 m,
bearing: 327.089084 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.018413 deg/s,
cmd heading: 319.422949 deg,
new cmd heading: 319.393741 deg.
2025-06-11T20:56:19.477Z,1749675379.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574472 target range: 160.908737 and range: 162.30 m.
2025-06-11T20:56:19.755Z,1749675379.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.91 m.
2025-06-11T20:56:19.757Z,1749675379.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.908737 m,
nav range: 173.642609 m,
bearing: 327.087251 deg,
approach rate: -0.580640 m/s,
LOS rate: -0.006130 deg/s,
cmd heading: 319.393743 deg,
new cmd heading: 319.388238 deg.
2025-06-11T20:56:19.758Z,1749675379.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574377 target range: 160.908737 and range: 162.30 m.
2025-06-11T20:56:20.187Z,1749675380.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:20.189Z,1749675380.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.91 m.
2025-06-11T20:56:20.192Z,1749675380.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.908737 m,
nav range: 173.418610 m,
bearing: 327.084962 deg,
approach rate: -0.515712 m/s,
LOS rate: -0.005276 deg/s,
cmd heading: 319.388252 deg,
new cmd heading: 319.381377 deg.
2025-06-11T20:56:20.193Z,1749675380.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574256 target range: 160.908737 and range: 162.30 m.
2025-06-11T20:56:20.409Z,1749675380.409 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:20.409Z,1749675380.409 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:20.409Z,1749675380.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:20.603Z,1749675380.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.91 m.
2025-06-11T20:56:20.606Z,1749675380.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.908737 m,
nav range: 173.206680 m,
bearing: 327.085088 deg,
approach rate: -0.511604 m/s,
LOS rate: 0.000304 deg/s,
cmd heading: 319.381367 deg,
new cmd heading: 319.381744 deg.
2025-06-11T20:56:20.607Z,1749675380.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574263 target range: 160.908737 and range: 162.30 m.
2025-06-11T20:56:20.662Z,1749675380.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496983
2025-06-11T20:56:20.914Z,1749675380.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748893
2025-06-11T20:56:20.975Z,1749675380.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.91 m.
2025-06-11T20:56:20.978Z,1749675380.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.908737 m,
nav range: 173.018097 m,
bearing: 327.085185 deg,
approach rate: -0.507161 m/s,
LOS rate: 0.000262 deg/s,
cmd heading: 319.381749 deg,
new cmd heading: 319.382042 deg.
2025-06-11T20:56:20.979Z,1749675380.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574268 target range: 160.908737 and range: 162.30 m.
2025-06-11T20:56:21.166Z,1749675381.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000966
2025-06-11T20:56:21.417Z,1749675381.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252202
2025-06-11T20:56:21.418Z,1749675381.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.91 m.
2025-06-11T20:56:21.421Z,1749675381.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.908737 m,
nav range: 172.798950 m,
bearing: 327.088797 deg,
approach rate: -0.497647 m/s,
LOS rate: 0.008212 deg/s,
cmd heading: 319.382050 deg,
new cmd heading: 319.392899 deg.
2025-06-11T20:56:21.422Z,1749675381.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574458 target range: 160.908737 and range: 162.30 m.
2025-06-11T20:56:21.669Z,1749675381.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504001
2025-06-11T20:56:21.822Z,1749675381.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.91 m.
2025-06-11T20:56:21.845Z,1749675381.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.908737 m,
nav range: 172.609543 m,
bearing: 327.091979 deg,
approach rate: -0.466025 m/s,
LOS rate: 0.007838 deg/s,
cmd heading: 319.392896 deg,
new cmd heading: 319.402453 deg.
2025-06-11T20:56:21.846Z,1749675381.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574625 target range: 160.908737 and range: 162.30 m.
2025-06-11T20:56:21.922Z,1749675381.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757505
2025-06-11T20:56:22.173Z,1749675382.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008039
2025-06-11T20:56:22.361Z,1749675382.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:22.363Z,1749675382.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.91 m.
2025-06-11T20:56:22.370Z,1749675382.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.908737 m,
nav range: 172.348694 m,
bearing: 327.096448 deg,
approach rate: -0.481731 m/s,
LOS rate: 0.008266 deg/s,
cmd heading: 319.402458 deg,
new cmd heading: 319.415886 deg.
2025-06-11T20:56:22.371Z,1749675382.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574859 target range: 160.908737 and range: 162.30 m.
2025-06-11T20:56:22.426Z,1749675382.426 [DAT](INFO): DAT read: Rx Time:20:56:23.6248
2025-06-11T20:56:22.427Z,1749675382.427 [DAT](INFO): Rx dataTimestamp_ set to:1749675382.426469
2025-06-11T20:56:22.428Z,1749675382.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262823
2025-06-11T20:56:22.677Z,1749675382.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512230
2025-06-11T20:56:22.734Z,1749675382.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.91 m.
2025-06-11T20:56:22.741Z,1749675382.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.908737 m,
nav range: 172.158539 m,
bearing: 327.100047 deg,
approach rate: -0.513333 m/s,
LOS rate: 0.009727 deg/s,
cmd heading: 319.415873 deg,
new cmd heading: 319.426683 deg.
2025-06-11T20:56:22.742Z,1749675382.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575047 target range: 160.908737 and range: 162.30 m.
2025-06-11T20:56:22.937Z,1749675382.937 [DAT](INFO): DAT read: 20:56:23.6248 LVL= 20688, 29857, 18338, 30323, AGC= 70, IDX= 411, 0.35,-2.640, 2.047,-2.898, 2.991, PHS= 0.740,-0.897, 0.391, RAW= 138.3, -3.2, CAL= 143.6, -12.7, ROT= 6.4, 12.7
2025-06-11T20:56:22.939Z,1749675382.939 [DAT](INFO): got valid direction response:
20:56:23.6248 LVL= 20688, 29857, 18338, 30323, AGC= 70, IDX= 411, 0.35,-2.640, 2.047,-2.898, 2.991, PHS= 0.740,-0.897, 0.391, RAW= 138.3, -3.2, CAL= 143.6, -12.7, ROT= 6.4, 12.7
2025-06-11T20:56:22.940Z,1749675382.940 [DAT](INFO): DAT read: Bearing 6.4, 12.7 (Local)
2025-06-11T20:56:22.941Z,1749675382.941 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.4, 12.7 (Local)
2025-06-11T20:56:22.943Z,1749675382.943 [DAT](INFO): DAT read: Range 10 to 50 : 160.5 m (Round-trip 214.0 ms) speed 0.2 m/s
2025-06-11T20:56:22.944Z,1749675382.944 [DAT](INFO): DAT read: user:604>
2025-06-11T20:56:22.945Z,1749675382.945 [DAT](INFO): DAT read: Tx time:20:56:24.7066
2025-06-11T20:56:22.946Z,1749675382.946 [DAT](INFO): Ping request sent.
2025-06-11T20:56:22.946Z,1749675382.946 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:22.946Z,1749675382.946 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:22.947Z,1749675382.947 [DAT](INFO): direction in FSK: [0.969455,0.108742,-0.219846]
2025-06-11T20:56:22.947Z,1749675382.947 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:22.948Z,1749675382.948 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:22.951Z,1749675382.951 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:22.951Z,1749675382.951 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:23.136Z,1749675383.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 160.500000 m,
deltaT: 3.780299 s,
deltaX: -1.800003 m,
approachRate: -0.476154 m/s,
rangeRepo size: 4
2025-06-11T20:56:23.138Z,1749675383.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 159.126099 m,
bearing: 326.936879 deg,
lat: 36.906407 deg,
lon: -122.115510 deg,
deltaT: 3.780299 s,
deltaX: -1.782639 m,
approachRate: -0.471560 m/s,
posRepo size: 4
2025-06-11T20:56:23.139Z,1749675383.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.13 m.
2025-06-11T20:56:23.145Z,1749675383.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.126099 m,
nav range: 156.414932 m,
bearing: 326.468269 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009727 deg/s,
cmd heading: 319.426692 deg,
new cmd heading: 319.438285 deg.
2025-06-11T20:56:23.146Z,1749675383.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575250 target range: 159.126099 and range: 160.50 m.
2025-06-11T20:56:23.181Z,1749675383.181 [DAT](INFO): DAT read: TxSync time:20:56:24.7058
2025-06-11T20:56:23.531Z,1749675383.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.13 m.
2025-06-11T20:56:23.534Z,1749675383.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.126099 m,
nav range: 156.217682 m,
bearing: 326.474802 deg,
approach rate: -0.493263 m/s,
LOS rate: 0.016358 deg/s,
cmd heading: 319.438276 deg,
new cmd heading: 319.457900 deg.
2025-06-11T20:56:23.535Z,1749675383.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575592 target range: 159.126099 and range: 160.50 m.
2025-06-11T20:56:23.910Z,1749675383.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.13 m.
2025-06-11T20:56:23.915Z,1749675383.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.126099 m,
nav range: 156.038254 m,
bearing: 326.480782 deg,
approach rate: -0.474231 m/s,
LOS rate: 0.015824 deg/s,
cmd heading: 319.457892 deg,
new cmd heading: 319.475854 deg.
2025-06-11T20:56:23.918Z,1749675383.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575905 target range: 159.126099 and range: 160.50 m.
2025-06-11T20:56:24.305Z,1749675384.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.13 m.
2025-06-11T20:56:24.309Z,1749675384.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.126099 m,
nav range: 155.851730 m,
bearing: 326.486980 deg,
approach rate: -0.474078 m/s,
LOS rate: 0.015771 deg/s,
cmd heading: 319.475842 deg,
new cmd heading: 319.494457 deg.
2025-06-11T20:56:24.310Z,1749675384.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576230 target range: 159.126099 and range: 160.50 m.
2025-06-11T20:56:24.728Z,1749675384.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:24.730Z,1749675384.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.13 m.
2025-06-11T20:56:24.733Z,1749675384.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.126099 m,
nav range: 155.653641 m,
bearing: 326.493589 deg,
approach rate: -0.463620 m/s,
LOS rate: 0.015488 deg/s,
cmd heading: 319.494447 deg,
new cmd heading: 319.514300 deg.
2025-06-11T20:56:24.734Z,1749675384.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576577 target range: 159.126099 and range: 160.50 m.
2025-06-11T20:56:24.945Z,1749675384.945 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:24.945Z,1749675384.945 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:24.945Z,1749675384.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:25.123Z,1749675385.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.13 m.
2025-06-11T20:56:25.126Z,1749675385.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.126099 m,
nav range: 155.471207 m,
bearing: 326.499652 deg,
approach rate: -0.464243 m/s,
LOS rate: 0.015448 deg/s,
cmd heading: 319.514310 deg,
new cmd heading: 319.532521 deg.
2025-06-11T20:56:25.127Z,1749675385.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576895 target range: 159.126099 and range: 160.50 m.
2025-06-11T20:56:25.199Z,1749675385.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253059
2025-06-11T20:56:25.449Z,1749675385.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503026
2025-06-11T20:56:25.544Z,1749675385.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.13 m.
2025-06-11T20:56:25.547Z,1749675385.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.126099 m,
nav range: 155.273468 m,
bearing: 326.504734 deg,
approach rate: -0.469396 m/s,
LOS rate: 0.012079 deg/s,
cmd heading: 319.532533 deg,
new cmd heading: 319.547798 deg.
2025-06-11T20:56:25.549Z,1749675385.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577161 target range: 159.126099 and range: 160.50 m.
2025-06-11T20:56:25.701Z,1749675385.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755120
2025-06-11T20:56:25.934Z,1749675385.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.13 m.
2025-06-11T20:56:25.938Z,1749675385.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.126099 m,
nav range: 155.094025 m,
bearing: 326.509385 deg,
approach rate: -0.461395 m/s,
LOS rate: 0.011974 deg/s,
cmd heading: 319.547805 deg,
new cmd heading: 319.561775 deg.
2025-06-11T20:56:25.940Z,1749675385.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577405 target range: 159.126099 and range: 160.50 m.
2025-06-11T20:56:25.965Z,1749675385.965 [DAT](INFO): DAT read: Rx Time:20:56:27.3224
2025-06-11T20:56:25.965Z,1749675385.965 [DAT](INFO): Rx dataTimestamp_ set to:1749675385.965081
2025-06-11T20:56:25.966Z,1749675385.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020200
2025-06-11T20:56:26.218Z,1749675386.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272349
2025-06-11T20:56:26.321Z,1749675386.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.13 m.
2025-06-11T20:56:26.344Z,1749675386.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 159.126099 m,
nav range: 154.908554 m,
bearing: 326.514219 deg,
approach rate: -0.478139 m/s,
LOS rate: 0.012477 deg/s,
cmd heading: 319.561766 deg,
new cmd heading: 319.576285 deg.
2025-06-11T20:56:26.345Z,1749675386.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577658 target range: 159.126099 and range: 160.50 m.
2025-06-11T20:56:26.472Z,1749675386.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525861
2025-06-11T20:56:26.727Z,1749675386.727 [DAT](INFO): DAT read: 20:56:27.3224 LVL= 24848, 29105, 22386, 31315, AGC= 69, IDX= 418, 0.25, 1.618,-0.008, 1.397, 0.956, PHS= 0.750,-0.916, 0.439, RAW= 139.9, -3.6, CAL= 145.2, -13.0, ROT= 4.8, 13.0
2025-06-11T20:56:26.728Z,1749675386.728 [DAT](INFO): got valid direction response:
20:56:27.3224 LVL= 24848, 29105, 22386, 31315, AGC= 69, IDX= 418, 0.25, 1.618,-0.008, 1.397, 0.956, PHS= 0.750,-0.916, 0.439, RAW= 139.9, -3.6, CAL= 145.2, -13.0, ROT= 4.8, 13.0
2025-06-11T20:56:26.729Z,1749675386.729 [DAT](INFO): DAT read: Bearing 4.8, 13.0 (Local)
2025-06-11T20:56:26.729Z,1749675386.729 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.8, 13.0 (Local)
2025-06-11T20:56:26.731Z,1749675386.731 [DAT](INFO): DAT read: Range 10 to 50 : 158.7 m (Round-trip 211.6 ms) speed 0.7 m/s
2025-06-11T20:56:26.732Z,1749675386.732 [DAT](INFO): DAT read: user:605>
2025-06-11T20:56:26.733Z,1749675386.733 [DAT](INFO): DAT read: Tx time:20:56:28.4067
2025-06-11T20:56:26.733Z,1749675386.733 [DAT](INFO): Ping request sent.
2025-06-11T20:56:26.733Z,1749675386.733 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:26.734Z,1749675386.734 [DAT](INFO): DAT read: TxSync time:20:56:28.4059
2025-06-11T20:56:26.734Z,1749675386.734 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:26.735Z,1749675386.735 [DAT](INFO): direction in FSK: [0.970953,0.081533,-0.224951]
2025-06-11T20:56:26.736Z,1749675386.736 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:26.736Z,1749675386.736 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:26.739Z,1749675386.739 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:26.739Z,1749675386.739 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:26.827Z,1749675386.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 158.699997 m,
deltaT: 3.791616 s,
deltaX: -1.800003 m,
approachRate: -0.474732 m/s,
rangeRepo size: 4
2025-06-11T20:56:26.834Z,1749675386.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 157.346939 m,
bearing: 325.364799 deg,
lat: 36.906405 deg,
lon: -122.115510 deg,
deltaT: 3.791616 s,
deltaX: -1.779160 m,
approachRate: -0.469235 m/s,
posRepo size: 4
2025-06-11T20:56:26.834Z,1749675386.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:26.841Z,1749675386.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 154.474548 m,
bearing: 326.470036 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012477 deg/s,
cmd heading: 319.576273 deg,
new cmd heading: 319.595201 deg.
2025-06-11T20:56:26.842Z,1749675386.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577989 target range: 157.346939 and range: 158.70 m.
2025-06-11T20:56:27.132Z,1749675387.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:27.134Z,1749675387.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:27.158Z,1749675387.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 154.319473 m,
bearing: 326.472733 deg,
approach rate: -0.503981 m/s,
LOS rate: 0.008773 deg/s,
cmd heading: 319.595206 deg,
new cmd heading: 319.603305 deg.
2025-06-11T20:56:27.158Z,1749675387.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578130 target range: 157.346939 and range: 158.70 m.
2025-06-11T20:56:27.225Z,1749675387.225 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:27.226Z,1749675387.226 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:27.226Z,1749675387.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:27.477Z,1749675387.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743526
2025-06-11T20:56:27.572Z,1749675387.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:27.575Z,1749675387.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 154.103195 m,
bearing: 326.474260 deg,
approach rate: -0.494296 m/s,
LOS rate: 0.003496 deg/s,
cmd heading: 319.603293 deg,
new cmd heading: 319.607882 deg.
2025-06-11T20:56:27.585Z,1749675387.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578210 target range: 157.346939 and range: 158.70 m.
2025-06-11T20:56:27.729Z,1749675387.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995493
2025-06-11T20:56:27.962Z,1749675387.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:27.965Z,1749675387.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 153.910706 m,
bearing: 326.475673 deg,
approach rate: -0.493947 m/s,
LOS rate: 0.003628 deg/s,
cmd heading: 319.607883 deg,
new cmd heading: 319.612125 deg.
2025-06-11T20:56:27.966Z,1749675387.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578284 target range: 157.346939 and range: 158.70 m.
2025-06-11T20:56:27.983Z,1749675387.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250184
2025-06-11T20:56:28.233Z,1749675388.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499527
2025-06-11T20:56:28.346Z,1749675388.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:28.349Z,1749675388.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 153.720795 m,
bearing: 326.477030 deg,
approach rate: -0.494076 m/s,
LOS rate: 0.003537 deg/s,
cmd heading: 319.612118 deg,
new cmd heading: 319.616196 deg.
2025-06-11T20:56:28.350Z,1749675388.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578355 target range: 157.346939 and range: 158.70 m.
2025-06-11T20:56:28.487Z,1749675388.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753505
2025-06-11T20:56:28.737Z,1749675388.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003486
2025-06-11T20:56:28.800Z,1749675388.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:28.803Z,1749675388.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 153.501450 m,
bearing: 326.476229 deg,
approach rate: -0.488021 m/s,
LOS rate: -0.001784 deg/s,
cmd heading: 319.616189 deg,
new cmd heading: 319.613783 deg.
2025-06-11T20:56:28.808Z,1749675388.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578313 target range: 157.346939 and range: 158.70 m.
2025-06-11T20:56:28.989Z,1749675388.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255496
2025-06-11T20:56:29.153Z,1749675389.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:29.155Z,1749675389.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:29.158Z,1749675389.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 153.304138 m,
bearing: 326.475523 deg,
approach rate: -0.549210 m/s,
LOS rate: -0.001968 deg/s,
cmd heading: 319.613784 deg,
new cmd heading: 319.611663 deg.
2025-06-11T20:56:29.159Z,1749675389.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578276 target range: 157.346939 and range: 158.70 m.
2025-06-11T20:56:29.242Z,1749675389.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508466
2025-06-11T20:56:29.493Z,1749675389.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759629
2025-06-11T20:56:29.623Z,1749675389.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:29.627Z,1749675389.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 153.061890 m,
bearing: 326.472701 deg,
approach rate: -0.517590 m/s,
LOS rate: -0.006040 deg/s,
cmd heading: 319.611653 deg,
new cmd heading: 319.603173 deg.
2025-06-11T20:56:29.657Z,1749675389.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578128 target range: 157.346939 and range: 158.70 m.
2025-06-11T20:56:29.746Z,1749675389.746 [DAT](INFO): DAT read: Rx Time:20:56:31.0200
2025-06-11T20:56:29.746Z,1749675389.746 [DAT](INFO): Rx dataTimestamp_ set to:1749675389.745783
2025-06-11T20:56:29.747Z,1749675389.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013787
2025-06-11T20:56:29.966Z,1749675389.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:29.969Z,1749675389.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 152.878006 m,
bearing: 326.470650 deg,
approach rate: -0.535280 m/s,
LOS rate: -0.005979 deg/s,
cmd heading: 319.603184 deg,
new cmd heading: 319.597023 deg.
2025-06-11T20:56:29.970Z,1749675389.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578020 target range: 157.346939 and range: 158.70 m.
2025-06-11T20:56:29.997Z,1749675389.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263952
2025-06-11T20:56:30.254Z,1749675390.254 [DAT](INFO): DAT read: 20:56:31.0200 LVL= 27184, 32753, 23442, 32755, AGC= 69, IDX= 410,-0.17,-2.047, 2.814,-2.257,-2.644, PHS= 0.686,-0.778, 0.385, RAW= 138.8, -4.4, CAL= 144.3,ROT= 5.7, 14.1
2025-06-11T20:56:30.255Z,1749675390.255 [DAT](INFO): unknown deviceResponse_: 20:56:31.0200 LVL= 27184, 32753, 23442, 32755, AGC= 69, IDX= 410,-0.17,-2.047, 2.814,-2.257,-2.644, PHS= 0.686,-0.778, 0.385, RAW= 138.8, -4.4, CAL= 144.3,ROT= 5.7, 14.1
2025-06-11T20:56:30.257Z,1749675390.257 [DAT](INFO): DAT read: Bearing 5.7, 14.1 (Local)
2025-06-11T20:56:30.257Z,1749675390.257 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.7, 14.1 (Local)
2025-06-11T20:56:30.259Z,1749675390.259 [DAT](INFO): DAT read: Range 10 to 50 : 156.8 m (Round-trip 209.1 ms) speed 0.4 m/s
2025-06-11T20:56:30.260Z,1749675390.260 [DAT](INFO): DAT read: user:606>
2025-06-11T20:56:30.261Z,1749675390.261 [DAT](INFO): DAT read: Tx time:20:56:32.1067
2025-06-11T20:56:30.261Z,1749675390.261 [DAT](INFO): Ping request sent.
2025-06-11T20:56:30.261Z,1749675390.261 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:30.261Z,1749675390.261 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T20:56:30.262Z,1749675390.262 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:30.262Z,1749675390.262 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:30.403Z,1749675390.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 156.800003 m,
deltaT: 3.528088 s,
deltaX: -1.899994 m,
approachRate: -0.538534 m/s,
rangeRepo size: 4
2025-06-11T20:56:30.403Z,1749675390.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:30.411Z,1749675390.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 152.661179 m,
bearing: 326.468252 deg,
approach rate: -0.497595 m/s,
LOS rate: -0.005510 deg/s,
cmd heading: 319.597010 deg,
new cmd heading: 319.589807 deg.
2025-06-11T20:56:30.419Z,1749675390.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577894 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:30.503Z,1749675390.503 [DAT](INFO): DAT read: TxSync time:20:56:32.1059
2025-06-11T20:56:30.862Z,1749675390.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:30.866Z,1749675390.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 152.405334 m,
bearing: 326.463109 deg,
approach rate: -0.555927 m/s,
LOS rate: -0.011193 deg/s,
cmd heading: 319.589797 deg,
new cmd heading: 319.574343 deg.
2025-06-11T20:56:30.867Z,1749675390.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577624 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:31.202Z,1749675391.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:31.208Z,1749675391.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:31.211Z,1749675391.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 152.234848 m,
bearing: 326.459749 deg,
approach rate: -0.492676 m/s,
LOS rate: -0.009722 deg/s,
cmd heading: 319.574333 deg,
new cmd heading: 319.564241 deg.
2025-06-11T20:56:31.216Z,1749675391.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577448 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:31.257Z,1749675391.257 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:31.257Z,1749675391.257 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:31.257Z,1749675391.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:31.510Z,1749675391.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249231
2025-06-11T20:56:31.628Z,1749675391.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:31.631Z,1749675391.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 151.997269 m,
bearing: 326.453703 deg,
approach rate: -0.565650 m/s,
LOS rate: -0.014418 deg/s,
cmd heading: 319.564252 deg,
new cmd heading: 319.546085 deg.
2025-06-11T20:56:31.632Z,1749675391.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577131 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:31.761Z,1749675391.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499685
2025-06-11T20:56:32.009Z,1749675392.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:32.013Z,1749675392.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751725
2025-06-11T20:56:32.013Z,1749675392.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 151.793106 m,
bearing: 326.448428 deg,
approach rate: -0.536644 m/s,
LOS rate: -0.013883 deg/s,
cmd heading: 319.546084 deg,
new cmd heading: 319.530239 deg.
2025-06-11T20:56:32.014Z,1749675392.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576855 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:32.265Z,1749675392.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003593
2025-06-11T20:56:32.394Z,1749675392.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:32.397Z,1749675392.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 151.586792 m,
bearing: 326.443029 deg,
approach rate: -0.535311 m/s,
LOS rate: -0.014027 deg/s,
cmd heading: 319.530238 deg,
new cmd heading: 319.514019 deg.
2025-06-11T20:56:32.398Z,1749675392.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576571 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:32.517Z,1749675392.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255911
2025-06-11T20:56:32.769Z,1749675392.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507664
2025-06-11T20:56:32.844Z,1749675392.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:32.846Z,1749675392.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 151.352707 m,
bearing: 326.436627 deg,
approach rate: -0.520913 m/s,
LOS rate: -0.014269 deg/s,
cmd heading: 319.514009 deg,
new cmd heading: 319.494773 deg.
2025-06-11T20:56:32.847Z,1749675392.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576236 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:33.021Z,1749675393.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759597
2025-06-11T20:56:33.207Z,1749675393.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:33.209Z,1749675393.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:33.213Z,1749675393.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 151.162613 m,
bearing: 326.431351 deg,
approach rate: -0.520563 m/s,
LOS rate: -0.014467 deg/s,
cmd heading: 319.494775 deg,
new cmd heading: 319.478926 deg.
2025-06-11T20:56:33.213Z,1749675393.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575959 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:33.273Z,1749675393.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011819
2025-06-11T20:56:33.528Z,1749675393.528 [DAT](INFO): DAT read: Rx Time:20:56:34.7173
2025-06-11T20:56:33.529Z,1749675393.529 [DAT](INFO): Rx dataTimestamp_ set to:1749675393.528577
2025-06-11T20:56:33.531Z,1749675393.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269729
2025-06-11T20:56:33.644Z,1749675393.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:33.647Z,1749675393.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 150.942612 m,
bearing: 326.424427 deg,
approach rate: -0.506051 m/s,
LOS rate: -0.015950 deg/s,
cmd heading: 319.478929 deg,
new cmd heading: 319.458127 deg.
2025-06-11T20:56:33.648Z,1749675393.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575596 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:33.777Z,1749675393.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515598
2025-06-11T20:56:34.019Z,1749675394.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.35 m.
2025-06-11T20:56:34.022Z,1749675394.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.346939 m,
nav range: 150.751251 m,
bearing: 326.418388 deg,
approach rate: -0.509456 m/s,
LOS rate: -0.016098 deg/s,
cmd heading: 319.458138 deg,
new cmd heading: 319.439998 deg.
2025-06-11T20:56:34.023Z,1749675394.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575280 target range: 157.346939 and range: 156.80 m.
2025-06-11T20:56:34.035Z,1749675394.035 [DAT](INFO): DAT read: 20:56:34.7174 LVL= 27760, 32753, 25394, 32755, AGC= 69, IDX= 415,-0.32,-2.812, 2.089,-3.057, 2.862, PHS= 0.698,-0.726, 0.361, RAW= 136.9, -5.2, CAL= 142.6, -15.3, ROT= 7.4, 15.3
2025-06-11T20:56:34.036Z,1749675394.036 [DAT](INFO): got valid direction response:
20:56:34.7174 LVL= 27760, 32753, 25394, 32755, AGC= 69, IDX= 415,-0.32,-2.812, 2.089,-3.057, 2.862, PHS= 0.698,-0.726, 0.361, RAW= 136.9, -5.2, CAL= 142.6, -15.3, ROT= 7.4, 15.3
2025-06-11T20:56:34.037Z,1749675394.037 [DAT](INFO): DAT read: Bearing 7.4, 15.3 (Local)
2025-06-11T20:56:34.037Z,1749675394.037 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.4, 15.3 (Local)
2025-06-11T20:56:34.039Z,1749675394.039 [DAT](INFO): DAT read: Range 10 to 50 : 154.8 m (Round-trip 206.5 ms) speed 0.4 m/s
2025-06-11T20:56:34.040Z,1749675394.040 [DAT](INFO): DAT read: user:607>
2025-06-11T20:56:34.041Z,1749675394.041 [DAT](INFO): DAT read: Tx time:20:56:35.8068
2025-06-11T20:56:34.041Z,1749675394.041 [DAT](INFO): Ping request sent.
2025-06-11T20:56:34.041Z,1749675394.041 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:34.041Z,1749675394.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:34.042Z,1749675394.042 [DAT](INFO): direction in FSK: [0.956524,0.124231,-0.263873]
2025-06-11T20:56:34.043Z,1749675394.043 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:34.043Z,1749675394.043 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:34.074Z,1749675394.074 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:34.074Z,1749675394.074 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:34.281Z,1749675394.281 [DAT](INFO): DAT read: TxSync time:20:56:35.8060
2025-06-11T20:56:34.424Z,1749675394.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 154.800003 m,
deltaT: 3.780159 s,
deltaX: -2.000000 m,
approachRate: -0.529078 m/s,
rangeRepo size: 4
2025-06-11T20:56:34.426Z,1749675394.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 153.474319 m,
bearing: 327.994556 deg,
lat: 36.906405 deg,
lon: -122.115498 deg,
deltaT: 7.308247 s,
deltaX: -3.872620 m,
approachRate: -0.529897 m/s,
posRepo size: 4
2025-06-11T20:56:34.427Z,1749675394.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.47 m.
2025-06-11T20:56:34.430Z,1749675394.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.474319 m,
nav range: 149.997055 m,
bearing: 326.730305 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016098 deg/s,
cmd heading: 319.439997 deg,
new cmd heading: 319.420475 deg.
2025-06-11T20:56:34.431Z,1749675394.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574939 target range: 153.474319 and range: 154.80 m.
2025-06-11T20:56:34.853Z,1749675394.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.47 m.
2025-06-11T20:56:34.855Z,1749675394.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.474319 m,
nav range: 149.784210 m,
bearing: 326.726566 deg,
approach rate: -0.495607 m/s,
LOS rate: -0.008718 deg/s,
cmd heading: 319.420463 deg,
new cmd heading: 319.409230 deg.
2025-06-11T20:56:34.857Z,1749675394.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574743 target range: 153.474319 and range: 154.80 m.
2025-06-11T20:56:35.249Z,1749675395.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:35.256Z,1749675395.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.47 m.
2025-06-11T20:56:35.259Z,1749675395.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.474319 m,
nav range: 149.602768 m,
bearing: 326.723562 deg,
approach rate: -0.449510 m/s,
LOS rate: -0.007450 deg/s,
cmd heading: 319.409234 deg,
new cmd heading: 319.400213 deg.
2025-06-11T20:56:35.264Z,1749675395.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574585 target range: 153.474319 and range: 154.80 m.
2025-06-11T20:56:35.289Z,1749675395.289 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:35.289Z,1749675395.289 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:35.289Z,1749675395.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:35.543Z,1749675395.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501852
2025-06-11T20:56:35.641Z,1749675395.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.47 m.
2025-06-11T20:56:35.644Z,1749675395.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.474319 m,
nav range: 149.409103 m,
bearing: 326.721949 deg,
approach rate: -0.503442 m/s,
LOS rate: -0.004199 deg/s,
cmd heading: 319.400218 deg,
new cmd heading: 319.395372 deg.
2025-06-11T20:56:35.645Z,1749675395.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574501 target range: 153.474319 and range: 154.80 m.
2025-06-11T20:56:35.793Z,1749675395.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751764
2025-06-11T20:56:36.031Z,1749675396.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.47 m.
2025-06-11T20:56:36.034Z,1749675396.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.474319 m,
nav range: 149.228729 m,
bearing: 326.720301 deg,
approach rate: -0.462510 m/s,
LOS rate: -0.004232 deg/s,
cmd heading: 319.395382 deg,
new cmd heading: 319.390431 deg.
2025-06-11T20:56:36.035Z,1749675396.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574415 target range: 153.474319 and range: 154.80 m.
2025-06-11T20:56:36.045Z,1749675396.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004118
2025-06-11T20:56:36.297Z,1749675396.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255839
2025-06-11T20:56:36.435Z,1749675396.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.47 m.
2025-06-11T20:56:36.438Z,1749675396.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.474319 m,
nav range: 149.041916 m,
bearing: 326.718486 deg,
approach rate: -0.462370 m/s,
LOS rate: -0.004498 deg/s,
cmd heading: 319.390437 deg,
new cmd heading: 319.384985 deg.
2025-06-11T20:56:36.439Z,1749675396.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574319 target range: 153.474319 and range: 154.80 m.
2025-06-11T20:56:36.552Z,1749675396.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510223
2025-06-11T20:56:36.801Z,1749675396.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759853
2025-06-11T20:56:36.858Z,1749675396.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.47 m.
2025-06-11T20:56:36.881Z,1749675396.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.474319 m,
nav range: 148.847321 m,
bearing: 326.720630 deg,
approach rate: -0.459934 m/s,
LOS rate: 0.005075 deg/s,
cmd heading: 319.384973 deg,
new cmd heading: 319.391415 deg.
2025-06-11T20:56:36.882Z,1749675396.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574432 target range: 153.474319 and range: 154.80 m.
2025-06-11T20:56:37.053Z,1749675397.053 [DAT](INFO): DAT read: Rx Time:20:56:38.4150
2025-06-11T20:56:37.053Z,1749675397.053 [DAT](INFO): Rx dataTimestamp_ set to:1749675397.053016
2025-06-11T20:56:37.054Z,1749675397.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012873
2025-06-11T20:56:37.244Z,1749675397.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.47 m.
2025-06-11T20:56:37.247Z,1749675397.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.474319 m,
nav range: 148.669998 m,
bearing: 326.722541 deg,
approach rate: -0.460275 m/s,
LOS rate: 0.004965 deg/s,
cmd heading: 319.391421 deg,
new cmd heading: 319.397159 deg.
2025-06-11T20:56:37.247Z,1749675397.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574532 target range: 153.474319 and range: 154.80 m.
2025-06-11T20:56:37.305Z,1749675397.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264427
2025-06-11T20:56:37.565Z,1749675397.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523407
2025-06-11T20:56:37.681Z,1749675397.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:37.683Z,1749675397.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.47 m.
2025-06-11T20:56:37.690Z,1749675397.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.474319 m,
nav range: 148.473450 m,
bearing: 326.727631 deg,
approach rate: -0.447211 m/s,
LOS rate: 0.011598 deg/s,
cmd heading: 319.397158 deg,
new cmd heading: 319.412451 deg.
2025-06-11T20:56:37.691Z,1749675397.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574799 target range: 153.474319 and range: 154.80 m.
2025-06-11T20:56:37.815Z,1749675397.815 [DAT](INFO): DAT read: 20:56:38.4150 LVL= 20576, 30609, 17906, 32755, AGC= 70, IDX= 421, 0.16, 2.422, 0.965, 2.202, 1.775, PHS= 0.735,-0.763, 0.424, RAW= 138.7, -5.8, CAL= 144.4, -15.7, ROT= 5.6, 15.7
2025-06-11T20:56:37.817Z,1749675397.817 [DAT](INFO): got valid direction response:
20:56:38.4150 LVL= 20576, 30609, 17906, 32755, AGC= 70, IDX= 421, 0.16, 2.422, 0.965, 2.202, 1.775, PHS= 0.735,-0.763, 0.424, RAW= 138.7, -5.8, CAL= 144.4, -15.7, ROT= 5.6, 15.7
2025-06-11T20:56:37.818Z,1749675397.818 [DAT](INFO): DAT read: Bearing 5.6, 15.7 (Local)
2025-06-11T20:56:37.818Z,1749675397.818 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.6, 15.7 (Local)
2025-06-11T20:56:37.820Z,1749675397.820 [DAT](INFO): DAT read: Range 10 to 50 : 153.0 m (Round-trip 204.1 ms) speed 0.4 m/s
2025-06-11T20:56:37.821Z,1749675397.821 [DAT](INFO): DAT read: user:608>
2025-06-11T20:56:37.822Z,1749675397.822 [DAT](INFO): DAT read: Tx time:20:56:39.5068
2025-06-11T20:56:37.822Z,1749675397.822 [DAT](INFO): Ping request sent.
2025-06-11T20:56:37.822Z,1749675397.822 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:37.823Z,1749675397.823 [DAT](INFO): DAT read: TxSync time:20:56:39.5060
2025-06-11T20:56:37.823Z,1749675397.823 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:37.824Z,1749675397.824 [DAT](INFO): direction in FSK: [0.958097,0.093942,-0.270600]
2025-06-11T20:56:37.824Z,1749675397.824 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:37.825Z,1749675397.825 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:37.828Z,1749675397.828 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:37.829Z,1749675397.829 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:38.129Z,1749675398.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 153.000000 m,
deltaT: 3.780039 s,
deltaX: -1.800003 m,
approachRate: -0.476186 m/s,
rangeRepo size: 4
2025-06-11T20:56:38.131Z,1749675398.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 151.689972 m,
bearing: 326.386372 deg,
lat: 36.906400 deg,
lon: -122.115496 deg,
deltaT: 3.780039 s,
deltaX: -1.784348 m,
approachRate: -0.472045 m/s,
posRepo size: 4
2025-06-11T20:56:38.131Z,1749675398.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:38.134Z,1749675398.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 147.709351 m,
bearing: 326.689846 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011598 deg/s,
cmd heading: 319.412458 deg,
new cmd heading: 319.427651 deg.
2025-06-11T20:56:38.135Z,1749675398.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575064 target range: 151.689972 and range: 153.00 m.
2025-06-11T20:56:38.459Z,1749675398.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:38.462Z,1749675398.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 147.539108 m,
bearing: 326.694281 deg,
approach rate: -0.501209 m/s,
LOS rate: 0.013071 deg/s,
cmd heading: 319.427648 deg,
new cmd heading: 319.440967 deg.
2025-06-11T20:56:38.463Z,1749675398.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575297 target range: 151.689972 and range: 153.00 m.
2025-06-11T20:56:39.022Z,1749675399.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:39.025Z,1749675399.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 147.277008 m,
bearing: 326.705551 deg,
approach rate: -0.465722 m/s,
LOS rate: 0.020062 deg/s,
cmd heading: 319.440981 deg,
new cmd heading: 319.474853 deg.
2025-06-11T20:56:39.026Z,1749675399.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575888 target range: 151.689972 and range: 153.00 m.
2025-06-11T20:56:39.307Z,1749675399.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:39.310Z,1749675399.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 147.144440 m,
bearing: 326.711214 deg,
approach rate: -0.465410 m/s,
LOS rate: 0.019898 deg/s,
cmd heading: 319.474858 deg,
new cmd heading: 319.491862 deg.
2025-06-11T20:56:39.311Z,1749675399.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576185 target range: 151.689972 and range: 153.00 m.
2025-06-11T20:56:39.737Z,1749675399.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:39.741Z,1749675399.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:39.763Z,1749675399.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 146.936844 m,
bearing: 326.722248 deg,
approach rate: -0.478388 m/s,
LOS rate: 0.025464 deg/s,
cmd heading: 319.491852 deg,
new cmd heading: 319.525002 deg.
2025-06-11T20:56:39.768Z,1749675399.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576763 target range: 151.689972 and range: 153.00 m.
2025-06-11T20:56:39.826Z,1749675399.826 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:39.826Z,1749675399.826 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:39.826Z,1749675399.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:40.077Z,1749675400.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254849
2025-06-11T20:56:40.144Z,1749675400.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:40.147Z,1749675400.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 146.749832 m,
bearing: 326.732186 deg,
approach rate: -0.469021 m/s,
LOS rate: 0.024956 deg/s,
cmd heading: 319.524992 deg,
new cmd heading: 319.554844 deg.
2025-06-11T20:56:40.152Z,1749675400.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577284 target range: 151.689972 and range: 153.00 m.
2025-06-11T20:56:40.329Z,1749675400.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506768
2025-06-11T20:56:40.519Z,1749675400.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:40.522Z,1749675400.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 146.555893 m,
bearing: 326.742558 deg,
approach rate: -0.511089 m/s,
LOS rate: 0.027368 deg/s,
cmd heading: 319.554854 deg,
new cmd heading: 319.586009 deg.
2025-06-11T20:56:40.523Z,1749675400.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577828 target range: 151.689972 and range: 153.00 m.
2025-06-11T20:56:40.584Z,1749675400.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761270
2025-06-11T20:56:40.833Z,1749675400.833 [DAT](INFO): DAT read: Rx Time:20:56:42.1125
2025-06-11T20:56:40.833Z,1749675400.833 [DAT](INFO): Rx dataTimestamp_ set to:1749675400.833178
2025-06-11T20:56:40.834Z,1749675400.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012077
2025-06-11T20:56:41.008Z,1749675401.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:41.011Z,1749675401.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 146.323349 m,
bearing: 326.756567 deg,
approach rate: -0.479762 m/s,
LOS rate: 0.028948 deg/s,
cmd heading: 319.585999 deg,
new cmd heading: 319.628094 deg.
2025-06-11T20:56:41.016Z,1749675401.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578563 target range: 151.689972 and range: 153.00 m.
2025-06-11T20:56:41.086Z,1749675401.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263606
2025-06-11T20:56:41.344Z,1749675401.344 [DAT](INFO): DAT read: 20:56:42.1125 LVL= 31888, 32753, 28770, 32755, AGC= 70, IDX= 411, 0.32,-2.431, 2.390,-2.641,-3.092, PHS= 0.749,-0.754, 0.448, RAW= 139.1, -6.5, CAL= 145.0, -16.4, ROT= 5.0, 16.4
2025-06-11T20:56:41.346Z,1749675401.346 [DAT](INFO): got valid direction response:
20:56:42.1125 LVL= 31888, 32753, 28770, 32755, AGC= 70, IDX= 411, 0.32,-2.431, 2.390,-2.641,-3.092, PHS= 0.749,-0.754, 0.448, RAW= 139.1, -6.5, CAL= 145.0, -16.4, ROT= 5.0, 16.4
2025-06-11T20:56:41.347Z,1749675401.347 [DAT](INFO): DAT read: Bearing 5.0, 16.4 (Local)
2025-06-11T20:56:41.347Z,1749675401.347 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.0, 16.4 (Local)
2025-06-11T20:56:41.349Z,1749675401.349 [DAT](INFO): DAT read: Range 10 to 50 : 151.1 m (Round-trip 201.5 ms) speed 0.4 m/s
2025-06-11T20:56:41.349Z,1749675401.349 [DAT](INFO): DAT read: user:609>
2025-06-11T20:56:41.350Z,1749675401.350 [DAT](INFO): DAT read: Tx time:20:56:43.2068
2025-06-11T20:56:41.350Z,1749675401.350 [DAT](INFO): Ping request sent.
2025-06-11T20:56:41.351Z,1749675401.351 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:41.351Z,1749675401.351 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:41.352Z,1749675401.352 [DAT](INFO): direction in FSK: [0.955663,0.083610,-0.282341]
2025-06-11T20:56:41.352Z,1749675401.352 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:41.353Z,1749675401.353 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:41.358Z,1749675401.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 151.100006 m,
deltaT: 3.527941 s,
deltaX: -1.899994 m,
approachRate: -0.538556 m/s,
rangeRepo size: 4
2025-06-11T20:56:41.358Z,1749675401.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:41.360Z,1749675401.360 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:41.360Z,1749675401.360 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:41.385Z,1749675401.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 146.156525 m,
bearing: 326.766744 deg,
approach rate: -0.472241 m/s,
LOS rate: 0.028842 deg/s,
cmd heading: 319.628101 deg,
new cmd heading: 319.658667 deg.
2025-06-11T20:56:41.386Z,1749675401.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579096 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:41.594Z,1749675401.594 [DAT](INFO): DAT read: TxSync time:20:56:43.2060
2025-06-11T20:56:41.774Z,1749675401.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:41.794Z,1749675401.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 145.939056 m,
bearing: 326.777777 deg,
approach rate: -0.521607 m/s,
LOS rate: 0.026502 deg/s,
cmd heading: 319.658672 deg,
new cmd heading: 319.691821 deg.
2025-06-11T20:56:41.795Z,1749675401.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579675 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:42.138Z,1749675402.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:42.157Z,1749675402.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:42.159Z,1749675402.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 145.753128 m,
bearing: 326.787432 deg,
approach rate: -0.485982 m/s,
LOS rate: 0.025268 deg/s,
cmd heading: 319.691813 deg,
new cmd heading: 319.720814 deg.
2025-06-11T20:56:42.161Z,1749675402.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580181 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:42.345Z,1749675402.345 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:42.345Z,1749675402.345 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:42.345Z,1749675402.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:42.579Z,1749675402.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:42.586Z,1749675402.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 145.544022 m,
bearing: 326.798403 deg,
approach rate: -0.494531 m/s,
LOS rate: 0.025983 deg/s,
cmd heading: 319.720827 deg,
new cmd heading: 319.753787 deg.
2025-06-11T20:56:42.587Z,1749675402.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580756 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:42.599Z,1749675402.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248380
2025-06-11T20:56:42.849Z,1749675402.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498190
2025-06-11T20:56:43.003Z,1749675403.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:43.006Z,1749675403.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 145.319580 m,
bearing: 326.807150 deg,
approach rate: -0.529347 m/s,
LOS rate: 0.020661 deg/s,
cmd heading: 319.753776 deg,
new cmd heading: 319.780057 deg.
2025-06-11T20:56:43.007Z,1749675403.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581215 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:43.101Z,1749675403.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750331
2025-06-11T20:56:43.353Z,1749675403.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002214
2025-06-11T20:56:43.370Z,1749675403.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:43.373Z,1749675403.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 145.136627 m,
bearing: 326.814253 deg,
approach rate: -0.498894 m/s,
LOS rate: 0.019394 deg/s,
cmd heading: 319.780059 deg,
new cmd heading: 319.801395 deg.
2025-06-11T20:56:43.374Z,1749675403.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581587 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:43.607Z,1749675403.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256830
2025-06-11T20:56:43.857Z,1749675403.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506379
2025-06-11T20:56:43.857Z,1749675403.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:43.860Z,1749675403.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 144.891159 m,
bearing: 326.818075 deg,
approach rate: -0.505662 m/s,
LOS rate: 0.007887 deg/s,
cmd heading: 319.801396 deg,
new cmd heading: 319.812881 deg.
2025-06-11T20:56:43.861Z,1749675403.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581788 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:44.109Z,1749675404.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758175
2025-06-11T20:56:44.187Z,1749675404.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:44.189Z,1749675404.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:44.193Z,1749675404.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 144.723557 m,
bearing: 326.820691 deg,
approach rate: -0.502617 m/s,
LOS rate: 0.007855 deg/s,
cmd heading: 319.812871 deg,
new cmd heading: 319.820728 deg.
2025-06-11T20:56:44.194Z,1749675404.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581925 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:44.365Z,1749675404.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013528
2025-06-11T20:56:44.613Z,1749675404.613 [DAT](INFO): DAT read: Rx Time:20:56:45.8101
2025-06-11T20:56:44.613Z,1749675404.613 [DAT](INFO): Rx dataTimestamp_ set to:1749675404.613195
2025-06-11T20:56:44.614Z,1749675404.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263475
2025-06-11T20:56:44.617Z,1749675404.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:44.621Z,1749675404.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 144.511078 m,
bearing: 326.823991 deg,
approach rate: -0.496630 m/s,
LOS rate: 0.007726 deg/s,
cmd heading: 319.820739 deg,
new cmd heading: 319.830656 deg.
2025-06-11T20:56:44.625Z,1749675404.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582098 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:44.865Z,1749675404.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514170
2025-06-11T20:56:45.077Z,1749675405.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.69 m.
2025-06-11T20:56:45.080Z,1749675405.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.689972 m,
nav range: 144.281815 m,
bearing: 326.819767 deg,
approach rate: -0.498331 m/s,
LOS rate: -0.009197 deg/s,
cmd heading: 319.830657 deg,
new cmd heading: 319.817963 deg.
2025-06-11T20:56:45.081Z,1749675405.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581876 target range: 151.689972 and range: 151.10 m.
2025-06-11T20:56:45.127Z,1749675405.127 [DAT](INFO): DAT read: 20:56:45.8101 LVL= 31520, 31441, 26098, 32755, AGC= 65, IDX= 420,-0.11,-2.193, 2.586,-2.429,-2.895, PHS= 0.790,-0.754, 0.463, RAW= 138.4, -7.1, CAL= 144.4, -17.3, ROT= 5.6, 17.3
2025-06-11T20:56:45.130Z,1749675405.130 [DAT](INFO): got valid direction response:
20:56:45.8101 LVL= 31520, 31441, 26098, 32755, AGC= 65, IDX= 420,-0.11,-2.193, 2.586,-2.429,-2.895, PHS= 0.790,-0.754, 0.463, RAW= 138.4, -7.1, CAL= 144.4, -17.3, ROT= 5.6, 17.3
2025-06-11T20:56:45.131Z,1749675405.131 [DAT](INFO): DAT read: Bearing 5.6, 17.3 (Local)
2025-06-11T20:56:45.143Z,1749675405.143 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.6, 17.3 (Local)
2025-06-11T20:56:45.146Z,1749675405.146 [DAT](INFO): DAT read: Range 10 to 50 : 149.4 m (Round-trip 199.2 ms) speed 0.4 m/s
2025-06-11T20:56:45.147Z,1749675405.147 [DAT](INFO): DAT read: user:610>
2025-06-11T20:56:45.155Z,1749675405.155 [DAT](INFO): DAT read: Tx time:20:56:46.9068
2025-06-11T20:56:45.160Z,1749675405.160 [DAT](INFO): Ping request sent.
2025-06-11T20:56:45.160Z,1749675405.160 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:45.161Z,1749675405.161 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:45.162Z,1749675405.162 [DAT](INFO): direction in FSK: [0.950204,0.093168,-0.297375]
2025-06-11T20:56:45.163Z,1749675405.163 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:45.163Z,1749675405.163 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:45.171Z,1749675405.171 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:45.171Z,1749675405.171 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:45.369Z,1749675405.369 [DAT](INFO): DAT read: TxSync time:20:56:46.9060
2025-06-11T20:56:45.440Z,1749675405.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 149.399994 m,
deltaT: 3.780348 s,
deltaX: -1.700012 m,
approachRate: -0.449697 m/s,
rangeRepo size: 4
2025-06-11T20:56:45.442Z,1749675405.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 148.116394 m,
bearing: 326.167143 deg,
lat: 36.906387 deg,
lon: -122.115508 deg,
deltaT: 7.308289 s,
deltaX: -3.573578 m,
approachRate: -0.488976 m/s,
posRepo size: 4
2025-06-11T20:56:45.443Z,1749675405.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.12 m.
2025-06-11T20:56:45.449Z,1749675405.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.116394 m,
nav range: 143.516434 m,
bearing: 326.159412 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009197 deg/s,
cmd heading: 319.817952 deg,
new cmd heading: 319.808075 deg.
2025-06-11T20:56:45.450Z,1749675405.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581704 target range: 148.116394 and range: 149.40 m.
2025-06-11T20:56:45.820Z,1749675405.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.12 m.
2025-06-11T20:56:45.823Z,1749675405.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.116394 m,
nav range: 143.318542 m,
bearing: 326.150943 deg,
approach rate: -0.513335 m/s,
LOS rate: -0.021997 deg/s,
cmd heading: 319.808062 deg,
new cmd heading: 319.782622 deg.
2025-06-11T20:56:45.840Z,1749675405.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581260 target range: 148.116394 and range: 149.40 m.
2025-06-11T20:56:46.194Z,1749675406.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:46.197Z,1749675406.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.12 m.
2025-06-11T20:56:46.199Z,1749675406.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.116394 m,
nav range: 143.136566 m,
bearing: 326.143149 deg,
approach rate: -0.483518 m/s,
LOS rate: -0.020737 deg/s,
cmd heading: 319.782627 deg,
new cmd heading: 319.759213 deg.
2025-06-11T20:56:46.217Z,1749675406.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580851 target range: 148.116394 and range: 149.40 m.
2025-06-11T20:56:46.376Z,1749675406.376 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:46.377Z,1749675406.377 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:46.377Z,1749675406.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:46.618Z,1749675406.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.12 m.
2025-06-11T20:56:46.625Z,1749675406.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.116394 m,
nav range: 142.932159 m,
bearing: 326.134300 deg,
approach rate: -0.485587 m/s,
LOS rate: -0.021052 deg/s,
cmd heading: 319.759213 deg,
new cmd heading: 319.732628 deg.
2025-06-11T20:56:46.626Z,1749675406.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580387 target range: 148.116394 and range: 149.40 m.
2025-06-11T20:56:46.629Z,1749675406.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469124
2025-06-11T20:56:46.882Z,1749675406.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722405
2025-06-11T20:56:47.133Z,1749675407.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972835
2025-06-11T20:56:47.171Z,1749675407.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.12 m.
2025-06-11T20:56:47.174Z,1749675407.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.116394 m,
nav range: 142.660583 m,
bearing: 326.119812 deg,
approach rate: -0.490622 m/s,
LOS rate: -0.026223 deg/s,
cmd heading: 319.732630 deg,
new cmd heading: 319.689084 deg.
2025-06-11T20:56:47.175Z,1749675407.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579627 target range: 148.116394 and range: 149.40 m.
2025-06-11T20:56:47.385Z,1749675407.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224867
2025-06-11T20:56:47.545Z,1749675407.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.12 m.
2025-06-11T20:56:47.548Z,1749675407.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.116394 m,
nav range: 142.478455 m,
bearing: 326.109948 deg,
approach rate: -0.486904 m/s,
LOS rate: -0.026404 deg/s,
cmd heading: 319.689080 deg,
new cmd heading: 319.659451 deg.
2025-06-11T20:56:47.549Z,1749675407.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579110 target range: 148.116394 and range: 149.40 m.
2025-06-11T20:56:47.638Z,1749675407.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477525
2025-06-11T20:56:47.889Z,1749675407.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728695
2025-06-11T20:56:47.986Z,1749675407.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.12 m.
2025-06-11T20:56:47.989Z,1749675407.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.116394 m,
nav range: 142.261551 m,
bearing: 326.096313 deg,
approach rate: -0.492512 m/s,
LOS rate: -0.031009 deg/s,
cmd heading: 319.659465 deg,
new cmd heading: 319.618496 deg.
2025-06-11T20:56:47.990Z,1749675407.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578395 target range: 148.116394 and range: 149.40 m.
2025-06-11T20:56:48.141Z,1749675408.141 [DAT](INFO): DAT read: Rx Time:20:56:49.5079
2025-06-11T20:56:48.142Z,1749675408.142 [DAT](INFO): Rx dataTimestamp_ set to:1749675408.141426
2025-06-11T20:56:48.142Z,1749675408.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982245
2025-06-11T20:56:48.356Z,1749675408.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:48.358Z,1749675408.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.12 m.
2025-06-11T20:56:48.361Z,1749675408.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.116394 m,
nav range: 142.078094 m,
bearing: 326.084764 deg,
approach rate: -0.492537 m/s,
LOS rate: -0.031046 deg/s,
cmd heading: 319.618484 deg,
new cmd heading: 319.583793 deg.
2025-06-11T20:56:48.362Z,1749675408.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577789 target range: 148.116394 and range: 149.40 m.
2025-06-11T20:56:48.393Z,1749675408.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232924
2025-06-11T20:56:48.649Z,1749675408.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488135
2025-06-11T20:56:48.670Z,1749675408.670 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:56:48.821Z,1749675408.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.12 m.
2025-06-11T20:56:48.823Z,1749675408.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.116394 m,
nav range: 141.847458 m,
bearing: 326.073173 deg,
approach rate: -0.498820 m/s,
LOS rate: -0.025109 deg/s,
cmd heading: 319.583786 deg,
new cmd heading: 319.548958 deg.
2025-06-11T20:56:48.825Z,1749675408.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577181 target range: 148.116394 and range: 149.40 m.
2025-06-11T20:56:48.907Z,1749675408.907 [DAT](INFO): DAT read: 20:56:49.5079 LVL= 28736, 32753, 28018, 32755, AGC= 67, IDX= 412,-0.45,-0.276,-1.750,-0.512,-0.964, PHS= 0.776,-0.738, 0.449, RAW= 138.2, -7.1, CAL= 144.1, -17.3, ROT= 5.9, 17.3
2025-06-11T20:56:48.909Z,1749675408.909 [DAT](INFO): got valid direction response:
20:56:49.5079 LVL= 28736, 32753, 28018, 32755, AGC= 67, IDX= 412,-0.45,-0.276,-1.750,-0.512,-0.964, PHS= 0.776,-0.738, 0.449, RAW= 138.2, -7.1, CAL= 144.1, -17.3, ROT= 5.9, 17.3
2025-06-11T20:56:48.910Z,1749675408.910 [DAT](INFO): DAT read: Bearing 5.9, 17.3 (Local)
2025-06-11T20:56:48.911Z,1749675408.911 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.9, 17.3 (Local)
2025-06-11T20:56:48.923Z,1749675408.923 [DAT](INFO): DAT read: Range 10 to 50 : 147.6 m (Round-trip 196.8 ms) speed 0.6 m/s
2025-06-11T20:56:48.941Z,1749675408.941 [DAT](INFO): DAT read: user:611>
2025-06-11T20:56:48.942Z,1749675408.942 [DAT](INFO): DAT read: Tx time:20:56:50.6069
2025-06-11T20:56:48.942Z,1749675408.942 [DAT](INFO): Ping request sent.
2025-06-11T20:56:48.943Z,1749675408.943 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:48.948Z,1749675408.948 [DAT](INFO): DAT read: TxSync time:20:56:50.6061
2025-06-11T20:56:48.948Z,1749675408.948 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:48.949Z,1749675408.949 [DAT](INFO): direction in FSK: [0.949703,0.098142,-0.297375]
2025-06-11T20:56:48.950Z,1749675408.950 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:48.950Z,1749675408.950 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:48.957Z,1749675408.957 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:48.958Z,1749675408.958 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:49.187Z,1749675409.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 147.600006 m,
deltaT: 3.780322 s,
deltaX: -1.799988 m,
approachRate: -0.476147 m/s,
rangeRepo size: 4
2025-06-11T20:56:49.194Z,1749675409.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 146.330444 m,
bearing: 326.532919 deg,
lat: 36.906387 deg,
lon: -122.115501 deg,
deltaT: 3.780322 s,
deltaX: -1.785950 m,
approachRate: -0.472433 m/s,
posRepo size: 4
2025-06-11T20:56:49.194Z,1749675409.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.33 m.
2025-06-11T20:56:49.201Z,1749675409.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.330444 m,
nav range: 141.364899 m,
bearing: 326.277588 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.025109 deg/s,
cmd heading: 319.548952 deg,
new cmd heading: 319.521413 deg.
2025-06-11T20:56:49.202Z,1749675409.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576701 target range: 146.330444 and range: 147.60 m.
2025-06-11T20:56:49.573Z,1749675409.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.33 m.
2025-06-11T20:56:49.576Z,1749675409.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.330444 m,
nav range: 141.165680 m,
bearing: 326.267899 deg,
approach rate: -0.515023 m/s,
LOS rate: -0.025083 deg/s,
cmd heading: 319.521413 deg,
new cmd heading: 319.492305 deg.
2025-06-11T20:56:49.577Z,1749675409.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576193 target range: 146.330444 and range: 147.60 m.
2025-06-11T20:56:49.672Z,1749675409.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:56:50.010Z,1749675410.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.33 m.
2025-06-11T20:56:50.017Z,1749675410.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.330444 m,
nav range: 140.954086 m,
bearing: 326.261464 deg,
approach rate: -0.483982 m/s,
LOS rate: -0.014742 deg/s,
cmd heading: 319.492316 deg,
new cmd heading: 319.472981 deg.
2025-06-11T20:56:50.018Z,1749675410.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575855 target range: 146.330444 and range: 147.60 m.
2025-06-11T20:56:50.378Z,1749675410.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:50.380Z,1749675410.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.33 m.
2025-06-11T20:56:50.383Z,1749675410.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.330444 m,
nav range: 140.757904 m,
bearing: 326.255405 deg,
approach rate: -0.531016 m/s,
LOS rate: -0.016423 deg/s,
cmd heading: 319.472973 deg,
new cmd heading: 319.454771 deg.
2025-06-11T20:56:50.384Z,1749675410.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575538 target range: 146.330444 and range: 147.60 m.
2025-06-11T20:56:50.408Z,1749675410.408 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:50.409Z,1749675410.409 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:50.409Z,1749675410.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:50.661Z,1749675410.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718182
2025-06-11T20:56:50.914Z,1749675410.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970903
2025-06-11T20:56:50.918Z,1749675410.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.33 m.
2025-06-11T20:56:50.922Z,1749675410.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.330444 m,
nav range: 140.491547 m,
bearing: 326.251673 deg,
approach rate: -0.495223 m/s,
LOS rate: -0.006950 deg/s,
cmd heading: 319.454778 deg,
new cmd heading: 319.443563 deg.
2025-06-11T20:56:50.924Z,1749675410.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575342 target range: 146.330444 and range: 147.60 m.
2025-06-11T20:56:51.165Z,1749675411.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222483
2025-06-11T20:56:51.238Z,1749675411.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.33 m.
2025-06-11T20:56:51.245Z,1749675411.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.330444 m,
nav range: 140.338531 m,
bearing: 326.249538 deg,
approach rate: -0.477276 m/s,
LOS rate: -0.006667 deg/s,
cmd heading: 319.443576 deg,
new cmd heading: 319.437164 deg.
2025-06-11T20:56:51.246Z,1749675411.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575230 target range: 146.330444 and range: 147.60 m.
2025-06-11T20:56:51.417Z,1749675411.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474193
2025-06-11T20:56:51.643Z,1749675411.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.33 m.
2025-06-11T20:56:51.646Z,1749675411.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.330444 m,
nav range: 140.125931 m,
bearing: 326.246564 deg,
approach rate: -0.524836 m/s,
LOS rate: -0.007353 deg/s,
cmd heading: 319.437156 deg,
new cmd heading: 319.428221 deg.
2025-06-11T20:56:51.647Z,1749675411.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575074 target range: 146.330444 and range: 147.60 m.
2025-06-11T20:56:51.669Z,1749675411.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726282
2025-06-11T20:56:51.923Z,1749675411.923 [DAT](INFO): DAT read: Rx Time:20:56:53.2053
2025-06-11T20:56:51.923Z,1749675411.923 [DAT](INFO): Rx dataTimestamp_ set to:1749675411.922813
2025-06-11T20:56:51.924Z,1749675411.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981490
2025-06-11T20:56:52.057Z,1749675412.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.33 m.
2025-06-11T20:56:52.059Z,1749675412.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.330444 m,
nav range: 139.919571 m,
bearing: 326.250653 deg,
approach rate: -0.499092 m/s,
LOS rate: 0.009902 deg/s,
cmd heading: 319.428222 deg,
new cmd heading: 319.440505 deg.
2025-06-11T20:56:52.060Z,1749675412.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575289 target range: 146.330444 and range: 147.60 m.
2025-06-11T20:56:52.173Z,1749675412.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230385
2025-06-11T20:56:52.431Z,1749675412.431 [DAT](INFO): DAT read: 20:56:53.2053 LVL= 25936, 30161, 23538, 32755, AGC= 67, IDX= 418,-0.35, 2.535, 1.101, 2.292, 1.837, PHS= 0.785,-0.690, 0.452, RAW= 137.6, -8.2, CAL= 143.7, -18.7, ROT= 6.3, 18.7
2025-06-11T20:56:52.432Z,1749675412.432 [DAT](INFO): got valid direction response:
20:56:53.2053 LVL= 25936, 30161, 23538, 32755, AGC= 67, IDX= 418,-0.35, 2.535, 1.101, 2.292, 1.837, PHS= 0.785,-0.690, 0.452, RAW= 137.6, -8.2, CAL= 143.7, -18.7, ROT= 6.3, 18.7
2025-06-11T20:56:52.433Z,1749675412.433 [DAT](INFO): DAT read: Bearing 6.3, 18.7 (Local)
2025-06-11T20:56:52.433Z,1749675412.433 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.3, 18.7 (Local)
2025-06-11T20:56:52.435Z,1749675412.435 [DAT](INFO): DAT read: Range 10 to 50 : 145.7 m (Round-trip 194.3 ms) speed 0.4 m/s
2025-06-11T20:56:52.435Z,1749675412.435 [DAT](INFO): DAT read: user:612>
2025-06-11T20:56:52.436Z,1749675412.436 [DAT](INFO): DAT read: Tx time:20:56:54.3069
2025-06-11T20:56:52.437Z,1749675412.437 [DAT](INFO): Ping request sent.
2025-06-11T20:56:52.437Z,1749675412.437 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:52.437Z,1749675412.437 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:52.438Z,1749675412.438 [DAT](INFO): direction in FSK: [0.941490,0.103941,-0.320613]
2025-06-11T20:56:52.438Z,1749675412.438 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:52.438Z,1749675412.438 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:52.442Z,1749675412.442 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:52.442Z,1749675412.442 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:52.505Z,1749675412.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 145.699997 m,
deltaT: 3.527167 s,
deltaX: -1.900009 m,
approachRate: -0.538679 m/s,
rangeRepo size: 4
2025-06-11T20:56:52.507Z,1749675412.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 144.445435 m,
bearing: 327.019940 deg,
lat: 36.906387 deg,
lon: -122.115501 deg,
deltaT: 3.527167 s,
deltaX: -1.885010 m,
approachRate: -0.534426 m/s,
posRepo size: 4
2025-06-11T20:56:52.513Z,1749675412.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:52.515Z,1749675412.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 139.714279 m,
bearing: 326.254732 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009902 deg/s,
cmd heading: 319.440516 deg,
new cmd heading: 319.452844 deg.
2025-06-11T20:56:52.516Z,1749675412.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575504 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:52.678Z,1749675412.678 [DAT](INFO): DAT read: TxSync time:20:56:54.3061
2025-06-11T20:56:52.927Z,1749675412.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:52.932Z,1749675412.932 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:52.932Z,1749675412.932 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:52.933Z,1749675412.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:52.942Z,1749675412.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:52.949Z,1749675412.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 139.494827 m,
bearing: 326.263856 deg,
approach rate: -0.467028 m/s,
LOS rate: 0.019448 deg/s,
cmd heading: 319.452838 deg,
new cmd heading: 319.480253 deg.
2025-06-11T20:56:52.950Z,1749675412.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575982 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:53.181Z,1749675413.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744102
2025-06-11T20:56:53.249Z,1749675413.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:53.252Z,1749675413.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 139.332443 m,
bearing: 326.270779 deg,
approach rate: -0.527219 m/s,
LOS rate: 0.022502 deg/s,
cmd heading: 319.480241 deg,
new cmd heading: 319.501033 deg.
2025-06-11T20:56:53.253Z,1749675413.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576345 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:53.433Z,1749675413.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996566
2025-06-11T20:56:53.655Z,1749675413.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:53.662Z,1749675413.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 139.140167 m,
bearing: 326.279162 deg,
approach rate: -0.473663 m/s,
LOS rate: 0.020682 deg/s,
cmd heading: 319.501032 deg,
new cmd heading: 319.526218 deg.
2025-06-11T20:56:53.663Z,1749675413.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576785 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:53.685Z,1749675413.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248353
2025-06-11T20:56:53.937Z,1749675413.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500518
2025-06-11T20:56:54.073Z,1749675414.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:54.075Z,1749675414.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 138.933868 m,
bearing: 326.292451 deg,
approach rate: -0.494304 m/s,
LOS rate: 0.031888 deg/s,
cmd heading: 319.526221 deg,
new cmd heading: 319.566147 deg.
2025-06-11T20:56:54.077Z,1749675414.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577481 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:54.189Z,1749675414.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752161
2025-06-11T20:56:54.441Z,1749675414.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004170
2025-06-11T20:56:54.455Z,1749675414.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:54.458Z,1749675414.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 138.749176 m,
bearing: 326.304344 deg,
approach rate: -0.483268 m/s,
LOS rate: 0.031161 deg/s,
cmd heading: 319.566137 deg,
new cmd heading: 319.601864 deg.
2025-06-11T20:56:54.459Z,1749675414.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578105 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:54.693Z,1749675414.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256037
2025-06-11T20:56:54.903Z,1749675414.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:54.906Z,1749675414.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 138.544556 m,
bearing: 326.321495 deg,
approach rate: -0.456930 m/s,
LOS rate: 0.038356 deg/s,
cmd heading: 319.601873 deg,
new cmd heading: 319.653402 deg.
2025-06-11T20:56:54.907Z,1749675414.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579004 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:54.945Z,1749675414.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508518
2025-06-11T20:56:55.197Z,1749675415.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760235
2025-06-11T20:56:55.257Z,1749675415.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:55.259Z,1749675415.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:55.262Z,1749675415.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 138.381119 m,
bearing: 326.335230 deg,
approach rate: -0.458129 m/s,
LOS rate: 0.038545 deg/s,
cmd heading: 319.653400 deg,
new cmd heading: 319.694652 deg.
2025-06-11T20:56:55.263Z,1749675415.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579724 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:55.449Z,1749675415.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012094
2025-06-11T20:56:55.657Z,1749675415.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:55.660Z,1749675415.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 138.198898 m,
bearing: 326.350551 deg,
approach rate: -0.458197 m/s,
LOS rate: 0.038576 deg/s,
cmd heading: 319.694654 deg,
new cmd heading: 319.740678 deg.
2025-06-11T20:56:55.661Z,1749675415.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580528 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:55.701Z,1749675415.701 [DAT](INFO): DAT read: Rx Time:20:56:56.9027
2025-06-11T20:56:55.701Z,1749675415.701 [DAT](INFO): Rx dataTimestamp_ set to:1749675415.701189
2025-06-11T20:56:55.702Z,1749675415.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265362
2025-06-11T20:56:55.953Z,1749675415.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516185
2025-06-11T20:56:56.134Z,1749675416.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.45 m.
2025-06-11T20:56:56.137Z,1749675416.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 144.445435 m,
nav range: 137.985916 m,
bearing: 326.369147 deg,
approach rate: -0.446875 m/s,
LOS rate: 0.039078 deg/s,
cmd heading: 319.740689 deg,
new cmd heading: 319.796563 deg.
2025-06-11T20:56:56.138Z,1749675416.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581503 target range: 144.445435 and range: 145.70 m.
2025-06-11T20:56:56.215Z,1749675416.215 [DAT](INFO): DAT read: 20:56:56.9028 LVL= 24704, 27745, 20562, 32355, AGC= 70, IDX= 407,-0.38,-1.178,-2.673,-1.397,-1.958, PHS= 0.869,-0.668, 0.559, RAW= 139.0, -10.8, CAL= 145.4, -20.8, ROT= 4.6, 20.8
2025-06-11T20:56:56.217Z,1749675416.217 [DAT](INFO): got valid direction response:
20:56:56.9028 LVL= 24704, 27745, 20562, 32355, AGC= 70, IDX= 407,-0.38,-1.178,-2.673,-1.397,-1.958, PHS= 0.869,-0.668, 0.559, RAW= 139.0, -10.8, CAL= 145.4, -20.8, ROT= 4.6, 20.8
2025-06-11T20:56:56.218Z,1749675416.218 [DAT](INFO): DAT read: Bearing 4.6, 20.8 (Local)
2025-06-11T20:56:56.219Z,1749675416.219 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.6, 20.8 (Local)
2025-06-11T20:56:56.222Z,1749675416.222 [DAT](INFO): DAT read: Range 10 to 50 : 143.7 m (Round-trip 191.6 ms) speed 0.8 m/s
2025-06-11T20:56:56.223Z,1749675416.223 [DAT](INFO): DAT read: user:613>
2025-06-11T20:56:56.224Z,1749675416.224 [DAT](INFO): DAT read: Tx time:20:56:58.0070
2025-06-11T20:56:56.225Z,1749675416.225 [DAT](INFO): Ping request sent.
2025-06-11T20:56:56.225Z,1749675416.225 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:56:56.225Z,1749675416.225 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:56:56.227Z,1749675416.227 [DAT](INFO): direction in FSK: [0.931814,0.074972,-0.355107]
2025-06-11T20:56:56.227Z,1749675416.227 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:56.229Z,1749675416.229 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:56.259Z,1749675416.259 [DAT](INFO): publishing transmit ping time
2025-06-11T20:56:56.264Z,1749675416.264 [DAT](INFO): publishing direction and range info
2025-06-11T20:56:56.457Z,1749675416.457 [DAT](INFO): DAT read: TxSync time:20:56:58.0062
2025-06-11T20:56:56.496Z,1749675416.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 143.699997 m,
deltaT: 3.782309 s,
deltaX: -2.000000 m,
approachRate: -0.528778 m/s,
rangeRepo size: 4
2025-06-11T20:56:56.498Z,1749675416.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 142.461334 m,
bearing: 325.345658 deg,
lat: 36.906387 deg,
lon: -122.115508 deg,
deltaT: 3.782309 s,
deltaX: -1.984100 m,
approachRate: -0.524574 m/s,
posRepo size: 4
2025-06-11T20:56:56.499Z,1749675416.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.46 m.
2025-06-11T20:56:56.502Z,1749675416.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.461334 m,
nav range: 138.171509 m,
bearing: 326.172077 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.039078 deg/s,
cmd heading: 319.796560 deg,
new cmd heading: 319.838478 deg.
2025-06-11T20:56:56.503Z,1749675416.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582234 target range: 142.461334 and range: 143.70 m.
2025-06-11T20:56:56.952Z,1749675416.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.46 m.
2025-06-11T20:56:56.955Z,1749675416.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.461334 m,
nav range: 137.972946 m,
bearing: 326.185668 deg,
approach rate: -0.430795 m/s,
LOS rate: 0.029528 deg/s,
cmd heading: 319.838470 deg,
new cmd heading: 319.879300 deg.
2025-06-11T20:56:56.961Z,1749675416.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582947 target range: 142.461334 and range: 143.70 m.
2025-06-11T20:56:57.358Z,1749675417.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:57.360Z,1749675417.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.46 m.
2025-06-11T20:56:57.362Z,1749675417.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.461334 m,
nav range: 137.788742 m,
bearing: 326.198344 deg,
approach rate: -0.452164 m/s,
LOS rate: 0.031159 deg/s,
cmd heading: 319.879288 deg,
new cmd heading: 319.917368 deg.
2025-06-11T20:56:57.363Z,1749675417.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583611 target range: 142.461334 and range: 143.70 m.
2025-06-11T20:56:57.465Z,1749675417.465 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:56:57.465Z,1749675417.465 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:56:57.465Z,1749675417.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:56:57.692Z,1749675417.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.46 m.
2025-06-11T20:56:57.694Z,1749675417.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.461334 m,
nav range: 137.635712 m,
bearing: 326.208952 deg,
approach rate: -0.460984 m/s,
LOS rate: 0.031992 deg/s,
cmd heading: 319.917373 deg,
new cmd heading: 319.949233 deg.
2025-06-11T20:56:57.695Z,1749675417.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584167 target range: 142.461334 and range: 143.70 m.
2025-06-11T20:56:57.717Z,1749675417.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492095
2025-06-11T20:56:57.969Z,1749675417.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744022
2025-06-11T20:56:58.126Z,1749675418.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.46 m.
2025-06-11T20:56:58.130Z,1749675418.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.461334 m,
nav range: 137.439331 m,
bearing: 326.218225 deg,
approach rate: -0.452006 m/s,
LOS rate: 0.021373 deg/s,
cmd heading: 319.949229 deg,
new cmd heading: 319.977087 deg.
2025-06-11T20:56:58.131Z,1749675418.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584654 target range: 142.461334 and range: 143.70 m.
2025-06-11T20:56:58.223Z,1749675418.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998673
2025-06-11T20:56:58.477Z,1749675418.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252127
2025-06-11T20:56:58.516Z,1749675418.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.46 m.
2025-06-11T20:56:58.519Z,1749675418.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.461334 m,
nav range: 137.263245 m,
bearing: 326.226495 deg,
approach rate: -0.452038 m/s,
LOS rate: 0.021257 deg/s,
cmd heading: 319.977096 deg,
new cmd heading: 320.001937 deg.
2025-06-11T20:56:58.520Z,1749675418.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585087 target range: 142.461334 and range: 143.70 m.
2025-06-11T20:56:58.729Z,1749675418.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504080
2025-06-11T20:56:58.974Z,1749675418.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.46 m.
2025-06-11T20:56:58.977Z,1749675418.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.461334 m,
nav range: 137.053360 m,
bearing: 326.233082 deg,
approach rate: -0.457795 m/s,
LOS rate: 0.014390 deg/s,
cmd heading: 320.001930 deg,
new cmd heading: 320.021723 deg.
2025-06-11T20:56:58.978Z,1749675418.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585433 target range: 142.461334 and range: 143.70 m.
2025-06-11T20:56:58.989Z,1749675418.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764147
2025-06-11T20:56:59.241Z,1749675419.241 [DAT](INFO): DAT read: Rx Time:20:57:00.6007
2025-06-11T20:56:59.241Z,1749675419.241 [DAT](INFO): Rx dataTimestamp_ set to:1749675419.241102
2025-06-11T20:56:59.242Z,1749675419.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017229
2025-06-11T20:56:59.312Z,1749675419.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.46 m.
2025-06-11T20:56:59.315Z,1749675419.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.461334 m,
nav range: 136.894714 m,
bearing: 326.238062 deg,
approach rate: -0.469534 m/s,
LOS rate: 0.014755 deg/s,
cmd heading: 320.021711 deg,
new cmd heading: 320.036667 deg.
2025-06-11T20:56:59.332Z,1749675419.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585693 target range: 142.461334 and range: 143.70 m.
2025-06-11T20:56:59.493Z,1749675419.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268092
2025-06-11T20:56:59.747Z,1749675419.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522339
2025-06-11T20:56:59.835Z,1749675419.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:56:59.837Z,1749675419.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.46 m.
2025-06-11T20:56:59.840Z,1749675419.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.461334 m,
nav range: 136.651840 m,
bearing: 326.245708 deg,
approach rate: -0.462281 m/s,
LOS rate: 0.014578 deg/s,
cmd heading: 320.036655 deg,
new cmd heading: 320.059633 deg.
2025-06-11T20:56:59.842Z,1749675419.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586094 target range: 142.461334 and range: 143.70 m.
2025-06-11T20:57:00.005Z,1749675420.005 [DAT](INFO): DAT read: 20:57:00.6007 LVL= 26272, 28401, 23890, 32755, AGC= 69, IDX= 417, 0.14,-1.572, 3.020,-1.840,-2.403, PHS= 0.919,-0.813, 0.560, RAW= 138.7, -8.5, CAL= 144.9, -18.7, ROT= 5.1, 18.7
2025-06-11T20:57:00.006Z,1749675420.006 [DAT](INFO): got valid direction response:
20:57:00.6007 LVL= 26272, 28401, 23890, 32755, AGC= 69, IDX= 417, 0.14,-1.572, 3.020,-1.840,-2.403, PHS= 0.919,-0.813, 0.560, RAW= 138.7, -8.5, CAL= 144.9, -18.7, ROT= 5.1, 18.7
2025-06-11T20:57:00.007Z,1749675420.007 [DAT](INFO): DAT read: Bearing 5.1, 18.7 (Local)
2025-06-11T20:57:00.007Z,1749675420.007 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.1, 18.7 (Local)
2025-06-11T20:57:00.010Z,1749675420.010 [DAT](INFO): DAT read: Range 10 to 50 : 142.2 m (Round-trip 189.6 ms) speed 0.5 m/s
2025-06-11T20:57:00.010Z,1749675420.010 [DAT](INFO): DAT read: user:614>
2025-06-11T20:57:00.011Z,1749675420.011 [DAT](INFO): DAT read: Tx time:20:57:01.7070
2025-06-11T20:57:00.011Z,1749675420.011 [DAT](INFO): Ping request sent.
2025-06-11T20:57:00.012Z,1749675420.012 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:00.012Z,1749675420.012 [DAT](INFO): DAT read: TxSync time:20:57:01.7062
2025-06-11T20:57:00.013Z,1749675420.013 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:00.014Z,1749675420.014 [DAT](INFO): direction in FSK: [0.943460,0.084202,-0.320613]
2025-06-11T20:57:00.014Z,1749675420.014 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:00.014Z,1749675420.014 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:00.018Z,1749675420.018 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:00.018Z,1749675420.018 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:00.392Z,1749675420.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 142.199997 m,
deltaT: 3.789867 s,
deltaX: -1.500000 m,
approachRate: -0.395792 m/s,
rangeRepo size: 4
2025-06-11T20:57:00.394Z,1749675420.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 140.973907 m,
bearing: 325.765108 deg,
lat: 36.906387 deg,
lon: -122.115508 deg,
deltaT: 3.789867 s,
deltaX: -1.487427 m,
approachRate: -0.392475 m/s,
posRepo size: 4
2025-06-11T20:57:00.395Z,1749675420.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.97 m.
2025-06-11T20:57:00.401Z,1749675420.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.973907 m,
nav range: 136.401703 m,
bearing: 326.248075 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.014578 deg/s,
cmd heading: 320.059632 deg,
new cmd heading: 320.083669 deg.
2025-06-11T20:57:00.402Z,1749675420.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586514 target range: 140.973907 and range: 142.20 m.
2025-06-11T20:57:00.799Z,1749675420.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.97 m.
2025-06-11T20:57:00.806Z,1749675420.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.973907 m,
nav range: 136.201462 m,
bearing: 326.250153 deg,
approach rate: -0.486126 m/s,
LOS rate: 0.005053 deg/s,
cmd heading: 320.083674 deg,
new cmd heading: 320.089918 deg.
2025-06-11T20:57:00.807Z,1749675420.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586623 target range: 140.973907 and range: 142.20 m.
2025-06-11T20:57:01.248Z,1749675421.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.97 m.
2025-06-11T20:57:01.251Z,1749675421.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.973907 m,
nav range: 135.977173 m,
bearing: 326.248697 deg,
approach rate: -0.499755 m/s,
LOS rate: -0.003249 deg/s,
cmd heading: 320.089931 deg,
new cmd heading: 320.085556 deg.
2025-06-11T20:57:01.251Z,1749675421.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586547 target range: 140.973907 and range: 142.20 m.
2025-06-11T20:57:01.604Z,1749675421.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.97 m.
2025-06-11T20:57:01.607Z,1749675421.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.973907 m,
nav range: 135.801590 m,
bearing: 326.247513 deg,
approach rate: -0.492266 m/s,
LOS rate: -0.003323 deg/s,
cmd heading: 320.085559 deg,
new cmd heading: 320.082003 deg.
2025-06-11T20:57:01.608Z,1749675421.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586485 target range: 140.973907 and range: 142.20 m.
2025-06-11T20:57:02.034Z,1749675422.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:02.037Z,1749675422.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.97 m.
2025-06-11T20:57:02.040Z,1749675422.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.973907 m,
nav range: 135.585175 m,
bearing: 326.243935 deg,
approach rate: -0.500092 m/s,
LOS rate: -0.008283 deg/s,
cmd heading: 320.082008 deg,
new cmd heading: 320.071254 deg.
2025-06-11T20:57:02.041Z,1749675422.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586297 target range: 140.973907 and range: 142.20 m.
2025-06-11T20:57:02.269Z,1749675422.269 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:02.269Z,1749675422.269 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:02.269Z,1749675422.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:02.428Z,1749675422.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.97 m.
2025-06-11T20:57:02.431Z,1749675422.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.973907 m,
nav range: 135.392899 m,
bearing: 326.240658 deg,
approach rate: -0.491989 m/s,
LOS rate: -0.008397 deg/s,
cmd heading: 320.071243 deg,
new cmd heading: 320.061399 deg.
2025-06-11T20:57:02.441Z,1749675422.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586125 target range: 140.973907 and range: 142.20 m.
2025-06-11T20:57:02.523Z,1749675422.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511009
2025-06-11T20:57:02.773Z,1749675422.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761195
2025-06-11T20:57:02.808Z,1749675422.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.97 m.
2025-06-11T20:57:02.811Z,1749675422.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.973907 m,
nav range: 135.198074 m,
bearing: 326.237247 deg,
approach rate: -0.512695 m/s,
LOS rate: -0.008987 deg/s,
cmd heading: 320.061408 deg,
new cmd heading: 320.051162 deg.
2025-06-11T20:57:02.813Z,1749675422.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585947 target range: 140.973907 and range: 142.20 m.
2025-06-11T20:57:03.025Z,1749675423.025 [DAT](INFO): DAT read: Rx Time:20:57:04.2983
2025-06-11T20:57:03.025Z,1749675423.025 [DAT](INFO): Rx dataTimestamp_ set to:1749675423.025032
2025-06-11T20:57:03.026Z,1749675423.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014266
2025-06-11T20:57:03.238Z,1749675423.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.97 m.
2025-06-11T20:57:03.241Z,1749675423.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.973907 m,
nav range: 134.981613 m,
bearing: 326.231692 deg,
approach rate: -0.502817 m/s,
LOS rate: -0.012926 deg/s,
cmd heading: 320.051162 deg,
new cmd heading: 320.034468 deg.
2025-06-11T20:57:03.242Z,1749675423.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585655 target range: 140.973907 and range: 142.20 m.
2025-06-11T20:57:03.277Z,1749675423.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265844
2025-06-11T20:57:03.535Z,1749675423.535 [DAT](INFO): DAT read: 20:57:04.2983 LVL= 27104, 25761, 20050, 32755, AGC= 70, IDX= 409,-0.45,-2.392, 2.313,-2.683, 3.075, PHS= 0.904,-0.715, 0.522, RAW= 137.0, -9.7, CAL= 143.1, -20.4, ROT= 6.9, 20.4
2025-06-11T20:57:03.536Z,1749675423.536 [DAT](INFO): got valid direction response:
20:57:04.2983 LVL= 27104, 25761, 20050, 32755, AGC= 70, IDX= 409,-0.45,-2.392, 2.313,-2.683, 3.075, PHS= 0.904,-0.715, 0.522, RAW= 137.0, -9.7, CAL= 143.1, -20.4, ROT= 6.9, 20.4
2025-06-11T20:57:03.537Z,1749675423.537 [DAT](INFO): DAT read: Bearing 6.9, 20.4 (Local)
2025-06-11T20:57:03.537Z,1749675423.537 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.9, 20.4 (Local)
2025-06-11T20:57:03.539Z,1749675423.539 [DAT](INFO): DAT read: Range 10 to 50 : 140.4 m (Round-trip 187.2 ms) speed 0.7 m/s
2025-06-11T20:57:03.539Z,1749675423.539 [DAT](INFO): DAT read: user:615>
2025-06-11T20:57:03.541Z,1749675423.541 [DAT](INFO): DAT read: Tx time:20:57:05.4070
2025-06-11T20:57:03.541Z,1749675423.541 [DAT](INFO): Ping request sent.
2025-06-11T20:57:03.541Z,1749675423.541 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:03.542Z,1749675423.542 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:03.543Z,1749675423.543 [DAT](INFO): direction in FSK: [0.930494,0.112602,-0.348572]
2025-06-11T20:57:03.543Z,1749675423.543 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:03.543Z,1749675423.543 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:03.551Z,1749675423.551 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:03.551Z,1749675423.551 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:03.688Z,1749675423.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 140.399994 m,
deltaT: 3.531831 s,
deltaX: -1.800003 m,
approachRate: -0.509652 m/s,
rangeRepo size: 4
2025-06-11T20:57:03.690Z,1749675423.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 139.185699 m,
bearing: 327.780423 deg,
lat: 36.906398 deg,
lon: -122.115501 deg,
deltaT: 3.531831 s,
deltaX: -1.788208 m,
approachRate: -0.506312 m/s,
posRepo size: 4
2025-06-11T20:57:03.691Z,1749675423.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:03.697Z,1749675423.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 135.383728 m,
bearing: 326.709600 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.012926 deg/s,
cmd heading: 320.034469 deg,
new cmd heading: 320.017223 deg.
2025-06-11T20:57:03.698Z,1749675423.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585354 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:03.781Z,1749675423.781 [DAT](INFO): DAT read: TxSync time:20:57:05.4062
2025-06-11T20:57:04.064Z,1749675424.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:04.066Z,1749675424.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:04.073Z,1749675424.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 135.185471 m,
bearing: 326.705740 deg,
approach rate: -0.517656 m/s,
LOS rate: -0.010093 deg/s,
cmd heading: 320.017230 deg,
new cmd heading: 320.005633 deg.
2025-06-11T20:57:04.074Z,1749675424.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585152 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:04.285Z,1749675424.285 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:04.285Z,1749675424.285 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:04.285Z,1749675424.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:04.428Z,1749675424.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:04.430Z,1749675424.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 134.998108 m,
bearing: 326.702099 deg,
approach rate: -0.518474 m/s,
LOS rate: -0.010089 deg/s,
cmd heading: 320.005646 deg,
new cmd heading: 319.994708 deg.
2025-06-11T20:57:04.431Z,1749675424.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584961 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:04.537Z,1749675424.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995516
2025-06-11T20:57:04.789Z,1749675424.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247331
2025-06-11T20:57:04.828Z,1749675424.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:04.831Z,1749675424.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 134.795700 m,
bearing: 326.698133 deg,
approach rate: -0.505710 m/s,
LOS rate: -0.009924 deg/s,
cmd heading: 319.994718 deg,
new cmd heading: 319.982802 deg.
2025-06-11T20:57:04.831Z,1749675424.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584754 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:05.041Z,1749675425.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499342
2025-06-11T20:57:05.293Z,1749675425.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751429
2025-06-11T20:57:05.300Z,1749675425.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:05.303Z,1749675425.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 134.573532 m,
bearing: 326.695941 deg,
approach rate: -0.470117 m/s,
LOS rate: -0.004646 deg/s,
cmd heading: 319.982806 deg,
new cmd heading: 319.976219 deg.
2025-06-11T20:57:05.316Z,1749675425.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584639 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:05.545Z,1749675425.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003410
2025-06-11T20:57:05.658Z,1749675425.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:05.665Z,1749675425.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 134.379440 m,
bearing: 326.693758 deg,
approach rate: -0.542905 m/s,
LOS rate: -0.006116 deg/s,
cmd heading: 319.976222 deg,
new cmd heading: 319.969662 deg.
2025-06-11T20:57:05.666Z,1749675425.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584524 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:05.798Z,1749675425.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256173
2025-06-11T20:57:06.049Z,1749675426.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507404
2025-06-11T20:57:06.076Z,1749675426.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:06.079Z,1749675426.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:06.101Z,1749675426.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 134.166519 m,
bearing: 326.693548 deg,
approach rate: -0.506167 m/s,
LOS rate: -0.000499 deg/s,
cmd heading: 319.969665 deg,
new cmd heading: 319.969035 deg.
2025-06-11T20:57:06.102Z,1749675426.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584513 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:06.302Z,1749675426.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760161
2025-06-11T20:57:06.470Z,1749675426.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:06.473Z,1749675426.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 133.979019 m,
bearing: 326.693184 deg,
approach rate: -0.479170 m/s,
LOS rate: -0.000933 deg/s,
cmd heading: 319.969036 deg,
new cmd heading: 319.967940 deg.
2025-06-11T20:57:06.474Z,1749675426.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584494 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:06.554Z,1749675426.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012179
2025-06-11T20:57:06.806Z,1749675426.806 [DAT](INFO): DAT read: Rx Time:20:57:07.9958
2025-06-11T20:57:06.807Z,1749675426.807 [DAT](INFO): Rx dataTimestamp_ set to:1749675426.806863
2025-06-11T20:57:06.809Z,1749675426.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267318
2025-06-11T20:57:06.885Z,1749675426.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:06.887Z,1749675426.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 133.757935 m,
bearing: 326.692545 deg,
approach rate: -0.533756 m/s,
LOS rate: -0.001545 deg/s,
cmd heading: 319.967943 deg,
new cmd heading: 319.966024 deg.
2025-06-11T20:57:06.889Z,1749675426.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584461 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:07.057Z,1749675427.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515399
2025-06-11T20:57:07.284Z,1749675427.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.19 m.
2025-06-11T20:57:07.287Z,1749675427.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 139.185699 m,
nav range: 133.561752 m,
bearing: 326.694371 deg,
approach rate: -0.490598 m/s,
LOS rate: 0.004575 deg/s,
cmd heading: 319.966031 deg,
new cmd heading: 319.971519 deg.
2025-06-11T20:57:07.289Z,1749675427.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584557 target range: 139.185699 and range: 140.40 m.
2025-06-11T20:57:07.315Z,1749675427.315 [DAT](INFO): DAT read: 20:57:07.9958 LVL= 23744, 25681, 20466, 32755, AGC= 69, IDX= 416,-0.25,-2.248, 2.554,-2.481,-2.993, PHS= 0.833,-0.689, 0.509, RAW= 138.3, -9.4, CAL= 144.8, -20.0, ROT= 5.2, 20.0
2025-06-11T20:57:07.316Z,1749675427.316 [DAT](INFO): got valid direction response:
20:57:07.9958 LVL= 23744, 25681, 20466, 32755, AGC= 69, IDX= 416,-0.25,-2.248, 2.554,-2.481,-2.993, PHS= 0.833,-0.689, 0.509, RAW= 138.3, -9.4, CAL= 144.8, -20.0, ROT= 5.2, 20.0
2025-06-11T20:57:07.317Z,1749675427.317 [DAT](INFO): DAT read: Bearing 5.2, 20.0 (Local)
2025-06-11T20:57:07.317Z,1749675427.317 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.2, 20.0 (Local)
2025-06-11T20:57:07.319Z,1749675427.319 [DAT](INFO): DAT read: Range 10 to 50 : 138.5 m (Round-trip 184.7 ms) speed 0.8 m/s
2025-06-11T20:57:07.319Z,1749675427.319 [DAT](INFO): DAT read: user:616>
2025-06-11T20:57:07.320Z,1749675427.320 [DAT](INFO): DAT read: Tx time:20:57:09.1085
2025-06-11T20:57:07.320Z,1749675427.320 [DAT](INFO): Ping request sent.
2025-06-11T20:57:07.321Z,1749675427.321 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:07.321Z,1749675427.321 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:07.322Z,1749675427.322 [DAT](INFO): direction in FSK: [0.935825,0.085167,-0.342020]
2025-06-11T20:57:07.322Z,1749675427.322 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:07.322Z,1749675427.322 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:07.326Z,1749675427.326 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:07.326Z,1749675427.326 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:07.561Z,1749675427.561 [DAT](INFO): DAT read: TxSync time:20:57:09.1078
2025-06-11T20:57:07.671Z,1749675427.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 138.500000 m,
deltaT: 3.779965 s,
deltaX: -1.899994 m,
approachRate: -0.502649 m/s,
rangeRepo size: 4
2025-06-11T20:57:07.673Z,1749675427.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 137.303345 m,
bearing: 327.043023 deg,
lat: 36.906390 deg,
lon: -122.115485 deg,
deltaT: 3.779965 s,
deltaX: -1.882355 m,
approachRate: -0.497982 m/s,
posRepo size: 4
2025-06-11T20:57:07.674Z,1749675427.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m.
2025-06-11T20:57:07.694Z,1749675427.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.303345 m,
nav range: 131.872314 m,
bearing: 327.008510 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004575 deg/s,
cmd heading: 319.971522 deg,
new cmd heading: 319.976829 deg.
2025-06-11T20:57:07.694Z,1749675427.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584649 target range: 137.303345 and range: 138.50 m.
2025-06-11T20:57:08.122Z,1749675428.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:08.125Z,1749675428.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m.
2025-06-11T20:57:08.127Z,1749675428.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.303345 m,
nav range: 131.652435 m,
bearing: 327.012983 deg,
approach rate: -0.484200 m/s,
LOS rate: 0.009868 deg/s,
cmd heading: 319.976823 deg,
new cmd heading: 319.990267 deg.
2025-06-11T20:57:08.128Z,1749675428.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584884 target range: 137.303345 and range: 138.50 m.
2025-06-11T20:57:08.317Z,1749675428.317 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:08.317Z,1749675428.317 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:08.317Z,1749675428.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:08.472Z,1749675428.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m.
2025-06-11T20:57:08.474Z,1749675428.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.303345 m,
nav range: 131.484680 m,
bearing: 327.016363 deg,
approach rate: -0.483387 m/s,
LOS rate: 0.009750 deg/s,
cmd heading: 319.990265 deg,
new cmd heading: 320.000415 deg.
2025-06-11T20:57:08.475Z,1749675428.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585061 target range: 137.303345 and range: 138.50 m.
2025-06-11T20:57:08.569Z,1749675428.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248325
2025-06-11T20:57:08.821Z,1749675428.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500229
2025-06-11T20:57:08.870Z,1749675428.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m.
2025-06-11T20:57:08.873Z,1749675428.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.303345 m,
nav range: 131.292618 m,
bearing: 327.020128 deg,
approach rate: -0.481753 m/s,
LOS rate: 0.009458 deg/s,
cmd heading: 320.000428 deg,
new cmd heading: 320.011740 deg.
2025-06-11T20:57:08.874Z,1749675428.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585258 target range: 137.303345 and range: 138.50 m.
2025-06-11T20:57:09.074Z,1749675429.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753233
2025-06-11T20:57:09.298Z,1749675429.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m.
2025-06-11T20:57:09.302Z,1749675429.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.303345 m,
nav range: 131.095444 m,
bearing: 327.028170 deg,
approach rate: -0.460795 m/s,
LOS rate: 0.018821 deg/s,
cmd heading: 320.011739 deg,
new cmd heading: 320.035900 deg.
2025-06-11T20:57:09.303Z,1749675429.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585680 target range: 137.303345 and range: 138.50 m.
2025-06-11T20:57:09.325Z,1749675429.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004222
2025-06-11T20:57:09.577Z,1749675429.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256196
2025-06-11T20:57:09.688Z,1749675429.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m.
2025-06-11T20:57:09.691Z,1749675429.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.303345 m,
nav range: 130.915955 m,
bearing: 327.035507 deg,
approach rate: -0.460663 m/s,
LOS rate: 0.018857 deg/s,
cmd heading: 320.035890 deg,
new cmd heading: 320.057932 deg.
2025-06-11T20:57:09.712Z,1749675429.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586065 target range: 137.303345 and range: 138.50 m.
2025-06-11T20:57:09.830Z,1749675429.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508881
2025-06-11T20:57:10.081Z,1749675430.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760502
2025-06-11T20:57:10.152Z,1749675430.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:10.154Z,1749675430.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m.
2025-06-11T20:57:10.161Z,1749675430.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.303345 m,
nav range: 130.712906 m,
bearing: 327.046170 deg,
approach rate: -0.435330 m/s,
LOS rate: 0.022898 deg/s,
cmd heading: 320.057938 deg,
new cmd heading: 320.089978 deg.
2025-06-11T20:57:10.162Z,1749675430.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586624 target range: 137.303345 and range: 138.50 m.
2025-06-11T20:57:10.333Z,1749675430.333 [DAT](INFO): DAT read: Rx Time:20:57:11.6950
2025-06-11T20:57:10.334Z,1749675430.334 [DAT](INFO): Rx dataTimestamp_ set to:1749675430.333496
2025-06-11T20:57:10.334Z,1749675430.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013764
2025-06-11T20:57:10.499Z,1749675430.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m.
2025-06-11T20:57:10.522Z,1749675430.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.303345 m,
nav range: 130.556641 m,
bearing: 327.054407 deg,
approach rate: -0.453636 m/s,
LOS rate: 0.023939 deg/s,
cmd heading: 320.089985 deg,
new cmd heading: 320.114725 deg.
2025-06-11T20:57:10.523Z,1749675430.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587056 target range: 137.303345 and range: 138.50 m.
2025-06-11T20:57:10.585Z,1749675430.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264214
2025-06-11T20:57:10.840Z,1749675430.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519012
2025-06-11T20:57:11.017Z,1749675431.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m.
2025-06-11T20:57:11.035Z,1749675431.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.303345 m,
nav range: 130.336594 m,
bearing: 327.066117 deg,
approach rate: -0.439026 m/s,
LOS rate: 0.023404 deg/s,
cmd heading: 320.114738 deg,
new cmd heading: 320.149930 deg.
2025-06-11T20:57:11.047Z,1749675431.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587670 target range: 137.303345 and range: 138.50 m.
2025-06-11T20:57:11.095Z,1749675431.095 [DAT](INFO): DAT read: 20:57:11.6950 LVL= 24272, 32753, 23602, 32755, AGC= 70, IDX= 422,-0.40, 2.102, 0.628, 1.910, 1.397, PHS= 0.793,-0.722, 0.510, RAW= 139.9, -8.4, CAL= 146.2, -18.3, ROT= 3.8, 18.3
2025-06-11T20:57:11.097Z,1749675431.097 [DAT](INFO): got valid direction response:
20:57:11.6950 LVL= 24272, 32753, 23602, 32755, AGC= 70, IDX= 422,-0.40, 2.102, 0.628, 1.910, 1.397, PHS= 0.793,-0.722, 0.510, RAW= 139.9, -8.4, CAL= 146.2, -18.3, ROT= 3.8, 18.3
2025-06-11T20:57:11.098Z,1749675431.098 [DAT](INFO): DAT read: Bearing 3.8, 18.3 (Local)
2025-06-11T20:57:11.098Z,1749675431.098 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.8, 18.3 (Local)
2025-06-11T20:57:11.100Z,1749675431.100 [DAT](INFO): DAT read: Range 10 to 50 : 136.6 m (Round-trip 182.2 ms) speed 0.6 m/s
2025-06-11T20:57:11.101Z,1749675431.101 [DAT](INFO): DAT read: user:617>
2025-06-11T20:57:11.101Z,1749675431.101 [DAT](INFO): DAT read: Tx time:20:57:12.8086
2025-06-11T20:57:11.102Z,1749675431.102 [DAT](INFO): Ping request sent.
2025-06-11T20:57:11.102Z,1749675431.102 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:11.102Z,1749675431.102 [DAT](INFO): DAT read: TxSync time:20:57:12.8079
2025-06-11T20:57:11.103Z,1749675431.103 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:11.104Z,1749675431.104 [DAT](INFO): direction in FSK: [0.947338,0.062922,-0.313992]
2025-06-11T20:57:11.105Z,1749675431.105 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:11.105Z,1749675431.105 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:11.108Z,1749675431.108 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:11.108Z,1749675431.108 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:11.458Z,1749675431.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 136.600006 m,
deltaT: 3.780179 s,
deltaX: -1.899994 m,
approachRate: -0.502620 m/s,
rangeRepo size: 4
2025-06-11T20:57:11.467Z,1749675431.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 135.419205 m,
bearing: 325.528659 deg,
lat: 36.906385 deg,
lon: -122.115517 deg,
deltaT: 3.780179 s,
deltaX: -1.884140 m,
approachRate: -0.498426 m/s,
posRepo size: 4
2025-06-11T20:57:11.472Z,1749675431.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.42 m.
2025-06-11T20:57:11.474Z,1749675431.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.419205 m,
nav range: 131.295624 m,
bearing: 325.892462 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.023404 deg/s,
cmd heading: 320.149927 deg,
new cmd heading: 320.182043 deg.
2025-06-11T20:57:11.475Z,1749675431.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588231 target range: 135.419205 and range: 136.60 m.
2025-06-11T20:57:11.800Z,1749675431.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.42 m.
2025-06-11T20:57:11.803Z,1749675431.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.419205 m,
nav range: 131.139236 m,
bearing: 325.899861 deg,
approach rate: -0.456884 m/s,
LOS rate: 0.021642 deg/s,
cmd heading: 320.182056 deg,
new cmd heading: 320.204280 deg.
2025-06-11T20:57:11.803Z,1749675431.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588619 target range: 135.419205 and range: 136.60 m.
2025-06-11T20:57:12.218Z,1749675432.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:12.221Z,1749675432.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.42 m.
2025-06-11T20:57:12.223Z,1749675432.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.419205 m,
nav range: 130.953674 m,
bearing: 325.910844 deg,
approach rate: -0.440812 m/s,
LOS rate: 0.026126 deg/s,
cmd heading: 320.204268 deg,
new cmd heading: 320.237262 deg.
2025-06-11T20:57:12.224Z,1749675432.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589195 target range: 135.419205 and range: 136.60 m.
2025-06-11T20:57:12.349Z,1749675432.349 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:12.349Z,1749675432.349 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:12.349Z,1749675432.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:12.601Z,1749675432.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499073
2025-06-11T20:57:12.604Z,1749675432.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.42 m.
2025-06-11T20:57:12.607Z,1749675432.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.419205 m,
nav range: 130.785172 m,
bearing: 325.920931 deg,
approach rate: -0.439646 m/s,
LOS rate: 0.026353 deg/s,
cmd heading: 320.237271 deg,
new cmd heading: 320.267572 deg.
2025-06-11T20:57:12.608Z,1749675432.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589724 target range: 135.419205 and range: 136.60 m.
2025-06-11T20:57:12.853Z,1749675432.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750876
2025-06-11T20:57:12.993Z,1749675432.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.42 m.
2025-06-11T20:57:12.995Z,1749675432.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.419205 m,
nav range: 130.612717 m,
bearing: 325.931289 deg,
approach rate: -0.443706 m/s,
LOS rate: 0.026685 deg/s,
cmd heading: 320.267570 deg,
new cmd heading: 320.298685 deg.
2025-06-11T20:57:12.996Z,1749675432.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590267 target range: 135.419205 and range: 136.60 m.
2025-06-11T20:57:13.108Z,1749675433.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005347
2025-06-11T20:57:13.357Z,1749675433.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254969
2025-06-11T20:57:13.457Z,1749675433.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.42 m.
2025-06-11T20:57:13.459Z,1749675433.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.419205 m,
nav range: 130.418655 m,
bearing: 325.942879 deg,
approach rate: -0.418281 m/s,
LOS rate: 0.025020 deg/s,
cmd heading: 320.298689 deg,
new cmd heading: 320.333512 deg.
2025-06-11T20:57:13.476Z,1749675433.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590875 target range: 135.419205 and range: 136.60 m.
2025-06-11T20:57:13.609Z,1749675433.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507012
2025-06-11T20:57:13.814Z,1749675433.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.42 m.
2025-06-11T20:57:13.816Z,1749675433.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.419205 m,
nav range: 130.256027 m,
bearing: 325.952618 deg,
approach rate: -0.455444 m/s,
LOS rate: 0.027308 deg/s,
cmd heading: 320.333522 deg,
new cmd heading: 320.362776 deg.
2025-06-11T20:57:13.817Z,1749675433.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591385 target range: 135.419205 and range: 136.60 m.
2025-06-11T20:57:13.862Z,1749675433.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759683
2025-06-11T20:57:14.115Z,1749675434.115 [DAT](INFO): DAT read: Rx Time:20:57:15.3928
2025-06-11T20:57:14.117Z,1749675434.117 [DAT](INFO): Rx dataTimestamp_ set to:1749675434.115892
2025-06-11T20:57:14.119Z,1749675434.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016291
2025-06-11T20:57:14.221Z,1749675434.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:14.223Z,1749675434.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.42 m.
2025-06-11T20:57:14.242Z,1749675434.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.419205 m,
nav range: 130.065430 m,
bearing: 325.964406 deg,
approach rate: -0.465897 m/s,
LOS rate: 0.028856 deg/s,
cmd heading: 320.362783 deg,
new cmd heading: 320.398198 deg.
2025-06-11T20:57:14.242Z,1749675434.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592003 target range: 135.419205 and range: 136.60 m.
2025-06-11T20:57:14.365Z,1749675434.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262864
2025-06-11T20:57:14.608Z,1749675434.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.42 m.
2025-06-11T20:57:14.611Z,1749675434.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 135.419205 m,
nav range: 129.891479 m,
bearing: 325.975082 deg,
approach rate: -0.451514 m/s,
LOS rate: 0.027748 deg/s,
cmd heading: 320.398191 deg,
new cmd heading: 320.430261 deg.
2025-06-11T20:57:14.612Z,1749675434.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592563 target range: 135.419205 and range: 136.60 m.
2025-06-11T20:57:14.623Z,1749675434.623 [DAT](INFO): DAT read: 20:57:15.3928 LVL= 22640, 27441, 20978, 32083, AGC= 67, IDX= 415, 0.29,-2.762, 1.980,-2.979, 2.809, PHS= 0.800,-0.782, 0.492, RAW= 139.4, -7.1, CAL= 145.4, -17.0, ROT= 4.6, 17.0
2025-06-11T20:57:14.624Z,1749675434.624 [DAT](INFO): got valid direction response:
20:57:15.3928 LVL= 22640, 27441, 20978, 32083, AGC= 67, IDX= 415, 0.29,-2.762, 1.980,-2.979, 2.809, PHS= 0.800,-0.782, 0.492, RAW= 139.4, -7.1, CAL= 145.4, -17.0, ROT= 4.6, 17.0
2025-06-11T20:57:14.625Z,1749675434.625 [DAT](INFO): DAT read: Bearing 4.6, 17.0 (Local)
2025-06-11T20:57:14.625Z,1749675434.625 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.6, 17.0 (Local)
2025-06-11T20:57:14.627Z,1749675434.627 [DAT](INFO): DAT read: Range 10 to 50 : 135.0 m (Round-trip 180.0 ms) speed 0.4 m/s
2025-06-11T20:57:14.640Z,1749675434.640 [DAT](INFO): DAT read: user:618>
2025-06-11T20:57:14.641Z,1749675434.641 [DAT](INFO): DAT read: Tx time:20:57:16.5071
2025-06-11T20:57:14.641Z,1749675434.641 [DAT](INFO): Ping request sent.
2025-06-11T20:57:14.641Z,1749675434.641 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:14.641Z,1749675434.641 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:14.642Z,1749675434.642 [DAT](INFO): direction in FSK: [0.953224,0.076695,-0.292372]
2025-06-11T20:57:14.643Z,1749675434.643 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:14.643Z,1749675434.643 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:14.650Z,1749675434.650 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:14.650Z,1749675434.650 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:14.870Z,1749675434.870 [DAT](INFO): DAT read: TxSync time:20:57:16.5063
2025-06-11T20:57:15.017Z,1749675435.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 135.000000 m,
deltaT: 3.528015 s,
deltaX: -1.600006 m,
approachRate: -0.453515 m/s,
rangeRepo size: 4
2025-06-11T20:57:15.019Z,1749675435.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 133.827438 m,
bearing: 325.989798 deg,
lat: 36.906385 deg,
lon: -122.115517 deg,
deltaT: 3.528015 s,
deltaX: -1.591766 m,
approachRate: -0.451179 m/s,
posRepo size: 4
2025-06-11T20:57:15.019Z,1749675435.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.83 m.
2025-06-11T20:57:15.022Z,1749675435.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.827438 m,
nav range: 129.696213 m,
bearing: 325.994812 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.027748 deg/s,
cmd heading: 320.430265 deg,
new cmd heading: 320.464203 deg.
2025-06-11T20:57:15.023Z,1749675435.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593155 target range: 133.827438 and range: 135.00 m.
2025-06-11T20:57:15.450Z,1749675435.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.83 m.
2025-06-11T20:57:15.453Z,1749675435.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.827438 m,
nav range: 129.495346 m,
bearing: 326.005181 deg,
approach rate: -0.462882 m/s,
LOS rate: 0.023931 deg/s,
cmd heading: 320.464198 deg,
new cmd heading: 320.495351 deg.
2025-06-11T20:57:15.454Z,1749675435.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593699 target range: 133.827438 and range: 135.00 m.
2025-06-11T20:57:15.825Z,1749675435.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.83 m.
2025-06-11T20:57:15.840Z,1749675435.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.827438 m,
nav range: 129.328400 m,
bearing: 326.013702 deg,
approach rate: -0.444201 m/s,
LOS rate: 0.022703 deg/s,
cmd heading: 320.495343 deg,
new cmd heading: 320.520941 deg.
2025-06-11T20:57:15.842Z,1749675435.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594146 target range: 133.827438 and range: 135.00 m.
2025-06-11T20:57:16.260Z,1749675436.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:16.262Z,1749675436.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.83 m.
2025-06-11T20:57:16.269Z,1749675436.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.827438 m,
nav range: 129.122528 m,
bearing: 326.022104 deg,
approach rate: -0.471071 m/s,
LOS rate: 0.019256 deg/s,
cmd heading: 320.520943 deg,
new cmd heading: 320.546190 deg.
2025-06-11T20:57:16.270Z,1749675436.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594586 target range: 133.827438 and range: 135.00 m.
2025-06-11T20:57:16.381Z,1749675436.381 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:16.381Z,1749675436.381 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:16.381Z,1749675436.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:16.628Z,1749675436.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.83 m.
2025-06-11T20:57:16.631Z,1749675436.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.827438 m,
nav range: 128.937012 m,
bearing: 326.029474 deg,
approach rate: -0.507874 m/s,
LOS rate: 0.020204 deg/s,
cmd heading: 320.546187 deg,
new cmd heading: 320.568328 deg.
2025-06-11T20:57:16.633Z,1749675436.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991731
2025-06-11T20:57:16.633Z,1749675436.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594973 target range: 133.827438 and range: 135.00 m.
2025-06-11T20:57:16.885Z,1749675436.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243629
2025-06-11T20:57:17.030Z,1749675437.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.83 m.
2025-06-11T20:57:17.033Z,1749675437.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.827438 m,
nav range: 128.743454 m,
bearing: 326.036993 deg,
approach rate: -0.480939 m/s,
LOS rate: 0.018711 deg/s,
cmd heading: 320.568317 deg,
new cmd heading: 320.590908 deg.
2025-06-11T20:57:17.034Z,1749675437.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595367 target range: 133.827438 and range: 135.00 m.
2025-06-11T20:57:17.141Z,1749675437.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499158
2025-06-11T20:57:17.389Z,1749675437.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747707
2025-06-11T20:57:17.460Z,1749675437.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.83 m.
2025-06-11T20:57:17.462Z,1749675437.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.827438 m,
nav range: 128.535522 m,
bearing: 326.042297 deg,
approach rate: -0.484166 m/s,
LOS rate: 0.012371 deg/s,
cmd heading: 320.590911 deg,
new cmd heading: 320.606850 deg.
2025-06-11T20:57:17.463Z,1749675437.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595645 target range: 133.827438 and range: 135.00 m.
2025-06-11T20:57:17.641Z,1749675437.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999611
2025-06-11T20:57:17.839Z,1749675437.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.83 m.
2025-06-11T20:57:17.842Z,1749675437.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.827438 m,
nav range: 128.351608 m,
bearing: 326.047034 deg,
approach rate: -0.484205 m/s,
LOS rate: 0.012487 deg/s,
cmd heading: 320.606839 deg,
new cmd heading: 320.621069 deg.
2025-06-11T20:57:17.843Z,1749675437.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595893 target range: 133.827438 and range: 135.00 m.
2025-06-11T20:57:17.893Z,1749675437.893 [DAT](INFO): DAT read: Rx Time:20:57:19.0890
2025-06-11T20:57:17.894Z,1749675437.894 [DAT](INFO): Rx dataTimestamp_ set to:1749675437.893216
2025-06-11T20:57:17.894Z,1749675437.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252934
2025-06-11T20:57:18.148Z,1749675438.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506067
2025-06-11T20:57:18.326Z,1749675438.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:18.332Z,1749675438.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.83 m.
2025-06-11T20:57:18.335Z,1749675438.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 133.827438 m,
nav range: 128.118973 m,
bearing: 326.048202 deg,
approach rate: -0.476445 m/s,
LOS rate: 0.002398 deg/s,
cmd heading: 320.621073 deg,
new cmd heading: 320.624586 deg.
2025-06-11T20:57:18.335Z,1749675438.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595955 target range: 133.827438 and range: 135.00 m.
2025-06-11T20:57:18.403Z,1749675438.403 [DAT](INFO): DAT read: 20:57:19.0890 LVL= 23024, 27489, 18738, 32755, AGC= 68, IDX= 425,-0.28,-0.758,-2.311,-0.934,-1.470, PHS= 0.801,-0.794, 0.533, RAW= 141.0, -7.4, CAL= 147.2, -16.9, ROT= 2.8, 16.9
2025-06-11T20:57:18.404Z,1749675438.404 [DAT](INFO): got valid direction response:
20:57:19.0890 LVL= 23024, 27489, 18738, 32755, AGC= 68, IDX= 425,-0.28,-0.758,-2.311,-0.934,-1.470, PHS= 0.801,-0.794, 0.533, RAW= 141.0, -7.4, CAL= 147.2, -16.9, ROT= 2.8, 16.9
2025-06-11T20:57:18.405Z,1749675438.405 [DAT](INFO): DAT read: Bearing 2.8, 16.9 (Local)
2025-06-11T20:57:18.405Z,1749675438.405 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.8, 16.9 (Local)
2025-06-11T20:57:18.407Z,1749675438.407 [DAT](INFO): DAT read: Range 10 to 50 : 133.3 m (Round-trip 177.8 ms) speed 0.4 m/s
2025-06-11T20:57:18.408Z,1749675438.408 [DAT](INFO): DAT read: user:619>
2025-06-11T20:57:18.409Z,1749675438.409 [DAT](INFO): DAT read: Tx time:20:57:20.2071
2025-06-11T20:57:18.409Z,1749675438.409 [DAT](INFO): Ping request sent.
2025-06-11T20:57:18.409Z,1749675438.409 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:18.409Z,1749675438.409 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:18.410Z,1749675438.410 [DAT](INFO): direction in FSK: [0.955671,0.046740,-0.290702]
2025-06-11T20:57:18.410Z,1749675438.410 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:18.411Z,1749675438.411 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:18.414Z,1749675438.414 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:18.414Z,1749675438.414 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:18.652Z,1749675438.652 [DAT](INFO): DAT read: TxSync time:20:57:20.2063
2025-06-11T20:57:18.769Z,1749675438.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 133.300003 m,
deltaT: 3.780025 s,
deltaX: -1.699997 m,
approachRate: -0.449732 m/s,
rangeRepo size: 4
2025-06-11T20:57:18.771Z,1749675438.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 132.147171 m,
bearing: 324.504815 deg,
lat: 36.906385 deg,
lon: -122.115517 deg,
deltaT: 3.780025 s,
deltaX: -1.680267 m,
approachRate: -0.444512 m/s,
posRepo size: 4
2025-06-11T20:57:18.771Z,1749675438.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.15 m.
2025-06-11T20:57:18.778Z,1749675438.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.147171 m,
nav range: 127.880486 m,
bearing: 326.044859 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002398 deg/s,
cmd heading: 320.624598 deg,
new cmd heading: 320.627764 deg.
2025-06-11T20:57:18.779Z,1749675438.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596010 target range: 132.147171 and range: 133.30 m.
2025-06-11T20:57:19.209Z,1749675439.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.15 m.
2025-06-11T20:57:19.219Z,1749675439.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.147171 m,
nav range: 127.670784 m,
bearing: 326.046263 deg,
approach rate: -0.474855 m/s,
LOS rate: 0.003183 deg/s,
cmd heading: 320.627767 deg,
new cmd heading: 320.631985 deg.
2025-06-11T20:57:19.226Z,1749675439.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596084 target range: 132.147171 and range: 133.30 m.
2025-06-11T20:57:19.593Z,1749675439.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.15 m.
2025-06-11T20:57:19.600Z,1749675439.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.147171 m,
nav range: 127.469505 m,
bearing: 326.044234 deg,
approach rate: -0.524170 m/s,
LOS rate: -0.005290 deg/s,
cmd heading: 320.631974 deg,
new cmd heading: 320.625880 deg.
2025-06-11T20:57:19.601Z,1749675439.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595977 target range: 132.147171 and range: 133.30 m.
2025-06-11T20:57:19.800Z,1749675439.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:57:19.961Z,1749675439.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.15 m.
2025-06-11T20:57:19.964Z,1749675439.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.147171 m,
nav range: 127.284073 m,
bearing: 326.042217 deg,
approach rate: -0.504459 m/s,
LOS rate: -0.005497 deg/s,
cmd heading: 320.625882 deg,
new cmd heading: 320.619820 deg.
2025-06-11T20:57:19.965Z,1749675439.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595871 target range: 132.147171 and range: 133.30 m.
2025-06-11T20:57:20.374Z,1749675440.374 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -170+, -55.62, 0.00
2025-06-11T20:57:20.388Z,1749675440.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:20.390Z,1749675440.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.15 m.
2025-06-11T20:57:20.393Z,1749675440.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.147171 m,
nav range: 127.072639 m,
bearing: 326.039561 deg,
approach rate: -0.492799 m/s,
LOS rate: -0.006199 deg/s,
cmd heading: 320.619817 deg,
new cmd heading: 320.611838 deg.
2025-06-11T20:57:20.394Z,1749675440.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595732 target range: 132.147171 and range: 133.30 m.
2025-06-11T20:57:20.429Z,1749675440.429 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:20.430Z,1749675440.430 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:20.430Z,1749675440.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:20.681Z,1749675440.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271884
2025-06-11T20:57:20.779Z,1749675440.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.15 m.
2025-06-11T20:57:20.786Z,1749675440.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.147171 m,
nav range: 126.884689 m,
bearing: 326.036895 deg,
approach rate: -0.483607 m/s,
LOS rate: -0.006872 deg/s,
cmd heading: 320.611839 deg,
new cmd heading: 320.603827 deg.
2025-06-11T20:57:20.787Z,1749675440.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595592 target range: 132.147171 and range: 133.30 m.
2025-06-11T20:57:20.804Z,1749675440.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:57:20.933Z,1749675440.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524336
2025-06-11T20:57:21.187Z,1749675441.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778084
2025-06-11T20:57:21.242Z,1749675441.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.15 m.
2025-06-11T20:57:21.249Z,1749675441.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.147171 m,
nav range: 126.673492 m,
bearing: 326.033889 deg,
approach rate: -0.455980 m/s,
LOS rate: -0.006501 deg/s,
cmd heading: 320.603834 deg,
new cmd heading: 320.594801 deg.
2025-06-11T20:57:21.250Z,1749675441.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595435 target range: 132.147171 and range: 133.30 m.
2025-06-11T20:57:21.437Z,1749675441.437 [DAT](INFO): DAT read: Rx Time:20:57:22.7868
2025-06-11T20:57:21.437Z,1749675441.437 [DAT](INFO): Rx dataTimestamp_ set to:1749675441.436995
2025-06-11T20:57:21.438Z,1749675441.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028900
2025-06-11T20:57:21.599Z,1749675441.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.15 m.
2025-06-11T20:57:21.601Z,1749675441.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.147171 m,
nav range: 126.474197 m,
bearing: 326.026599 deg,
approach rate: -0.558697 m/s,
LOS rate: -0.020470 deg/s,
cmd heading: 320.594791 deg,
new cmd heading: 320.572885 deg.
2025-06-11T20:57:21.602Z,1749675441.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595052 target range: 132.147171 and range: 133.30 m.
2025-06-11T20:57:21.690Z,1749675441.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280618
2025-06-11T20:57:21.943Z,1749675441.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534068
2025-06-11T20:57:22.006Z,1749675442.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.15 m.
2025-06-11T20:57:22.009Z,1749675442.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.147171 m,
nav range: 126.270996 m,
bearing: 326.018795 deg,
approach rate: -0.498436 m/s,
LOS rate: -0.019172 deg/s,
cmd heading: 320.572880 deg,
new cmd heading: 320.549432 deg.
2025-06-11T20:57:22.010Z,1749675442.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594643 target range: 132.147171 and range: 133.30 m.
2025-06-11T20:57:22.211Z,1749675442.211 [DAT](INFO): DAT read: 20:57:22.7868 LVL= 23088, 26961, 19778, 32755, AGC= 72, IDX= 417, 0.01,-1.944, 2.885,-2.089,-2.626, PHS= 0.770,-0.725, 0.534, RAW= 141.6, -8.4, CAL= 148.0, -17.9, ROT= 2.0, 17.9
2025-06-11T20:57:22.214Z,1749675442.214 [DAT](INFO): got valid direction response:
20:57:22.7868 LVL= 23088, 26961, 19778, 32755, AGC= 72, IDX= 417, 0.01,-1.944, 2.885,-2.089,-2.626, PHS= 0.770,-0.725, 0.534, RAW= 141.6, -8.4, CAL= 148.0, -17.9, ROT= 2.0, 17.9
2025-06-11T20:57:22.219Z,1749675442.219 [DAT](INFO): DAT read: Bearing 2.0, 17.9 (Local)
2025-06-11T20:57:22.220Z,1749675442.220 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.0, 17.9 (Local)
2025-06-11T20:57:22.225Z,1749675442.225 [DAT](INFO): DAT read: Range 10 to 50 : 131.5 m (Round-trip 175.4 ms) speed 0.7 m/s
2025-06-11T20:57:22.227Z,1749675442.227 [DAT](INFO): DAT read: user:620>
2025-06-11T20:57:22.232Z,1749675442.232 [DAT](INFO): DAT read: Tx time:20:57:23.9072
2025-06-11T20:57:22.233Z,1749675442.233 [DAT](INFO): Ping request sent.
2025-06-11T20:57:22.233Z,1749675442.233 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:22.235Z,1749675442.235 [DAT](INFO): DAT read: TxSync time:20:57:23.9064
2025-06-11T20:57:22.239Z,1749675442.239 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:22.251Z,1749675442.251 [DAT](INFO): direction in FSK: [0.951015,0.033210,-0.307357]
2025-06-11T20:57:22.255Z,1749675442.255 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:22.257Z,1749675442.257 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:22.275Z,1749675442.275 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:22.276Z,1749675442.276 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:22.452Z,1749675442.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 131.500000 m,
deltaT: 3.796945 s,
deltaX: -1.800003 m,
approachRate: -0.474066 m/s,
rangeRepo size: 4
2025-06-11T20:57:22.454Z,1749675442.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 130.361420 m,
bearing: 324.658106 deg,
lat: 36.906376 deg,
lon: -122.115521 deg,
deltaT: 3.796945 s,
deltaX: -1.785751 m,
approachRate: -0.470313 m/s,
posRepo size: 4
2025-06-11T20:57:22.455Z,1749675442.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.36 m.
2025-06-11T20:57:22.462Z,1749675442.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.361420 m,
nav range: 125.475632 m,
bearing: 325.629382 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.019172 deg/s,
cmd heading: 320.549438 deg,
new cmd heading: 320.524078 deg.
2025-06-11T20:57:22.463Z,1749675442.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594201 target range: 130.361420 and range: 131.50 m.
2025-06-11T20:57:22.798Z,1749675442.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:22.805Z,1749675442.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.36 m.
2025-06-11T20:57:22.807Z,1749675442.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.361420 m,
nav range: 125.299431 m,
bearing: 325.622436 deg,
approach rate: -0.499567 m/s,
LOS rate: -0.019719 deg/s,
cmd heading: 320.524085 deg,
new cmd heading: 320.503220 deg.
2025-06-11T20:57:22.814Z,1749675442.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593836 target range: 130.361420 and range: 131.50 m.
2025-06-11T20:57:22.949Z,1749675442.949 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:22.949Z,1749675442.949 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:22.949Z,1749675442.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:23.203Z,1749675443.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.970035
2025-06-11T20:57:23.261Z,1749675443.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.36 m.
2025-06-11T20:57:23.267Z,1749675443.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.361420 m,
nav range: 125.088127 m,
bearing: 325.614082 deg,
approach rate: -0.458322 m/s,
LOS rate: -0.018152 deg/s,
cmd heading: 320.503212 deg,
new cmd heading: 320.478106 deg.
2025-06-11T20:57:23.277Z,1749675443.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593398 target range: 130.361420 and range: 131.50 m.
2025-06-11T20:57:23.453Z,1749675443.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219898
2025-06-11T20:57:23.617Z,1749675443.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.36 m.
2025-06-11T20:57:23.620Z,1749675443.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.361420 m,
nav range: 124.884621 m,
bearing: 325.607773 deg,
approach rate: -0.571198 m/s,
LOS rate: -0.017738 deg/s,
cmd heading: 320.478104 deg,
new cmd heading: 320.459145 deg.
2025-06-11T20:57:23.621Z,1749675443.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593067 target range: 130.361420 and range: 131.50 m.
2025-06-11T20:57:23.705Z,1749675443.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472001
2025-06-11T20:57:23.957Z,1749675443.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723841
2025-06-11T20:57:24.059Z,1749675444.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.36 m.
2025-06-11T20:57:24.063Z,1749675444.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.361420 m,
nav range: 124.665085 m,
bearing: 325.600822 deg,
approach rate: -0.496844 m/s,
LOS rate: -0.015758 deg/s,
cmd heading: 320.459143 deg,
new cmd heading: 320.438255 deg.
2025-06-11T20:57:24.067Z,1749675444.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592702 target range: 130.361420 and range: 131.50 m.
2025-06-11T20:57:24.209Z,1749675444.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975919
2025-06-11T20:57:24.451Z,1749675444.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.36 m.
2025-06-11T20:57:24.457Z,1749675444.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.361420 m,
nav range: 124.475769 m,
bearing: 325.599140 deg,
approach rate: -0.483605 m/s,
LOS rate: -0.004305 deg/s,
cmd heading: 320.438243 deg,
new cmd heading: 320.433187 deg.
2025-06-11T20:57:24.458Z,1749675444.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592614 target range: 130.361420 and range: 131.50 m.
2025-06-11T20:57:24.461Z,1749675444.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227952
2025-06-11T20:57:24.713Z,1749675444.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479857
2025-06-11T20:57:24.810Z,1749675444.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:24.812Z,1749675444.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.36 m.
2025-06-11T20:57:24.815Z,1749675444.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.361420 m,
nav range: 124.293327 m,
bearing: 325.597662 deg,
approach rate: -0.504805 m/s,
LOS rate: -0.004095 deg/s,
cmd heading: 320.433189 deg,
new cmd heading: 320.428749 deg.
2025-06-11T20:57:24.816Z,1749675444.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592536 target range: 130.361420 and range: 131.50 m.
2025-06-11T20:57:24.965Z,1749675444.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731811
2025-06-11T20:57:25.218Z,1749675445.218 [DAT](INFO): DAT read: Rx Time:20:57:26.4841
2025-06-11T20:57:25.219Z,1749675445.219 [DAT](INFO): Rx dataTimestamp_ set to:1749675445.218362
2025-06-11T20:57:25.221Z,1749675445.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987428
2025-06-11T20:57:25.311Z,1749675445.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.36 m.
2025-06-11T20:57:25.322Z,1749675445.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.361420 m,
nav range: 124.052704 m,
bearing: 325.596002 deg,
approach rate: -0.482258 m/s,
LOS rate: -0.003333 deg/s,
cmd heading: 320.428735 deg,
new cmd heading: 320.423747 deg.
2025-06-11T20:57:25.323Z,1749675445.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592449 target range: 130.361420 and range: 131.50 m.
2025-06-11T20:57:25.469Z,1749675445.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235823
2025-06-11T20:57:25.595Z,1749675445.595 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061112584739,35.0, +100,1490.7, 0
2025-06-11T20:57:25.683Z,1749675445.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.36 m.
2025-06-11T20:57:25.690Z,1749675445.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.361420 m,
nav range: 123.867867 m,
bearing: 325.594894 deg,
approach rate: -0.497245 m/s,
LOS rate: -0.002987 deg/s,
cmd heading: 320.423736 deg,
new cmd heading: 320.420405 deg.
2025-06-11T20:57:25.691Z,1749675445.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592391 target range: 130.361420 and range: 131.50 m.
2025-06-11T20:57:25.734Z,1749675445.734 [DAT](INFO): DAT read: 20:57:26.4841 LVL= 32320, 29025, 29250, 32755, AGC= 67, IDX= 422, 0.03,-2.058, 2.903,-2.155,-2.599, PHS= 0.629,-0.735, 0.441, RAW= 142.7, -5.3, CAL= 148.3, -14.5, ROT= 1.7, 14.5
2025-06-11T20:57:25.735Z,1749675445.735 [DAT](INFO): got valid direction response:
20:57:26.4841 LVL= 32320, 29025, 29250, 32755, AGC= 67, IDX= 422, 0.03,-2.058, 2.903,-2.155,-2.599, PHS= 0.629,-0.735, 0.441, RAW= 142.7, -5.3, CAL= 148.3, -14.5, ROT= 1.7, 14.5
2025-06-11T20:57:25.753Z,1749675445.753 [DAT](INFO): DAT read: Bearing 1.7, 14.5 (Local)
2025-06-11T20:57:25.754Z,1749675445.754 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.7, 14.5 (Local)
2025-06-11T20:57:25.769Z,1749675445.769 [DAT](INFO): DAT read: Range 10 to 50 : 129.6 m (Round-trip 172.8 ms) speed 0.8 m/s
2025-06-11T20:57:25.770Z,1749675445.770 [DAT](INFO): DAT read: user:621>
2025-06-11T20:57:25.770Z,1749675445.770 [DAT](INFO): DAT read: Tx time:20:57:27.6072
2025-06-11T20:57:25.771Z,1749675445.771 [DAT](INFO): Ping request sent.
2025-06-11T20:57:25.771Z,1749675445.771 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:25.771Z,1749675445.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:25.784Z,1749675445.784 [DAT](INFO): direction in FSK: [0.967722,0.028721,-0.250380]
2025-06-11T20:57:25.785Z,1749675445.785 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:25.785Z,1749675445.785 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:25.808Z,1749675445.808 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:25.809Z,1749675445.809 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:25.973Z,1749675445.973 [DAT](INFO): DAT read: TxSync time:20:57:27.6064
2025-06-11T20:57:26.061Z,1749675446.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 129.600006 m,
deltaT: 3.528796 s,
deltaX: -1.899994 m,
approachRate: -0.538426 m/s,
rangeRepo size: 4
2025-06-11T20:57:26.063Z,1749675446.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 128.478394 m,
bearing: 323.771078 deg,
lat: 36.906367 deg,
lon: -122.115537 deg,
deltaT: 3.528796 s,
deltaX: -1.883026 m,
approachRate: -0.533617 m/s,
posRepo size: 4
2025-06-11T20:57:26.068Z,1749675446.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.48 m.
2025-06-11T20:57:26.071Z,1749675446.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.478394 m,
nav range: 123.638931 m,
bearing: 324.775181 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002987 deg/s,
cmd heading: 320.420402 deg,
new cmd heading: 320.417015 deg.
2025-06-11T20:57:26.076Z,1749675446.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592332 target range: 128.478394 and range: 129.60 m.
2025-06-11T20:57:26.454Z,1749675446.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.48 m.
2025-06-11T20:57:26.461Z,1749675446.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.478394 m,
nav range: 123.453300 m,
bearing: 324.779626 deg,
approach rate: -0.471520 m/s,
LOS rate: 0.011308 deg/s,
cmd heading: 320.417015 deg,
new cmd heading: 320.430370 deg.
2025-06-11T20:57:26.462Z,1749675446.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592565 target range: 128.478394 and range: 129.60 m.
2025-06-11T20:57:26.827Z,1749675446.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:26.830Z,1749675446.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.48 m.
2025-06-11T20:57:26.833Z,1749675446.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.478394 m,
nav range: 123.271461 m,
bearing: 324.784147 deg,
approach rate: -0.484095 m/s,
LOS rate: 0.012053 deg/s,
cmd heading: 320.430375 deg,
new cmd heading: 320.443957 deg.
2025-06-11T20:57:26.834Z,1749675446.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592802 target range: 128.478394 and range: 129.60 m.
2025-06-11T20:57:26.981Z,1749675446.981 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:26.981Z,1749675446.981 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:26.981Z,1749675446.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:27.223Z,1749675447.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.48 m.
2025-06-11T20:57:27.226Z,1749675447.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.478394 m,
nav range: 123.088043 m,
bearing: 324.788889 deg,
approach rate: -0.466701 m/s,
LOS rate: 0.012085 deg/s,
cmd heading: 320.443953 deg,
new cmd heading: 320.458202 deg.
2025-06-11T20:57:27.227Z,1749675447.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593051 target range: 128.478394 and range: 129.60 m.
2025-06-11T20:57:27.235Z,1749675447.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463945
2025-06-11T20:57:27.485Z,1749675447.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713899
2025-06-11T20:57:27.658Z,1749675447.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.48 m.
2025-06-11T20:57:27.661Z,1749675447.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.478394 m,
nav range: 122.892281 m,
bearing: 324.797544 deg,
approach rate: -0.449832 m/s,
LOS rate: 0.019919 deg/s,
cmd heading: 320.458214 deg,
new cmd heading: 320.484220 deg.
2025-06-11T20:57:27.662Z,1749675447.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593505 target range: 128.478394 and range: 129.60 m.
2025-06-11T20:57:27.737Z,1749675447.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966220
2025-06-11T20:57:27.989Z,1749675447.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217863
2025-06-11T20:57:28.046Z,1749675448.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.48 m.
2025-06-11T20:57:28.049Z,1749675448.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.478394 m,
nav range: 122.717552 m,
bearing: 324.805182 deg,
approach rate: -0.450331 m/s,
LOS rate: 0.019714 deg/s,
cmd heading: 320.484224 deg,
new cmd heading: 320.507171 deg.
2025-06-11T20:57:28.050Z,1749675448.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593905 target range: 128.478394 and range: 129.60 m.
2025-06-11T20:57:28.242Z,1749675448.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470668
2025-06-11T20:57:28.471Z,1749675448.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.48 m.
2025-06-11T20:57:28.478Z,1749675448.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.478394 m,
nav range: 122.538528 m,
bearing: 324.815512 deg,
approach rate: -0.421488 m/s,
LOS rate: 0.024356 deg/s,
cmd heading: 320.507173 deg,
new cmd heading: 320.538208 deg.
2025-06-11T20:57:28.479Z,1749675448.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594447 target range: 128.478394 and range: 129.60 m.
2025-06-11T20:57:28.493Z,1749675448.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722186
2025-06-11T20:57:28.745Z,1749675448.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973984
2025-06-11T20:57:28.835Z,1749675448.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:28.838Z,1749675448.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.48 m.
2025-06-11T20:57:28.857Z,1749675448.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.478394 m,
nav range: 122.371193 m,
bearing: 324.825127 deg,
approach rate: -0.455725 m/s,
LOS rate: 0.026221 deg/s,
cmd heading: 320.538210 deg,
new cmd heading: 320.567094 deg.
2025-06-11T20:57:28.858Z,1749675448.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594951 target range: 128.478394 and range: 129.60 m.
2025-06-11T20:57:28.997Z,1749675448.997 [DAT](INFO): DAT read: Rx Time:20:57:30.1817
2025-06-11T20:57:28.997Z,1749675448.997 [DAT](INFO): Rx dataTimestamp_ set to:1749675448.997019
2025-06-11T20:57:28.998Z,1749675448.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226996
2025-06-11T20:57:29.249Z,1749675449.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478036
2025-06-11T20:57:29.253Z,1749675449.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.48 m.
2025-06-11T20:57:29.256Z,1749675449.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.478394 m,
nav range: 122.194405 m,
bearing: 324.835305 deg,
approach rate: -0.425719 m/s,
LOS rate: 0.024545 deg/s,
cmd heading: 320.567088 deg,
new cmd heading: 320.597666 deg.
2025-06-11T20:57:29.257Z,1749675449.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595485 target range: 128.478394 and range: 129.60 m.
2025-06-11T20:57:29.507Z,1749675449.507 [DAT](INFO): DAT read: 20:57:30.1817 LVL= 23920, 32641, 20978, 32755, AGC= 70, IDX= 413,-0.06, 0.577,-0.853, 0.470,-0.016, PHS= 0.681,-0.790, 0.483, RAW= 142.9, -5.5, CAL= 148.5, -14.6, ROT= 1.5, 14.6
2025-06-11T20:57:29.508Z,1749675449.508 [DAT](INFO): got valid direction response:
20:57:30.1817 LVL= 23920, 32641, 20978, 32755, AGC= 70, IDX= 413,-0.06, 0.577,-0.853, 0.470,-0.016, PHS= 0.681,-0.790, 0.483, RAW= 142.9, -5.5, CAL= 148.5, -14.6, ROT= 1.5, 14.6
2025-06-11T20:57:29.509Z,1749675449.509 [DAT](INFO): DAT read: Bearing 1.5, 14.6 (Local)
2025-06-11T20:57:29.509Z,1749675449.509 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.5, 14.6 (Local)
2025-06-11T20:57:29.511Z,1749675449.511 [DAT](INFO): DAT read: Range 10 to 50 : 127.8 m (Round-trip 170.4 ms) speed 0.3 m/s
2025-06-11T20:57:29.511Z,1749675449.511 [DAT](INFO): DAT read: user:622>
2025-06-11T20:57:29.512Z,1749675449.512 [DAT](INFO): DAT read: Tx time:20:57:31.3072
2025-06-11T20:57:29.513Z,1749675449.513 [DAT](INFO): Ping request sent.
2025-06-11T20:57:29.513Z,1749675449.513 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:29.513Z,1749675449.513 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:29.514Z,1749675449.514 [DAT](INFO): direction in FSK: [0.967378,0.025332,-0.252069]
2025-06-11T20:57:29.514Z,1749675449.514 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:29.515Z,1749675449.515 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:29.518Z,1749675449.518 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:29.518Z,1749675449.518 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:29.723Z,1749675449.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 127.800003 m,
deltaT: 3.778043 s,
deltaX: -1.800003 m,
approachRate: -0.476438 m/s,
rangeRepo size: 4
2025-06-11T20:57:29.729Z,1749675449.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 126.693672 m,
bearing: 323.562061 deg,
lat: 36.906362 deg,
lon: -122.115549 deg,
deltaT: 3.778043 s,
deltaX: -1.784721 m,
approachRate: -0.472393 m/s,
posRepo size: 4
2025-06-11T20:57:29.730Z,1749675449.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.69 m.
2025-06-11T20:57:29.736Z,1749675449.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.693672 m,
nav range: 122.153473 m,
bearing: 324.326731 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.024545 deg/s,
cmd heading: 320.597660 deg,
new cmd heading: 320.632167 deg.
2025-06-11T20:57:29.737Z,1749675449.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596087 target range: 126.693672 and range: 127.80 m.
2025-06-11T20:57:29.757Z,1749675449.757 [DAT](INFO): DAT read: TxSync time:20:57:31.3064
2025-06-11T20:57:30.058Z,1749675450.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.69 m.
2025-06-11T20:57:30.061Z,1749675450.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.693672 m,
nav range: 121.997330 m,
bearing: 324.336340 deg,
approach rate: -0.464520 m/s,
LOS rate: 0.028621 deg/s,
cmd heading: 320.632166 deg,
new cmd heading: 320.661028 deg.
2025-06-11T20:57:30.062Z,1749675450.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596591 target range: 126.693672 and range: 127.80 m.
2025-06-11T20:57:30.500Z,1749675450.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.69 m.
2025-06-11T20:57:30.505Z,1749675450.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.693672 m,
nav range: 121.803757 m,
bearing: 324.349687 deg,
approach rate: -0.438095 m/s,
LOS rate: 0.030254 deg/s,
cmd heading: 320.661016 deg,
new cmd heading: 320.701120 deg.
2025-06-11T20:57:30.507Z,1749675450.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597291 target range: 126.693672 and range: 127.80 m.
2025-06-11T20:57:30.862Z,1749675450.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:30.864Z,1749675450.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.69 m.
2025-06-11T20:57:30.867Z,1749675450.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.693672 m,
nav range: 121.639786 m,
bearing: 324.361018 deg,
approach rate: -0.449918 m/s,
LOS rate: 0.031133 deg/s,
cmd heading: 320.701123 deg,
new cmd heading: 320.735162 deg.
2025-06-11T20:57:30.868Z,1749675450.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597885 target range: 126.693672 and range: 127.80 m.
2025-06-11T20:57:31.012Z,1749675451.012 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:31.013Z,1749675451.013 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:31.013Z,1749675451.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:31.265Z,1749675451.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752073
2025-06-11T20:57:31.271Z,1749675451.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.69 m.
2025-06-11T20:57:31.274Z,1749675451.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.693672 m,
nav range: 121.459610 m,
bearing: 324.373443 deg,
approach rate: -0.442876 m/s,
LOS rate: 0.030588 deg/s,
cmd heading: 320.735165 deg,
new cmd heading: 320.772497 deg.
2025-06-11T20:57:31.275Z,1749675451.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598536 target range: 126.693672 and range: 127.80 m.
2025-06-11T20:57:31.517Z,1749675451.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004036
2025-06-11T20:57:31.714Z,1749675451.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.69 m.
2025-06-11T20:57:31.717Z,1749675451.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.693672 m,
nav range: 121.261894 m,
bearing: 324.384862 deg,
approach rate: -0.446734 m/s,
LOS rate: 0.025843 deg/s,
cmd heading: 320.772485 deg,
new cmd heading: 320.806798 deg.
2025-06-11T20:57:31.718Z,1749675451.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599135 target range: 126.693672 and range: 127.80 m.
2025-06-11T20:57:31.769Z,1749675451.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256121
2025-06-11T20:57:32.021Z,1749675452.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508200
2025-06-11T20:57:32.071Z,1749675452.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.69 m.
2025-06-11T20:57:32.074Z,1749675452.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.693672 m,
nav range: 121.102943 m,
bearing: 324.393983 deg,
approach rate: -0.445348 m/s,
LOS rate: 0.025588 deg/s,
cmd heading: 320.806800 deg,
new cmd heading: 320.834198 deg.
2025-06-11T20:57:32.075Z,1749675452.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599613 target range: 126.693672 and range: 127.80 m.
2025-06-11T20:57:32.273Z,1749675452.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759988
2025-06-11T20:57:32.509Z,1749675452.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.69 m.
2025-06-11T20:57:32.511Z,1749675452.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.693672 m,
nav range: 120.895027 m,
bearing: 324.402823 deg,
approach rate: -0.474571 m/s,
LOS rate: 0.020212 deg/s,
cmd heading: 320.834203 deg,
new cmd heading: 320.860768 deg.
2025-06-11T20:57:32.513Z,1749675452.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600077 target range: 126.693672 and range: 127.80 m.
2025-06-11T20:57:32.541Z,1749675452.541 [DAT](INFO): DAT read: Rx Time:20:57:33.8796
2025-06-11T20:57:32.541Z,1749675452.541 [DAT](INFO): Rx dataTimestamp_ set to:1749675452.541050
2025-06-11T20:57:32.542Z,1749675452.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029090
2025-06-11T20:57:32.793Z,1749675452.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279950
2025-06-11T20:57:32.886Z,1749675452.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:32.889Z,1749675452.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.69 m.
2025-06-11T20:57:32.891Z,1749675452.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.693672 m,
nav range: 120.714577 m,
bearing: 324.410589 deg,
approach rate: -0.475137 m/s,
LOS rate: 0.020479 deg/s,
cmd heading: 320.860758 deg,
new cmd heading: 320.884091 deg.
2025-06-11T20:57:32.892Z,1749675452.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600484 target range: 126.693672 and range: 127.80 m.
2025-06-11T20:57:33.066Z,1749675453.066 [DAT](INFO): DAT read: 20:57:33.8797 LVL= 21328, 29249, 20594, 31731, AGC= 69, IDX= 424,-0.16,-1.551,-3.024,-1.709,-2.120, PHS= 0.657,-0.857, 0.408, RAW= 141.2, -3.0, CAL= 146.3, -12.3, ROT= 3.7, 12.3
2025-06-11T20:57:33.067Z,1749675453.067 [DAT](INFO): got valid direction response:
20:57:33.8797 LVL= 21328, 29249, 20594, 31731, AGC= 69, IDX= 424,-0.16,-1.551,-3.024,-1.709,-2.120, PHS= 0.657,-0.857, 0.408, RAW= 141.2, -3.0, CAL= 146.3, -12.3, ROT= 3.7, 12.3
2025-06-11T20:57:33.070Z,1749675453.070 [DAT](INFO): DAT read: Bearing 3.7, 12.3 (Local)
2025-06-11T20:57:33.072Z,1749675453.072 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.7, 12.3 (Local)
2025-06-11T20:57:33.077Z,1749675453.077 [DAT](INFO): DAT read: Range 10 to 50 : 126.2 m (Round-trip 168.3 ms) speed 0.6 m/s
2025-06-11T20:57:33.077Z,1749675453.077 [DAT](INFO): DAT read: user:623>
2025-06-11T20:57:33.079Z,1749675453.079 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:33.083Z,1749675453.083 [DAT](INFO): direction in FSK: [0.975009,0.063051,-0.213030]
2025-06-11T20:57:33.083Z,1749675453.083 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:33.088Z,1749675453.088 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:33.089Z,1749675453.089 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:33.089Z,1749675453.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:33.293Z,1749675453.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 126.199997 m,
deltaT: 3.545985 s,
deltaX: -1.600006 m,
approachRate: -0.451216 m/s,
rangeRepo size: 4
2025-06-11T20:57:33.295Z,1749675453.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 125.107567 m,
bearing: 325.436126 deg,
lat: 36.906362 deg,
lon: -122.115549 deg,
deltaT: 3.545985 s,
deltaX: -1.586105 m,
approachRate: -0.447296 m/s,
posRepo size: 4
2025-06-11T20:57:33.297Z,1749675453.297 [DAT](INFO): DAT read: Tx time:20:57:35.0073
2025-06-11T20:57:33.297Z,1749675453.297 [DAT](INFO): Ping request sent.
2025-06-11T20:57:33.297Z,1749675453.297 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:33.298Z,1749675453.298 [DAT](INFO): DAT read: TxSync time:20:57:35.0065
2025-06-11T20:57:33.298Z,1749675453.298 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:33.299Z,1749675453.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001624
2025-06-11T20:57:33.300Z,1749675453.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-06-11T20:57:33.303Z,1749675453.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 125.107567 m,
nav range: 120.526527 m,
bearing: 324.418756 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020479 deg/s,
cmd heading: 320.884090 deg,
new cmd heading: 320.908899 deg.
2025-06-11T20:57:33.309Z,1749675453.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600917 target range: 125.107567 and range: 126.20 m.
2025-06-11T20:57:33.554Z,1749675453.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256218
2025-06-11T20:57:33.725Z,1749675453.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-06-11T20:57:33.732Z,1749675453.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 125.107567 m,
nav range: 120.325096 m,
bearing: 324.422849 deg,
approach rate: -0.465515 m/s,
LOS rate: 0.009473 deg/s,
cmd heading: 320.908898 deg,
new cmd heading: 320.921195 deg.
2025-06-11T20:57:33.733Z,1749675453.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601131 target range: 125.107567 and range: 126.20 m.
2025-06-11T20:57:33.802Z,1749675453.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504263
2025-06-11T20:57:34.053Z,1749675454.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755259
2025-06-11T20:57:34.100Z,1749675454.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-06-11T20:57:34.103Z,1749675454.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 125.107567 m,
nav range: 120.136559 m,
bearing: 324.426999 deg,
approach rate: -0.502949 m/s,
LOS rate: 0.011090 deg/s,
cmd heading: 320.921192 deg,
new cmd heading: 320.933664 deg.
2025-06-11T20:57:34.104Z,1749675454.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601349 target range: 125.107567 and range: 126.20 m.
2025-06-11T20:57:34.305Z,1749675454.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007630
2025-06-11T20:57:34.531Z,1749675454.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-06-11T20:57:34.534Z,1749675454.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 125.107567 m,
nav range: 119.918976 m,
bearing: 324.429628 deg,
approach rate: -0.505336 m/s,
LOS rate: 0.006115 deg/s,
cmd heading: 320.933650 deg,
new cmd heading: 320.941549 deg.
2025-06-11T20:57:34.535Z,1749675454.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601487 target range: 125.107567 and range: 126.20 m.
2025-06-11T20:57:34.570Z,1749675454.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.272389
2025-06-11T20:57:34.821Z,1749675454.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523241
2025-06-11T20:57:34.910Z,1749675454.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:34.913Z,1749675454.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-06-11T20:57:34.917Z,1749675454.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 125.107567 m,
nav range: 119.729286 m,
bearing: 324.431772 deg,
approach rate: -0.496320 m/s,
LOS rate: 0.005621 deg/s,
cmd heading: 320.941546 deg,
new cmd heading: 320.947990 deg.
2025-06-11T20:57:34.919Z,1749675454.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601599 target range: 125.107567 and range: 126.20 m.
2025-06-11T20:57:35.073Z,1749675455.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775359
2025-06-11T20:57:35.325Z,1749675455.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027399
2025-06-11T20:57:35.332Z,1749675455.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-06-11T20:57:35.335Z,1749675455.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 125.107567 m,
nav range: 119.528839 m,
bearing: 324.433313 deg,
approach rate: -0.502318 m/s,
LOS rate: 0.003867 deg/s,
cmd heading: 320.947994 deg,
new cmd heading: 320.952622 deg.
2025-06-11T20:57:35.345Z,1749675455.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601680 target range: 125.107567 and range: 126.20 m.
2025-06-11T20:57:35.577Z,1749675455.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279208
2025-06-11T20:57:35.731Z,1749675455.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-06-11T20:57:35.750Z,1749675455.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 125.107567 m,
nav range: 119.317062 m,
bearing: 324.428708 deg,
approach rate: -0.505095 m/s,
LOS rate: -0.011003 deg/s,
cmd heading: 320.952611 deg,
new cmd heading: 320.938771 deg.
2025-06-11T20:57:35.751Z,1749675455.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601438 target range: 125.107567 and range: 126.20 m.
2025-06-11T20:57:35.830Z,1749675455.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531953
2025-06-11T20:57:36.081Z,1749675456.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783392
2025-06-11T20:57:36.110Z,1749675456.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-06-11T20:57:36.113Z,1749675456.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 125.107567 m,
nav range: 119.125694 m,
bearing: 324.424378 deg,
approach rate: -0.504736 m/s,
LOS rate: -0.011439 deg/s,
cmd heading: 320.938759 deg,
new cmd heading: 320.925748 deg.
2025-06-11T20:57:36.114Z,1749675456.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601211 target range: 125.107567 and range: 126.20 m.
2025-06-11T20:57:36.333Z,1749675456.333 [DAT](INFO): DAT read: Rx Time:20:57:37.5773
2025-06-11T20:57:36.333Z,1749675456.333 [DAT](INFO): Rx dataTimestamp_ set to:1749675456.333147
2025-06-11T20:57:36.334Z,1749675456.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036509
2025-06-11T20:57:36.538Z,1749675456.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-06-11T20:57:36.541Z,1749675456.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 125.107567 m,
nav range: 118.906319 m,
bearing: 324.415626 deg,
approach rate: -0.513287 m/s,
LOS rate: -0.020515 deg/s,
cmd heading: 320.925755 deg,
new cmd heading: 320.899451 deg.
2025-06-11T20:57:36.542Z,1749675456.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600752 target range: 125.107567 and range: 126.20 m.
2025-06-11T20:57:36.585Z,1749675456.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287653
2025-06-11T20:57:36.843Z,1749675456.843 [DAT](INFO): DAT read: 20:57:37.5773 LVL= 28576, 27009, 25522, 32755, AGC= 69, IDX= 415,-0.20,-3.051, 1.796, 3.068, 2.692, PHS= 0.628,-0.849, 0.373, RAW= 140.7, -2.3, CAL= 145.6, -11.5, ROT= 4.4, 11.5
2025-06-11T20:57:36.844Z,1749675456.844 [DAT](INFO): got valid direction response:
20:57:37.5773 LVL= 28576, 27009, 25522, 32755, AGC= 69, IDX= 415,-0.20,-3.051, 1.796, 3.068, 2.692, PHS= 0.628,-0.849, 0.373, RAW= 140.7, -2.3, CAL= 145.6, -11.5, ROT= 4.4, 11.5
2025-06-11T20:57:36.845Z,1749675456.845 [DAT](INFO): DAT read: Bearing 4.4, 11.5 (Local)
2025-06-11T20:57:36.845Z,1749675456.845 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.4, 11.5 (Local)
2025-06-11T20:57:36.847Z,1749675456.847 [DAT](INFO): DAT read: Range 10 to 50 : 124.4 m (Round-trip 165.9 ms) speed 0.4 m/s
2025-06-11T20:57:36.847Z,1749675456.847 [DAT](INFO): DAT read: user:624>
2025-06-11T20:57:36.848Z,1749675456.848 [DAT](INFO): DAT read: Tx time:20:57:38.6573
2025-06-11T20:57:36.849Z,1749675456.849 [DAT](INFO): Ping request sent.
2025-06-11T20:57:36.849Z,1749675456.849 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:36.849Z,1749675456.849 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:36.850Z,1749675456.850 [DAT](INFO): direction in FSK: [0.977037,0.075179,-0.199368]
2025-06-11T20:57:36.850Z,1749675456.850 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:36.850Z,1749675456.850 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:36.854Z,1749675456.854 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:36.854Z,1749675456.854 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:36.978Z,1749675456.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 124.400002 m,
deltaT: 3.790048 s,
deltaX: -1.799995 m,
approachRate: -0.474927 m/s,
rangeRepo size: 4
2025-06-11T20:57:36.984Z,1749675456.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 123.322884 m,
bearing: 327.075210 deg,
lat: 36.906362 deg,
lon: -122.115538 deg,
deltaT: 3.790048 s,
deltaX: -1.784683 m,
approachRate: -0.470887 m/s,
posRepo size: 4
2025-06-11T20:57:36.985Z,1749675456.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:36.987Z,1749675456.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 118.144913 m,
bearing: 324.782078 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.020515 deg/s,
cmd heading: 320.899445 deg,
new cmd heading: 320.872400 deg.
2025-06-11T20:57:36.992Z,1749675456.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600280 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:37.089Z,1749675457.089 [DAT](INFO): DAT read: TxSync time:20:57:38.6565
2025-06-11T20:57:37.391Z,1749675457.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:37.393Z,1749675457.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:37.396Z,1749675457.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 117.918900 m,
bearing: 324.773997 deg,
approach rate: -0.543409 m/s,
LOS rate: -0.019466 deg/s,
cmd heading: 320.872397 deg,
new cmd heading: 320.848108 deg.
2025-06-11T20:57:37.397Z,1749675457.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599856 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:37.593Z,1749675457.593 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:37.593Z,1749675457.593 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:37.593Z,1749675457.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:37.794Z,1749675457.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:37.802Z,1749675457.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 117.712204 m,
bearing: 324.764688 deg,
approach rate: -0.515912 m/s,
LOS rate: -0.023277 deg/s,
cmd heading: 320.848109 deg,
new cmd heading: 320.820132 deg.
2025-06-11T20:57:37.803Z,1749675457.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599368 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:37.845Z,1749675457.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996233
2025-06-11T20:57:38.097Z,1749675458.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248339
2025-06-11T20:57:38.166Z,1749675458.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:38.169Z,1749675458.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 117.524208 m,
bearing: 324.756282 deg,
approach rate: -0.504786 m/s,
LOS rate: -0.022608 deg/s,
cmd heading: 320.820132 deg,
new cmd heading: 320.794874 deg.
2025-06-11T20:57:38.170Z,1749675458.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598927 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:38.349Z,1749675458.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500082
2025-06-11T20:57:38.566Z,1749675458.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:38.569Z,1749675458.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 117.314224 m,
bearing: 324.747788 deg,
approach rate: -0.525162 m/s,
LOS rate: -0.021280 deg/s,
cmd heading: 320.794861 deg,
new cmd heading: 320.769335 deg.
2025-06-11T20:57:38.570Z,1749675458.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598481 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:38.601Z,1749675458.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752190
2025-06-11T20:57:38.853Z,1749675458.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004089
2025-06-11T20:57:38.947Z,1749675458.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:38.950Z,1749675458.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 117.121094 m,
bearing: 324.739980 deg,
approach rate: -0.506248 m/s,
LOS rate: -0.020500 deg/s,
cmd heading: 320.769343 deg,
new cmd heading: 320.745881 deg.
2025-06-11T20:57:38.951Z,1749675458.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598072 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:39.105Z,1749675459.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256214
2025-06-11T20:57:39.336Z,1749675459.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:39.339Z,1749675459.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 116.919998 m,
bearing: 324.731813 deg,
approach rate: -0.516971 m/s,
LOS rate: -0.021034 deg/s,
cmd heading: 320.745875 deg,
new cmd heading: 320.721329 deg.
2025-06-11T20:57:39.357Z,1749675459.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508065
2025-06-11T20:57:39.358Z,1749675459.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597643 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:39.609Z,1749675459.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760138
2025-06-11T20:57:39.770Z,1749675459.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:39.772Z,1749675459.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:39.775Z,1749675459.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 116.702141 m,
bearing: 324.721091 deg,
approach rate: -0.500197 m/s,
LOS rate: -0.024663 deg/s,
cmd heading: 320.721341 deg,
new cmd heading: 320.689115 deg.
2025-06-11T20:57:39.796Z,1749675459.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597081 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:39.862Z,1749675459.862 [DAT](INFO): DAT read: Rx Time:20:57:41.2249
2025-06-11T20:57:39.862Z,1749675459.862 [DAT](INFO): Rx dataTimestamp_ set to:1749675459.862068
2025-06-11T20:57:39.863Z,1749675459.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014404
2025-06-11T20:57:40.113Z,1749675460.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264034
2025-06-11T20:57:40.153Z,1749675460.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:40.155Z,1749675460.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 116.511330 m,
bearing: 324.711521 deg,
approach rate: -0.501372 m/s,
LOS rate: -0.025188 deg/s,
cmd heading: 320.689102 deg,
new cmd heading: 320.660344 deg.
2025-06-11T20:57:40.156Z,1749675460.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596579 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:40.369Z,1749675460.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519610
2025-06-11T20:57:40.596Z,1749675460.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.32 m.
2025-06-11T20:57:40.599Z,1749675460.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.322884 m,
nav range: 116.298149 m,
bearing: 324.704870 deg,
approach rate: -0.480949 m/s,
LOS rate: -0.015033 deg/s,
cmd heading: 320.660333 deg,
new cmd heading: 320.640343 deg.
2025-06-11T20:57:40.600Z,1749675460.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596230 target range: 123.322884 and range: 124.40 m.
2025-06-11T20:57:40.625Z,1749675460.625 [DAT](INFO): DAT read: 20:57:41.2249 LVL= 27680, 32753, 22738, 32755, AGC= 69, IDX= 422,-0.00, 0.349,-1.016, 0.236,-0.115, PHS= 0.553,-0.853, 0.348, RAW= 142.3, -0.7, CAL= 146.6, -9.8, ROT= 3.4, 9.8
2025-06-11T20:57:40.626Z,1749675460.626 [DAT](INFO): got valid direction response:
20:57:41.2249 LVL= 27680, 32753, 22738, 32755, AGC= 69, IDX= 422,-0.00, 0.349,-1.016, 0.236,-0.115, PHS= 0.553,-0.853, 0.348, RAW= 142.3, -0.7, CAL= 146.6, -9.8, ROT= 3.4, 9.8
2025-06-11T20:57:40.627Z,1749675460.627 [DAT](INFO): DAT read: Bearing 3.4, 9.8 (Local)
2025-06-11T20:57:40.627Z,1749675460.627 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.4, 9.8 (Local)
2025-06-11T20:57:40.630Z,1749675460.630 [DAT](INFO): DAT read: Range 10 to 50 : 122.5 m (Round-trip 163.4 ms) speed 0.6 m/s
2025-06-11T20:57:40.631Z,1749675460.631 [DAT](INFO): DAT read: user:625>
2025-06-11T20:57:40.632Z,1749675460.632 [DAT](INFO): DAT read: Tx time:20:57:42.3073
2025-06-11T20:57:40.633Z,1749675460.633 [DAT](INFO): Ping request sent.
2025-06-11T20:57:40.633Z,1749675460.633 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:40.634Z,1749675460.634 [DAT](INFO): DAT read: TxSync time:20:57:42.3065
2025-06-11T20:57:40.635Z,1749675460.635 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:40.637Z,1749675460.637 [DAT](INFO): direction in FSK: [0.983673,0.058441,-0.170209]
2025-06-11T20:57:40.637Z,1749675460.637 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:40.638Z,1749675460.638 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:40.643Z,1749675460.643 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:40.653Z,1749675460.653 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:40.968Z,1749675460.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 122.500000 m,
deltaT: 3.781681 s,
deltaX: -1.900002 m,
approachRate: -0.502422 m/s,
rangeRepo size: 4
2025-06-11T20:57:40.970Z,1749675460.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 121.439598 m,
bearing: 325.303346 deg,
lat: 36.906384 deg,
lon: -122.115546 deg,
deltaT: 3.781681 s,
deltaX: -1.883286 m,
approachRate: -0.498002 m/s,
posRepo size: 4
2025-06-11T20:57:40.971Z,1749675460.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-06-11T20:57:40.974Z,1749675460.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.439598 m,
nav range: 118.492653 m,
bearing: 325.084799 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.015033 deg/s,
cmd heading: 320.640335 deg,
new cmd heading: 320.623580 deg.
2025-06-11T20:57:40.975Z,1749675460.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595937 target range: 121.439598 and range: 122.50 m.
2025-06-11T20:57:41.357Z,1749675461.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-06-11T20:57:41.359Z,1749675461.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.439598 m,
nav range: 118.303154 m,
bearing: 325.079529 deg,
approach rate: -0.486425 m/s,
LOS rate: -0.013548 deg/s,
cmd heading: 320.623587 deg,
new cmd heading: 320.607753 deg.
2025-06-11T20:57:41.361Z,1749675461.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595661 target range: 121.439598 and range: 122.50 m.
2025-06-11T20:57:41.821Z,1749675461.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:41.823Z,1749675461.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-06-11T20:57:41.830Z,1749675461.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.439598 m,
nav range: 118.099152 m,
bearing: 325.078072 deg,
approach rate: -0.437486 m/s,
LOS rate: -0.003131 deg/s,
cmd heading: 320.607741 deg,
new cmd heading: 320.603361 deg.
2025-06-11T20:57:41.831Z,1749675461.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595584 target range: 121.439598 and range: 122.50 m.
2025-06-11T20:57:41.877Z,1749675461.877 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:41.877Z,1749675461.877 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:41.877Z,1749675461.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:42.129Z,1749675462.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496079
2025-06-11T20:57:42.165Z,1749675462.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-06-11T20:57:42.167Z,1749675462.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.439598 m,
nav range: 117.926384 m,
bearing: 325.076735 deg,
approach rate: -0.506169 m/s,
LOS rate: -0.003922 deg/s,
cmd heading: 320.603370 deg,
new cmd heading: 320.599354 deg.
2025-06-11T20:57:42.168Z,1749675462.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595514 target range: 121.439598 and range: 122.50 m.
2025-06-11T20:57:42.382Z,1749675462.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747929
2025-06-11T20:57:42.604Z,1749675462.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-06-11T20:57:42.607Z,1749675462.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.439598 m,
nav range: 117.726257 m,
bearing: 325.078521 deg,
approach rate: -0.454979 m/s,
LOS rate: 0.004067 deg/s,
cmd heading: 320.599353 deg,
new cmd heading: 320.604721 deg.
2025-06-11T20:57:42.608Z,1749675462.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595608 target range: 121.439598 and range: 122.50 m.
2025-06-11T20:57:42.633Z,1749675462.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999926
2025-06-11T20:57:42.885Z,1749675462.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251882
2025-06-11T20:57:42.976Z,1749675462.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-06-11T20:57:42.978Z,1749675462.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.439598 m,
nav range: 117.557144 m,
bearing: 325.080071 deg,
approach rate: -0.455661 m/s,
LOS rate: 0.004182 deg/s,
cmd heading: 320.604708 deg,
new cmd heading: 320.609364 deg.
2025-06-11T20:57:42.979Z,1749675462.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595689 target range: 121.439598 and range: 122.50 m.
2025-06-11T20:57:43.137Z,1749675463.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503931
2025-06-11T20:57:43.376Z,1749675463.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-06-11T20:57:43.379Z,1749675463.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.439598 m,
nav range: 117.374863 m,
bearing: 325.081877 deg,
approach rate: -0.455280 m/s,
LOS rate: 0.004517 deg/s,
cmd heading: 320.609353 deg,
new cmd heading: 320.614779 deg.
2025-06-11T20:57:43.380Z,1749675463.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595784 target range: 121.439598 and range: 122.50 m.
2025-06-11T20:57:43.389Z,1749675463.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755945
2025-06-11T20:57:43.641Z,1749675463.641 [DAT](INFO): DAT read: Rx Time:20:57:44.8725
2025-06-11T20:57:43.641Z,1749675463.641 [DAT](INFO): Rx dataTimestamp_ set to:1749675463.641078
2025-06-11T20:57:43.642Z,1749675463.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009022
2025-06-11T20:57:43.832Z,1749675463.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-06-11T20:57:43.835Z,1749675463.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.439598 m,
nav range: 117.179153 m,
bearing: 325.089623 deg,
approach rate: -0.445110 m/s,
LOS rate: 0.017647 deg/s,
cmd heading: 320.614790 deg,
new cmd heading: 320.638067 deg.
2025-06-11T20:57:43.835Z,1749675463.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596190 target range: 121.439598 and range: 122.50 m.
2025-06-11T20:57:43.893Z,1749675463.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260092
2025-06-11T20:57:44.151Z,1749675464.151 [DAT](INFO): DAT read: 20:57:44.8726 LVL= 24144, 30705, 22226, 32755, AGC= 69, IDX= 413, 0.40,-1.996, 2.862,-2.126,-2.489, PHS= 0.580,-0.886, 0.360, RAW= 142.0, -0.8, CAL= 146.4, -9.9, ROT= 3.6, 9.9
2025-06-11T20:57:44.153Z,1749675464.153 [DAT](INFO): got valid direction response:
20:57:44.8726 LVL= 24144, 30705, 22226, 32755, AGC= 69, IDX= 413, 0.40,-1.996, 2.862,-2.126,-2.489, PHS= 0.580,-0.886, 0.360, RAW= 142.0, -0.8, CAL= 146.4, -9.9, ROT= 3.6, 9.9
2025-06-11T20:57:44.154Z,1749675464.154 [DAT](INFO): DAT read: Bearing 3.6, 9.9 (Local)
2025-06-11T20:57:44.154Z,1749675464.154 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.6, 9.9 (Local)
2025-06-11T20:57:44.155Z,1749675464.155 [DAT](INFO): DAT read: Range 10 to 50 : 120.8 m (Round-trip 161.1 ms) speed 0.4 m/s
2025-06-11T20:57:44.156Z,1749675464.156 [DAT](INFO): DAT read: user:626>
2025-06-11T20:57:44.157Z,1749675464.157 [DAT](INFO): DAT read: Tx time:20:57:45.9574
2025-06-11T20:57:44.157Z,1749675464.157 [DAT](INFO): Ping request sent.
2025-06-11T20:57:44.157Z,1749675464.157 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:44.158Z,1749675464.158 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:44.159Z,1749675464.159 [DAT](INFO): direction in FSK: [0.983165,0.061856,-0.171929]
2025-06-11T20:57:44.159Z,1749675464.159 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:44.159Z,1749675464.159 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:44.175Z,1749675464.175 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:44.175Z,1749675464.175 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:44.301Z,1749675464.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 120.800003 m,
deltaT: 3.526355 s,
deltaX: -1.699997 m,
approachRate: -0.482083 m/s,
rangeRepo size: 4
2025-06-11T20:57:44.303Z,1749675464.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 119.757118 m,
bearing: 325.559318 deg,
lat: 36.906391 deg,
lon: -122.115540 deg,
deltaT: 3.526355 s,
deltaX: -1.682480 m,
approachRate: -0.477116 m/s,
posRepo size: 4
2025-06-11T20:57:44.308Z,1749675464.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.76 m.
2025-06-11T20:57:44.311Z,1749675464.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.757118 m,
nav range: 117.311661 m,
bearing: 325.540516 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017647 deg/s,
cmd heading: 320.638067 deg,
new cmd heading: 320.663747 deg.
2025-06-11T20:57:44.316Z,1749675464.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596638 target range: 119.757118 and range: 120.80 m.
2025-06-11T20:57:44.397Z,1749675464.397 [DAT](INFO): DAT read: TxSync time:20:57:45.9566
2025-06-11T20:57:44.742Z,1749675464.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:44.749Z,1749675464.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.76 m.
2025-06-11T20:57:44.758Z,1749675464.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.757118 m,
nav range: 117.108849 m,
bearing: 325.551723 deg,
approach rate: -0.457575 m/s,
LOS rate: 0.025329 deg/s,
cmd heading: 320.663748 deg,
new cmd heading: 320.697428 deg.
2025-06-11T20:57:44.759Z,1749675464.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597226 target range: 119.757118 and range: 120.80 m.
2025-06-11T20:57:44.901Z,1749675464.901 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:44.901Z,1749675464.901 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:44.901Z,1749675464.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:45.117Z,1749675465.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.76 m.
2025-06-11T20:57:45.119Z,1749675465.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.757118 m,
nav range: 116.941292 m,
bearing: 325.561364 deg,
approach rate: -0.449225 m/s,
LOS rate: 0.025886 deg/s,
cmd heading: 320.697435 deg,
new cmd heading: 320.726400 deg.
2025-06-11T20:57:45.121Z,1749675465.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597732 target range: 119.757118 and range: 120.80 m.
2025-06-11T20:57:45.154Z,1749675465.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995897
2025-06-11T20:57:45.405Z,1749675465.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247221
2025-06-11T20:57:45.571Z,1749675465.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.76 m.
2025-06-11T20:57:45.592Z,1749675465.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.757118 m,
nav range: 116.762985 m,
bearing: 325.571647 deg,
approach rate: -0.393540 m/s,
LOS rate: 0.022731 deg/s,
cmd heading: 320.726395 deg,
new cmd heading: 320.757292 deg.
2025-06-11T20:57:45.593Z,1749675465.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598271 target range: 119.757118 and range: 120.80 m.
2025-06-11T20:57:45.658Z,1749675465.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500066
2025-06-11T20:57:45.910Z,1749675465.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751679
2025-06-11T20:57:45.983Z,1749675465.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.76 m.
2025-06-11T20:57:45.989Z,1749675465.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.757118 m,
nav range: 116.562332 m,
bearing: 325.585753 deg,
approach rate: -0.486257 m/s,
LOS rate: 0.034242 deg/s,
cmd heading: 320.757295 deg,
new cmd heading: 320.799684 deg.
2025-06-11T20:57:45.990Z,1749675465.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599011 target range: 119.757118 and range: 120.80 m.
2025-06-11T20:57:46.161Z,1749675466.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003965
2025-06-11T20:57:46.343Z,1749675466.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.76 m.
2025-06-11T20:57:46.346Z,1749675466.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.757118 m,
nav range: 116.389946 m,
bearing: 325.597761 deg,
approach rate: -0.477688 m/s,
LOS rate: 0.033324 deg/s,
cmd heading: 320.799697 deg,
new cmd heading: 320.835774 deg.
2025-06-11T20:57:46.347Z,1749675466.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599640 target range: 119.757118 and range: 120.80 m.
2025-06-11T20:57:46.413Z,1749675466.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255391
2025-06-11T20:57:46.665Z,1749675466.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507308
2025-06-11T20:57:46.751Z,1749675466.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:46.773Z,1749675466.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.76 m.
2025-06-11T20:57:46.775Z,1749675466.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.757118 m,
nav range: 116.198380 m,
bearing: 325.612369 deg,
approach rate: -0.446164 m/s,
LOS rate: 0.034080 deg/s,
cmd heading: 320.835760 deg,
new cmd heading: 320.879658 deg.
2025-06-11T20:57:46.785Z,1749675466.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600407 target range: 119.757118 and range: 120.80 m.
2025-06-11T20:57:46.917Z,1749675466.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759634
2025-06-11T20:57:47.153Z,1749675467.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.76 m.
2025-06-11T20:57:47.156Z,1749675467.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.757118 m,
nav range: 116.010818 m,
bearing: 325.626719 deg,
approach rate: -0.493377 m/s,
LOS rate: 0.037808 deg/s,
cmd heading: 320.879664 deg,
new cmd heading: 320.922783 deg.
2025-06-11T20:57:47.157Z,1749675467.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601159 target range: 119.757118 and range: 120.80 m.
2025-06-11T20:57:47.169Z,1749675467.169 [DAT](INFO): DAT read: Rx Time:20:57:48.5204
2025-06-11T20:57:47.170Z,1749675467.170 [DAT](INFO): Rx dataTimestamp_ set to:1749675467.169378
2025-06-11T20:57:47.170Z,1749675467.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012713
2025-06-11T20:57:47.422Z,1749675467.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264003
2025-06-11T20:57:47.543Z,1749675467.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.76 m.
2025-06-11T20:57:47.570Z,1749675467.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.757118 m,
nav range: 115.830406 m,
bearing: 325.640527 deg,
approach rate: -0.463029 m/s,
LOS rate: 0.035493 deg/s,
cmd heading: 320.922777 deg,
new cmd heading: 320.964264 deg.
2025-06-11T20:57:47.578Z,1749675467.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601883 target range: 119.757118 and range: 120.80 m.
2025-06-11T20:57:47.677Z,1749675467.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518988
2025-06-11T20:57:47.934Z,1749675467.934 [DAT](INFO): DAT read: 20:57:48.5204 LVL= 27024, 30033, 18898, 32755, AGC= 67, IDX= 423,-0.06,-1.906, 2.916,-2.021,-2.436, PHS= 0.618,-0.884, 0.412, RAW= 142.7, -2.1, CAL= 147.4, -11.2, ROT= 2.6, 11.2
2025-06-11T20:57:47.936Z,1749675467.936 [DAT](INFO): got valid direction response:
20:57:48.5204 LVL= 27024, 30033, 18898, 32755, AGC= 67, IDX= 423,-0.06,-1.906, 2.916,-2.021,-2.436, PHS= 0.618,-0.884, 0.412, RAW= 142.7, -2.1, CAL= 147.4, -11.2, ROT= 2.6, 11.2
2025-06-11T20:57:47.938Z,1749675467.938 [DAT](INFO): DAT read: Bearing 2.6, 11.2 (Local)
2025-06-11T20:57:47.938Z,1749675467.938 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.6, 11.2 (Local)
2025-06-11T20:57:47.947Z,1749675467.947 [DAT](INFO): DAT read: Range 10 to 50 : 119.1 m (Round-trip 158.8 ms) speed 0.4 m/s
2025-06-11T20:57:47.960Z,1749675467.960 [DAT](INFO): DAT read: user:627>
2025-06-11T20:57:47.961Z,1749675467.961 [DAT](INFO): DAT read: Tx time:20:57:49.6074
2025-06-11T20:57:47.961Z,1749675467.961 [DAT](INFO): Ping request sent.
2025-06-11T20:57:47.961Z,1749675467.961 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:47.962Z,1749675467.962 [DAT](INFO): DAT read: TxSync time:20:57:49.6066
2025-06-11T20:57:47.962Z,1749675467.962 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:47.963Z,1749675467.963 [DAT](INFO): direction in FSK: [0.979945,0.044499,-0.194234]
2025-06-11T20:57:47.972Z,1749675467.972 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:47.972Z,1749675467.972 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:47.975Z,1749675467.975 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:47.975Z,1749675467.975 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:48.129Z,1749675468.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 119.099998 m,
deltaT: 3.780551 s,
deltaX: -1.700005 m,
approachRate: -0.449671 m/s,
rangeRepo size: 4
2025-06-11T20:57:48.131Z,1749675468.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 118.072014 m,
bearing: 324.591348 deg,
lat: 36.906391 deg,
lon: -122.115540 deg,
deltaT: 3.780551 s,
deltaX: -1.685104 m,
approachRate: -0.445730 m/s,
posRepo size: 4
2025-06-11T20:57:48.163Z,1749675468.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-11T20:57:48.170Z,1749675468.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.072014 m,
nav range: 115.571579 m,
bearing: 325.656526 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.035493 deg/s,
cmd heading: 320.964277 deg,
new cmd heading: 321.026658 deg.
2025-06-11T20:57:48.171Z,1749675468.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602972 target range: 118.072014 and range: 119.10 m.
2025-06-11T20:57:48.506Z,1749675468.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-11T20:57:48.513Z,1749675468.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.072014 m,
nav range: 115.371429 m,
bearing: 325.669300 deg,
approach rate: -0.530785 m/s,
LOS rate: 0.033935 deg/s,
cmd heading: 321.026650 deg,
new cmd heading: 321.065039 deg.
2025-06-11T20:57:48.514Z,1749675468.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603642 target range: 118.072014 and range: 119.10 m.
2025-06-11T20:57:48.927Z,1749675468.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:48.931Z,1749675468.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-11T20:57:48.937Z,1749675468.937 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:48.938Z,1749675468.938 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:48.938Z,1749675468.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:48.941Z,1749675468.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.072014 m,
nav range: 115.163918 m,
bearing: 325.675431 deg,
approach rate: -0.488015 m/s,
LOS rate: 0.014445 deg/s,
cmd heading: 321.065036 deg,
new cmd heading: 321.083462 deg.
2025-06-11T20:57:48.942Z,1749675468.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603963 target range: 118.072014 and range: 119.10 m.
2025-06-11T20:57:49.190Z,1749675469.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228060
2025-06-11T20:57:49.299Z,1749675469.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-11T20:57:49.302Z,1749675469.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.072014 m,
nav range: 114.979790 m,
bearing: 325.680962 deg,
approach rate: -0.499527 m/s,
LOS rate: 0.015030 deg/s,
cmd heading: 321.083450 deg,
new cmd heading: 321.100070 deg.
2025-06-11T20:57:49.303Z,1749675469.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604253 target range: 118.072014 and range: 119.10 m.
2025-06-11T20:57:49.441Z,1749675469.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479581
2025-06-11T20:57:49.694Z,1749675469.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732708
2025-06-11T20:57:49.743Z,1749675469.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-11T20:57:49.746Z,1749675469.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.072014 m,
nav range: 114.761009 m,
bearing: 325.684578 deg,
approach rate: -0.493112 m/s,
LOS rate: 0.008165 deg/s,
cmd heading: 321.100061 deg,
new cmd heading: 321.110928 deg.
2025-06-11T20:57:49.747Z,1749675469.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604443 target range: 118.072014 and range: 119.10 m.
2025-06-11T20:57:49.945Z,1749675469.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983796
2025-06-11T20:57:50.115Z,1749675470.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-11T20:57:50.118Z,1749675470.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.072014 m,
nav range: 114.577255 m,
bearing: 325.687574 deg,
approach rate: -0.494231 m/s,
LOS rate: 0.008071 deg/s,
cmd heading: 321.110935 deg,
new cmd heading: 321.119937 deg.
2025-06-11T20:57:50.119Z,1749675470.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604600 target range: 118.072014 and range: 119.10 m.
2025-06-11T20:57:50.198Z,1749675470.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236638
2025-06-11T20:57:50.449Z,1749675470.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487720
2025-06-11T20:57:50.505Z,1749675470.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-11T20:57:50.508Z,1749675470.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.072014 m,
nav range: 114.384438 m,
bearing: 325.690670 deg,
approach rate: -0.493937 m/s,
LOS rate: 0.007944 deg/s,
cmd heading: 321.119950 deg,
new cmd heading: 321.129254 deg.
2025-06-11T20:57:50.509Z,1749675470.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604763 target range: 118.072014 and range: 119.10 m.
2025-06-11T20:57:50.701Z,1749675470.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739573
2025-06-11T20:57:50.929Z,1749675470.929 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:57:50.953Z,1749675470.953 [DAT](INFO): DAT read: Rx Time:20:57:52.1680
2025-06-11T20:57:50.953Z,1749675470.953 [DAT](INFO): Rx dataTimestamp_ set to:1749675470.953131
2025-06-11T20:57:50.954Z,1749675470.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992849
2025-06-11T20:57:51.031Z,1749675471.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:51.033Z,1749675471.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-11T20:57:51.036Z,1749675471.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.072014 m,
nav range: 114.123070 m,
bearing: 325.686750 deg,
approach rate: -0.495218 m/s,
LOS rate: -0.007444 deg/s,
cmd heading: 321.129267 deg,
new cmd heading: 321.117481 deg.
2025-06-11T20:57:51.037Z,1749675471.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604558 target range: 118.072014 and range: 119.10 m.
2025-06-11T20:57:51.205Z,1749675471.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243758
2025-06-11T20:57:51.419Z,1749675471.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-11T20:57:51.426Z,1749675471.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 118.072014 m,
nav range: 113.935349 m,
bearing: 325.683826 deg,
approach rate: -0.485732 m/s,
LOS rate: -0.007580 deg/s,
cmd heading: 321.117492 deg,
new cmd heading: 321.108703 deg.
2025-06-11T20:57:51.427Z,1749675471.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604404 target range: 118.072014 and range: 119.10 m.
2025-06-11T20:57:51.467Z,1749675471.467 [DAT](INFO): DAT read: 20:57:52.1680 LVL= 29936, 32753, 23410, 32755, AGC= 68, IDX= 414, 0.41,-3.000, 1.826,-3.115, 2.726, PHS= 0.645,-0.853, 0.439, RAW= 142.7, -3.3, CAL= 147.8, -12.5, ROT= 2.2, 12.5
2025-06-11T20:57:51.469Z,1749675471.469 [DAT](INFO): got valid direction response:
20:57:52.1680 LVL= 29936, 32753, 23410, 32755, AGC= 68, IDX= 414, 0.41,-3.000, 1.826,-3.115, 2.726, PHS= 0.645,-0.853, 0.439, RAW= 142.7, -3.3, CAL= 147.8, -12.5, ROT= 2.2, 12.5
2025-06-11T20:57:51.470Z,1749675471.470 [DAT](INFO): DAT read: Bearing 2.2, 12.5 (Local)
2025-06-11T20:57:51.470Z,1749675471.470 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.2, 12.5 (Local)
2025-06-11T20:57:51.472Z,1749675471.472 [DAT](INFO): DAT read: Range 10 to 50 : 117.3 m (Round-trip 156.5 ms) speed 0.3 m/s
2025-06-11T20:57:51.473Z,1749675471.473 [DAT](INFO): DAT read: user:628>
2025-06-11T20:57:51.473Z,1749675471.473 [DAT](INFO): DAT read: Tx time:20:57:53.2574
2025-06-11T20:57:51.474Z,1749675471.474 [DAT](INFO): Ping request sent.
2025-06-11T20:57:51.474Z,1749675471.474 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:51.474Z,1749675471.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:51.475Z,1749675471.475 [DAT](INFO): direction in FSK: [0.975576,0.037478,-0.216440]
2025-06-11T20:57:51.475Z,1749675471.475 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:51.476Z,1749675471.476 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:51.479Z,1749675471.479 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:51.479Z,1749675471.479 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:51.709Z,1749675471.709 [DAT](INFO): DAT read: TxSync time:20:57:53.2566
2025-06-11T20:57:51.838Z,1749675471.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 117.300003 m,
deltaT: 3.531611 s,
deltaX: -1.799995 m,
approachRate: -0.509681 m/s,
rangeRepo size: 4
2025-06-11T20:57:51.848Z,1749675471.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 116.289146 m,
bearing: 324.165736 deg,
lat: 36.906391 deg,
lon: -122.115546 deg,
deltaT: 3.531611 s,
deltaX: -1.782867 m,
approachRate: -0.504831 m/s,
posRepo size: 4
2025-06-11T20:57:51.849Z,1749675471.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.29 m.
2025-06-11T20:57:51.851Z,1749675471.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.289146 m,
nav range: 114.045761 m,
bearing: 325.445242 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007580 deg/s,
cmd heading: 321.108694 deg,
new cmd heading: 321.099198 deg.
2025-06-11T20:57:51.859Z,1749675471.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604238 target range: 116.289146 and range: 117.30 m.
2025-06-11T20:57:51.933Z,1749675471.933 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:57:52.181Z,1749675472.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.29 m.
2025-06-11T20:57:52.204Z,1749675472.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.289146 m,
nav range: 113.858444 m,
bearing: 325.435067 deg,
approach rate: -0.544211 m/s,
LOS rate: -0.029611 deg/s,
cmd heading: 321.099187 deg,
new cmd heading: 321.068611 deg.
2025-06-11T20:57:52.205Z,1749675472.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603704 target range: 116.289146 and range: 117.30 m.
2025-06-11T20:57:52.578Z,1749675472.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.29 m.
2025-06-11T20:57:52.581Z,1749675472.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.289146 m,
nav range: 113.658775 m,
bearing: 325.424184 deg,
approach rate: -0.503085 m/s,
LOS rate: -0.027469 deg/s,
cmd heading: 321.068615 deg,
new cmd heading: 321.035908 deg.
2025-06-11T20:57:52.582Z,1749675472.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603134 target range: 116.289146 and range: 117.30 m.
2025-06-11T20:57:53.009Z,1749675473.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.29 m.
2025-06-11T20:57:53.011Z,1749675473.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.289146 m,
nav range: 113.446617 m,
bearing: 325.407916 deg,
approach rate: -0.493076 m/s,
LOS rate: -0.037878 deg/s,
cmd heading: 321.035912 deg,
new cmd heading: 320.987018 deg.
2025-06-11T20:57:53.012Z,1749675473.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602280 target range: 116.289146 and range: 117.30 m.
2025-06-11T20:57:53.375Z,1749675473.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:53.377Z,1749675473.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.29 m.
2025-06-11T20:57:53.380Z,1749675473.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.289146 m,
nav range: 113.264854 m,
bearing: 325.393277 deg,
approach rate: -0.492763 m/s,
LOS rate: -0.039752 deg/s,
cmd heading: 320.987008 deg,
new cmd heading: 320.943018 deg.
2025-06-11T20:57:53.381Z,1749675473.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601512 target range: 116.289146 and range: 117.30 m.
2025-06-11T20:57:53.473Z,1749675473.473 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:53.473Z,1749675473.473 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:53.474Z,1749675473.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:53.725Z,1749675473.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251005
2025-06-11T20:57:53.816Z,1749675473.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.29 m.
2025-06-11T20:57:53.819Z,1749675473.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.289146 m,
nav range: 113.058067 m,
bearing: 325.372268 deg,
approach rate: -0.471022 m/s,
LOS rate: -0.047941 deg/s,
cmd heading: 320.943021 deg,
new cmd heading: 320.879880 deg.
2025-06-11T20:57:53.824Z,1749675473.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600410 target range: 116.289146 and range: 117.30 m.
2025-06-11T20:57:53.977Z,1749675473.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503003
2025-06-11T20:57:54.179Z,1749675474.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.29 m.
2025-06-11T20:57:54.187Z,1749675474.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.289146 m,
nav range: 112.869164 m,
bearing: 325.352872 deg,
approach rate: -0.521258 m/s,
LOS rate: -0.053610 deg/s,
cmd heading: 320.879883 deg,
new cmd heading: 320.821598 deg.
2025-06-11T20:57:54.189Z,1749675474.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599393 target range: 116.289146 and range: 117.30 m.
2025-06-11T20:57:54.229Z,1749675474.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755192
2025-06-11T20:57:54.481Z,1749675474.481 [DAT](INFO): DAT read: Rx Time:20:57:55.8156
2025-06-11T20:57:54.481Z,1749675474.481 [DAT](INFO): Rx dataTimestamp_ set to:1749675474.481112
2025-06-11T20:57:54.482Z,1749675474.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008213
2025-06-11T20:57:54.582Z,1749675474.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.29 m.
2025-06-11T20:57:54.585Z,1749675474.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 116.289146 m,
nav range: 112.669960 m,
bearing: 325.332263 deg,
approach rate: -0.494300 m/s,
LOS rate: -0.051229 deg/s,
cmd heading: 320.821608 deg,
new cmd heading: 320.759671 deg.
2025-06-11T20:57:54.586Z,1749675474.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598312 target range: 116.289146 and range: 117.30 m.
2025-06-11T20:57:54.737Z,1749675474.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262722
2025-06-11T20:57:55.008Z,1749675475.008 [DAT](INFO): DAT read: 20:57:55.8157 LVL= 23792, 28769, 19362, 32755, AGC= 70, IDX= 422, 0.00,-3.053, 1.836, 3.126, 2.707, PHS= 0.612,-0.824, 0.416, RAW= 142.8, -3.1, CAL= 147.8, -12.2, ROT= 2.2, 12.2
2025-06-11T20:57:55.009Z,1749675475.009 [DAT](INFO): got valid direction response:
20:57:55.8157 LVL= 23792, 28769, 19362, 32755, AGC= 70, IDX= 422, 0.00,-3.053, 1.836, 3.126, 2.707, PHS= 0.612,-0.824, 0.416, RAW= 142.8, -3.1, CAL= 147.8, -12.2, ROT= 2.2, 12.2
2025-06-11T20:57:55.010Z,1749675475.010 [DAT](INFO): DAT read: Bearing 2.2, 12.2 (Local)
2025-06-11T20:57:55.011Z,1749675475.011 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.2, 12.2 (Local)
2025-06-11T20:57:55.018Z,1749675475.018 [DAT](INFO): DAT read: Range 10 to 50 : 115.5 m (Round-trip 154.1 ms) speed 0.9 m/s
2025-06-11T20:57:55.019Z,1749675475.019 [DAT](INFO): DAT read: user:629>
2025-06-11T20:57:55.019Z,1749675475.019 [DAT](INFO): DAT read: Tx time:20:57:56.9075
2025-06-11T20:57:55.024Z,1749675475.024 [DAT](INFO): Ping request sent.
2025-06-11T20:57:55.024Z,1749675475.024 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:55.025Z,1749675475.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:55.026Z,1749675475.026 [DAT](INFO): direction in FSK: [0.976695,0.037521,-0.211325]
2025-06-11T20:57:55.026Z,1749675475.026 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:55.026Z,1749675475.026 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:55.054Z,1749675475.054 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:55.054Z,1749675475.054 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:55.141Z,1749675475.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 115.500000 m,
deltaT: 3.529618 s,
deltaX: -1.800003 m,
approachRate: -0.509971 m/s,
rangeRepo size: 4
2025-06-11T20:57:55.143Z,1749675475.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 114.508133 m,
bearing: 324.913665 deg,
lat: 36.906381 deg,
lon: -122.115548 deg,
deltaT: 3.529618 s,
deltaX: -1.781013 m,
approachRate: -0.504591 m/s,
posRepo size: 4
2025-06-11T20:57:55.148Z,1749675475.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:55.151Z,1749675475.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 111.623619 m,
bearing: 324.914027 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.051229 deg/s,
cmd heading: 320.759672 deg,
new cmd heading: 320.673766 deg.
2025-06-11T20:57:55.156Z,1749675475.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596813 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:55.237Z,1749675475.237 [DAT](INFO): DAT read: TxSync time:20:57:56.9067
2025-06-11T20:57:55.496Z,1749675475.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:55.498Z,1749675475.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:55.505Z,1749675475.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 111.444542 m,
bearing: 324.898253 deg,
approach rate: -0.500966 m/s,
LOS rate: -0.044199 deg/s,
cmd heading: 320.673775 deg,
new cmd heading: 320.626376 deg.
2025-06-11T20:57:55.506Z,1749675475.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595986 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:55.741Z,1749675475.741 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:57:55.741Z,1749675475.741 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:57:55.741Z,1749675475.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:57:55.875Z,1749675475.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:55.878Z,1749675475.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 111.254379 m,
bearing: 324.884713 deg,
approach rate: -0.504194 m/s,
LOS rate: -0.035961 deg/s,
cmd heading: 320.626374 deg,
new cmd heading: 320.585684 deg.
2025-06-11T20:57:55.879Z,1749675475.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595276 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:55.993Z,1749675475.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968714
2025-06-11T20:57:56.245Z,1749675476.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220364
2025-06-11T20:57:56.247Z,1749675476.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:56.269Z,1749675476.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 111.072571 m,
bearing: 324.872099 deg,
approach rate: -0.489754 m/s,
LOS rate: -0.034036 deg/s,
cmd heading: 320.585693 deg,
new cmd heading: 320.547789 deg.
2025-06-11T20:57:56.270Z,1749675476.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594615 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:56.497Z,1749675476.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472972
2025-06-11T20:57:56.651Z,1749675476.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:56.654Z,1749675476.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 110.873100 m,
bearing: 324.858165 deg,
approach rate: -0.493104 m/s,
LOS rate: -0.034508 deg/s,
cmd heading: 320.547799 deg,
new cmd heading: 320.505922 deg.
2025-06-11T20:57:56.655Z,1749675476.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593884 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:56.752Z,1749675476.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726666
2025-06-11T20:57:57.001Z,1749675477.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976201
2025-06-11T20:57:57.091Z,1749675477.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:57.098Z,1749675477.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 110.659302 m,
bearing: 324.850254 deg,
approach rate: -0.485909 m/s,
LOS rate: -0.018013 deg/s,
cmd heading: 320.505916 deg,
new cmd heading: 320.482139 deg.
2025-06-11T20:57:57.099Z,1749675477.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593469 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:57.253Z,1749675477.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228247
2025-06-11T20:57:57.458Z,1749675477.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:57.461Z,1749675477.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 110.473602 m,
bearing: 324.843384 deg,
approach rate: -0.506101 m/s,
LOS rate: -0.018756 deg/s,
cmd heading: 320.482147 deg,
new cmd heading: 320.461501 deg.
2025-06-11T20:57:57.462Z,1749675477.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593108 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:57.505Z,1749675477.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480950
2025-06-11T20:57:57.761Z,1749675477.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735666
2025-06-11T20:57:57.919Z,1749675477.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:57.926Z,1749675477.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:57.934Z,1749675477.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 110.252342 m,
bearing: 324.843567 deg,
approach rate: -0.472889 m/s,
LOS rate: 0.000392 deg/s,
cmd heading: 320.461493 deg,
new cmd heading: 320.462043 deg.
2025-06-11T20:57:57.940Z,1749675477.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593118 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:58.010Z,1749675478.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985156
2025-06-11T20:57:58.261Z,1749675478.261 [DAT](INFO): DAT read: Rx Time:20:57:59.4631
2025-06-11T20:57:58.261Z,1749675478.261 [DAT](INFO): Rx dataTimestamp_ set to:1749675478.261110
2025-06-11T20:57:58.262Z,1749675478.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237449
2025-06-11T20:57:58.267Z,1749675478.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:58.286Z,1749675478.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 110.079651 m,
bearing: 324.843966 deg,
approach rate: -0.505787 m/s,
LOS rate: 0.001170 deg/s,
cmd heading: 320.462039 deg,
new cmd heading: 320.463238 deg.
2025-06-11T20:57:58.287Z,1749675478.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593139 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:58.513Z,1749675478.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488961
2025-06-11T20:57:58.698Z,1749675478.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.51 m.
2025-06-11T20:57:58.707Z,1749675478.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.508133 m,
nav range: 109.876022 m,
bearing: 324.844817 deg,
approach rate: -0.473377 m/s,
LOS rate: 0.001983 deg/s,
cmd heading: 320.463241 deg,
new cmd heading: 320.465801 deg.
2025-06-11T20:57:58.715Z,1749675478.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593184 target range: 114.508133 and range: 115.50 m.
2025-06-11T20:57:58.804Z,1749675478.804 [DAT](INFO): DAT read: 20:57:59.4631 LVL= 24912, 29041, 24050, 32755, AGC= 71, IDX= 412,-0.06,-0.034,-1.446,-0.128,-0.565, PHS= 0.619,-0.834, 0.434, RAW= 143.3, -3.2, CAL= 148.3, -12.3, ROT= 1.7, 12.3
2025-06-11T20:57:58.805Z,1749675478.805 [DAT](INFO): got valid direction response:
20:57:59.4631 LVL= 24912, 29041, 24050, 32755, AGC= 71, IDX= 412,-0.06,-0.034,-1.446,-0.128,-0.565, PHS= 0.619,-0.834, 0.434, RAW= 143.3, -3.2, CAL= 148.3, -12.3, ROT= 1.7, 12.3
2025-06-11T20:57:58.806Z,1749675478.806 [DAT](INFO): DAT read: Bearing 1.7, 12.3 (Local)
2025-06-11T20:57:58.806Z,1749675478.806 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.7, 12.3 (Local)
2025-06-11T20:57:58.816Z,1749675478.816 [DAT](INFO): DAT read: Range 10 to 50 : 113.6 m (Round-trip 151.5 ms) speed 0.6 m/s
2025-06-11T20:57:58.817Z,1749675478.817 [DAT](INFO): DAT read: user:630>
2025-06-11T20:57:58.818Z,1749675478.818 [DAT](INFO): DAT read: Tx time:20:58:00.5575
2025-06-11T20:57:58.818Z,1749675478.818 [DAT](INFO): Ping request sent.
2025-06-11T20:57:58.818Z,1749675478.818 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:57:58.818Z,1749675478.818 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:57:58.819Z,1749675478.819 [DAT](INFO): direction in FSK: [0.976616,0.028985,-0.213030]
2025-06-11T20:57:58.844Z,1749675478.844 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:58.845Z,1749675478.845 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:58.868Z,1749675478.868 [DAT](INFO): publishing transmit ping time
2025-06-11T20:57:58.869Z,1749675478.869 [DAT](INFO): publishing direction and range info
2025-06-11T20:57:59.019Z,1749675479.019 [DAT](INFO): DAT read: TxSync time:20:58:00.5567
2025-06-11T20:57:59.146Z,1749675479.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 113.599998 m,
deltaT: 3.779697 s,
deltaX: -1.900002 m,
approachRate: -0.502686 m/s,
rangeRepo size: 4
2025-06-11T20:57:59.152Z,1749675479.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 112.622559 m,
bearing: 323.418696 deg,
lat: 36.906379 deg,
lon: -122.115559 deg,
deltaT: 3.779697 s,
deltaX: -1.885574 m,
approachRate: -0.498869 m/s,
posRepo size: 4
2025-06-11T20:57:59.153Z,1749675479.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.62 m.
2025-06-11T20:57:59.160Z,1749675479.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.622559 m,
nav range: 110.018486 m,
bearing: 324.374489 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001983 deg/s,
cmd heading: 320.465810 deg,
new cmd heading: 320.468475 deg.
2025-06-11T20:57:59.161Z,1749675479.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593230 target range: 112.622559 and range: 113.60 m.
2025-06-11T20:57:59.495Z,1749675479.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.62 m.
2025-06-11T20:57:59.498Z,1749675479.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.622559 m,
nav range: 109.838364 m,
bearing: 324.382136 deg,
approach rate: -0.514937 m/s,
LOS rate: 0.021897 deg/s,
cmd heading: 320.468487 deg,
new cmd heading: 320.491466 deg.
2025-06-11T20:57:59.499Z,1749675479.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593631 target range: 112.622559 and range: 113.60 m.
2025-06-11T20:57:59.951Z,1749675479.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:57:59.954Z,1749675479.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.62 m.
2025-06-11T20:57:59.972Z,1749675479.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.622559 m,
nav range: 109.621040 m,
bearing: 324.398453 deg,
approach rate: -0.474347 m/s,
LOS rate: 0.035686 deg/s,
cmd heading: 320.491464 deg,
new cmd heading: 320.540512 deg.
2025-06-11T20:57:59.973Z,1749675479.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594487 target range: 112.622559 and range: 113.60 m.
2025-06-11T20:58:00.029Z,1749675480.029 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:00.030Z,1749675480.030 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:00.030Z,1749675480.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:00.281Z,1749675480.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.462566
2025-06-11T20:58:00.305Z,1749675480.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.62 m.
2025-06-11T20:58:00.308Z,1749675480.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.622559 m,
nav range: 109.453964 m,
bearing: 324.411698 deg,
approach rate: -0.475258 m/s,
LOS rate: 0.037735 deg/s,
cmd heading: 320.540505 deg,
new cmd heading: 320.580302 deg.
2025-06-11T20:58:00.309Z,1749675480.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595182 target range: 112.622559 and range: 113.60 m.
2025-06-11T20:58:00.533Z,1749675480.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714685
2025-06-11T20:58:00.695Z,1749675480.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.62 m.
2025-06-11T20:58:00.698Z,1749675480.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.622559 m,
nav range: 109.269302 m,
bearing: 324.426387 deg,
approach rate: -0.473595 m/s,
LOS rate: 0.037735 deg/s,
cmd heading: 320.580311 deg,
new cmd heading: 320.624451 deg.
2025-06-11T20:58:00.699Z,1749675480.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595953 target range: 112.622559 and range: 113.60 m.
2025-06-11T20:58:00.788Z,1749675480.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969412
2025-06-11T20:58:01.037Z,1749675481.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218669
2025-06-11T20:58:01.130Z,1749675481.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.62 m.
2025-06-11T20:58:01.133Z,1749675481.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.622559 m,
nav range: 109.067841 m,
bearing: 324.446574 deg,
approach rate: -0.463609 m/s,
LOS rate: 0.046541 deg/s,
cmd heading: 320.624461 deg,
new cmd heading: 320.685135 deg.
2025-06-11T20:58:01.134Z,1749675481.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597012 target range: 112.622559 and range: 113.60 m.
2025-06-11T20:58:01.289Z,1749675481.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470618
2025-06-11T20:58:01.509Z,1749675481.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.62 m.
2025-06-11T20:58:01.511Z,1749675481.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.622559 m,
nav range: 108.892433 m,
bearing: 324.463858 deg,
approach rate: -0.462687 m/s,
LOS rate: 0.045663 deg/s,
cmd heading: 320.685141 deg,
new cmd heading: 320.737074 deg.
2025-06-11T20:58:01.512Z,1749675481.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597918 target range: 112.622559 and range: 113.60 m.
2025-06-11T20:58:01.546Z,1749675481.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727361
2025-06-11T20:58:01.801Z,1749675481.801 [DAT](INFO): DAT read: Rx Time:20:58:03.1108
2025-06-11T20:58:01.802Z,1749675481.802 [DAT](INFO): Rx dataTimestamp_ set to:1749675481.801270
2025-06-11T20:58:01.805Z,1749675481.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985526
2025-06-11T20:58:01.950Z,1749675481.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.62 m.
2025-06-11T20:58:01.955Z,1749675481.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.622559 m,
nav range: 108.689560 m,
bearing: 324.482226 deg,
approach rate: -0.459724 m/s,
LOS rate: 0.041702 deg/s,
cmd heading: 320.737077 deg,
new cmd heading: 320.792286 deg.
2025-06-11T20:58:01.957Z,1749675481.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598882 target range: 112.622559 and range: 113.60 m.
2025-06-11T20:58:02.050Z,1749675482.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231746
2025-06-11T20:58:02.307Z,1749675482.307 [DAT](INFO): DAT read: 20:58:03.1108 LVL= 23856, 32753, 27746, 32755, AGC= 67, IDX= 419, 0.40,-1.631,-3.101,-1.785,-2.189, PHS= 0.646,-0.865, 0.401, RAW= 141.3, -2.6, CAL= 146.3, -11.8, ROT= 3.7, 11.8
2025-06-11T20:58:02.308Z,1749675482.308 [DAT](INFO): got valid direction response:
20:58:03.1108 LVL= 23856, 32753, 27746, 32755, AGC= 67, IDX= 419, 0.40,-1.631,-3.101,-1.785,-2.189, PHS= 0.646,-0.865, 0.401, RAW= 141.3, -2.6, CAL= 146.3, -11.8, ROT= 3.7, 11.8
2025-06-11T20:58:02.309Z,1749675482.309 [DAT](INFO): DAT read: Bearing 3.7, 11.8 (Local)
2025-06-11T20:58:02.309Z,1749675482.309 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.7, 11.8 (Local)
2025-06-11T20:58:02.311Z,1749675482.311 [DAT](INFO): DAT read: Range 10 to 50 : 111.9 m (Round-trip 149.2 ms) speed 0.4 m/s
2025-06-11T20:58:02.312Z,1749675482.312 [DAT](INFO): DAT read: user:631>
2025-06-11T20:58:02.313Z,1749675482.313 [DAT](INFO): DAT read: Tx time:20:58:04.2075
2025-06-11T20:58:02.313Z,1749675482.313 [DAT](INFO): Ping request sent.
2025-06-11T20:58:02.313Z,1749675482.313 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:02.313Z,1749675482.313 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:02.314Z,1749675482.314 [DAT](INFO): direction in FSK: [0.976827,0.063169,-0.204496]
2025-06-11T20:58:02.314Z,1749675482.314 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:02.315Z,1749675482.315 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:02.322Z,1749675482.322 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:02.323Z,1749675482.323 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:02.445Z,1749675482.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 111.900002 m,
deltaT: 3.534639 s,
deltaX: -1.699997 m,
approachRate: -0.480953 m/s,
rangeRepo size: 4
2025-06-11T20:58:02.447Z,1749675482.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 110.936546 m,
bearing: 325.102046 deg,
lat: 36.906379 deg,
lon: -122.115559 deg,
deltaT: 3.534639 s,
deltaX: -1.686012 m,
approachRate: -0.476997 m/s,
posRepo size: 4
2025-06-11T20:58:02.447Z,1749675482.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.94 m.
2025-06-11T20:58:02.454Z,1749675482.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.936546 m,
nav range: 108.469315 m,
bearing: 324.501814 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.041702 deg/s,
cmd heading: 320.792293 deg,
new cmd heading: 320.853094 deg.
2025-06-11T20:58:02.455Z,1749675482.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599943 target range: 110.936546 and range: 111.90 m.
2025-06-11T20:58:02.553Z,1749675482.553 [DAT](INFO): DAT read: TxSync time:20:58:04.2067
2025-06-11T20:58:02.948Z,1749675482.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:02.951Z,1749675482.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.94 m.
2025-06-11T20:58:02.957Z,1749675482.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.936546 m,
nav range: 108.231560 m,
bearing: 324.515310 deg,
approach rate: -0.462012 m/s,
LOS rate: 0.026283 deg/s,
cmd heading: 320.853081 deg,
new cmd heading: 320.893658 deg.
2025-06-11T20:58:02.958Z,1749675482.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600651 target range: 110.936546 and range: 111.90 m.
2025-06-11T20:58:03.057Z,1749675483.057 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:03.057Z,1749675483.057 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:03.057Z,1749675483.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:03.310Z,1749675483.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996595
2025-06-11T20:58:03.420Z,1749675483.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.94 m.
2025-06-11T20:58:03.422Z,1749675483.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.936546 m,
nav range: 107.997765 m,
bearing: 324.528639 deg,
approach rate: -0.498489 m/s,
LOS rate: 0.028482 deg/s,
cmd heading: 320.893653 deg,
new cmd heading: 320.933728 deg.
2025-06-11T20:58:03.423Z,1749675483.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601350 target range: 110.936546 and range: 111.90 m.
2025-06-11T20:58:03.561Z,1749675483.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247858
2025-06-11T20:58:03.819Z,1749675483.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506007
2025-06-11T20:58:03.995Z,1749675483.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.94 m.
2025-06-11T20:58:03.997Z,1749675483.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.936546 m,
nav range: 107.741562 m,
bearing: 324.532052 deg,
approach rate: -0.447879 m/s,
LOS rate: 0.005980 deg/s,
cmd heading: 320.933732 deg,
new cmd heading: 320.943995 deg.
2025-06-11T20:58:03.998Z,1749675483.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601530 target range: 110.936546 and range: 111.90 m.
2025-06-11T20:58:04.065Z,1749675484.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751753
2025-06-11T20:58:04.317Z,1749675484.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003718
2025-06-11T20:58:04.416Z,1749675484.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.94 m.
2025-06-11T20:58:04.419Z,1749675484.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.936546 m,
nav range: 107.535080 m,
bearing: 324.534259 deg,
approach rate: -0.486158 m/s,
LOS rate: 0.005207 deg/s,
cmd heading: 320.944005 deg,
new cmd heading: 320.950639 deg.
2025-06-11T20:58:04.420Z,1749675484.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601645 target range: 110.936546 and range: 111.90 m.
2025-06-11T20:58:04.570Z,1749675484.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256566
2025-06-11T20:58:04.824Z,1749675484.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509980
2025-06-11T20:58:04.989Z,1749675484.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:04.991Z,1749675484.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.94 m.
2025-06-11T20:58:04.993Z,1749675484.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.936546 m,
nav range: 107.263634 m,
bearing: 324.524372 deg,
approach rate: -0.472678 m/s,
LOS rate: -0.017260 deg/s,
cmd heading: 320.950644 deg,
new cmd heading: 320.920908 deg.
2025-06-11T20:58:04.994Z,1749675484.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601127 target range: 110.936546 and range: 111.90 m.
2025-06-11T20:58:05.073Z,1749675485.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759877
2025-06-11T20:58:05.326Z,1749675485.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013163
2025-06-11T20:58:05.444Z,1749675485.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.94 m.
2025-06-11T20:58:05.446Z,1749675485.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.936546 m,
nav range: 107.052002 m,
bearing: 324.516358 deg,
approach rate: -0.471308 m/s,
LOS rate: -0.017883 deg/s,
cmd heading: 320.920919 deg,
new cmd heading: 320.896828 deg.
2025-06-11T20:58:05.447Z,1749675485.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600706 target range: 110.936546 and range: 111.90 m.
2025-06-11T20:58:05.577Z,1749675485.577 [DAT](INFO): DAT read: Rx Time:20:58:06.7586
2025-06-11T20:58:05.577Z,1749675485.577 [DAT](INFO): Rx dataTimestamp_ set to:1749675485.577073
2025-06-11T20:58:05.578Z,1749675485.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264937
2025-06-11T20:58:05.829Z,1749675485.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515838
2025-06-11T20:58:06.003Z,1749675486.003 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 85.20, 73.66, 79.77, 77.73
2025-06-11T20:58:06.018Z,1749675486.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.94 m.
2025-06-11T20:58:06.022Z,1749675486.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.936546 m,
nav range: 106.772964 m,
bearing: 324.505692 deg,
approach rate: -0.482141 m/s,
LOS rate: -0.018478 deg/s,
cmd heading: 320.896822 deg,
new cmd heading: 320.864740 deg.
2025-06-11T20:58:06.023Z,1749675486.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600146 target range: 110.936546 and range: 111.90 m.
2025-06-11T20:58:06.087Z,1749675486.087 [DAT](INFO): DAT read: 20:58:06.7587 LVL= 24176, 30945, 20754, 32755, AGC= 68, IDX= 414,-0.06,-0.049,-1.506,-0.082,-0.550, PHS= 0.589,-0.909, 0.465, RAW= 145.7, -2.1, CAL= 150.0, -11.1, ROT= 360.0, 11.1
2025-06-11T20:58:06.088Z,1749675486.088 [DAT](INFO): got valid direction response:
20:58:06.7587 LVL= 24176, 30945, 20754, 32755, AGC= 68, IDX= 414,-0.06,-0.049,-1.506,-0.082,-0.550, PHS= 0.589,-0.909, 0.465, RAW= 145.7, -2.1, CAL= 150.0, -11.1, ROT= 360.0, 11.1
2025-06-11T20:58:06.089Z,1749675486.089 [DAT](INFO): DAT read: Bearing 360.0, 11.1 (Local)
2025-06-11T20:58:06.089Z,1749675486.089 [DAT](INFO): Local bearing/azimuth received:
Bearing 360.0, 11.1 (Local)
2025-06-11T20:58:06.091Z,1749675486.091 [DAT](INFO): DAT read: Range 10 to 50 : 110.2 m (Round-trip 147.0 ms) speed 0.6 m/s
2025-06-11T20:58:06.092Z,1749675486.092 [DAT](INFO): DAT read: user:632>
2025-06-11T20:58:06.093Z,1749675486.093 [DAT](INFO): DAT read: Tx time:20:58:07.8576
2025-06-11T20:58:06.093Z,1749675486.093 [DAT](INFO): Ping request sent.
2025-06-11T20:58:06.093Z,1749675486.093 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:06.093Z,1749675486.093 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:06.094Z,1749675486.094 [DAT](INFO): direction in FSK: [0.981293,0.000000,-0.192522]
2025-06-11T20:58:06.095Z,1749675486.095 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:06.095Z,1749675486.095 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:06.098Z,1749675486.098 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:06.098Z,1749675486.098 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:06.333Z,1749675486.333 [DAT](INFO): DAT read: TxSync time:20:58:07.8568
2025-06-11T20:58:06.422Z,1749675486.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 110.199997 m,
deltaT: 3.780030 s,
deltaX: -1.700005 m,
approachRate: -0.449733 m/s,
rangeRepo size: 4
2025-06-11T20:58:06.445Z,1749675486.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 109.252487 m,
bearing: 322.753733 deg,
lat: 36.906372 deg,
lon: -122.115564 deg,
deltaT: 3.780030 s,
deltaX: -1.684059 m,
approachRate: -0.445515 m/s,
posRepo size: 4
2025-06-11T20:58:06.445Z,1749675486.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.25 m.
2025-06-11T20:58:06.452Z,1749675486.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.252487 m,
nav range: 106.225258 m,
bearing: 324.044719 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.018478 deg/s,
cmd heading: 320.864747 deg,
new cmd heading: 320.842392 deg.
2025-06-11T20:58:06.453Z,1749675486.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599756 target range: 109.252487 and range: 110.20 m.
2025-06-11T20:58:06.910Z,1749675486.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.25 m.
2025-06-11T20:58:06.930Z,1749675486.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.252487 m,
nav range: 106.026733 m,
bearing: 324.036395 deg,
approach rate: -0.411807 m/s,
LOS rate: -0.017298 deg/s,
cmd heading: 320.842399 deg,
new cmd heading: 320.817382 deg.
2025-06-11T20:58:06.931Z,1749675486.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599319 target range: 109.252487 and range: 110.20 m.
2025-06-11T20:58:07.249Z,1749675487.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:07.254Z,1749675487.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.25 m.
2025-06-11T20:58:07.257Z,1749675487.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.252487 m,
nav range: 105.816338 m,
bearing: 324.013065 deg,
approach rate: -0.600733 m/s,
LOS rate: -0.066747 deg/s,
cmd heading: 320.817373 deg,
new cmd heading: 320.747243 deg.
2025-06-11T20:58:07.258Z,1749675487.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598095 target range: 109.252487 and range: 110.20 m.
2025-06-11T20:58:07.341Z,1749675487.341 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:07.341Z,1749675487.341 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:07.342Z,1749675487.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:07.593Z,1749675487.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499520
2025-06-11T20:58:07.633Z,1749675487.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.25 m.
2025-06-11T20:58:07.635Z,1749675487.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.252487 m,
nav range: 105.620712 m,
bearing: 323.991409 deg,
approach rate: -0.516568 m/s,
LOS rate: -0.057291 deg/s,
cmd heading: 320.747241 deg,
new cmd heading: 320.682152 deg.
2025-06-11T20:58:07.636Z,1749675487.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596960 target range: 109.252487 and range: 110.20 m.
2025-06-11T20:58:07.845Z,1749675487.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752062
2025-06-11T20:58:08.060Z,1749675488.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.25 m.
2025-06-11T20:58:08.062Z,1749675488.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.252487 m,
nav range: 105.395714 m,
bearing: 323.962392 deg,
approach rate: -0.527033 m/s,
LOS rate: -0.068113 deg/s,
cmd heading: 320.682163 deg,
new cmd heading: 320.594928 deg.
2025-06-11T20:58:08.063Z,1749675488.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595437 target range: 109.252487 and range: 110.20 m.
2025-06-11T20:58:08.098Z,1749675488.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004692
2025-06-11T20:58:08.349Z,1749675488.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255568
2025-06-11T20:58:08.441Z,1749675488.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.25 m.
2025-06-11T20:58:08.443Z,1749675488.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.252487 m,
nav range: 105.198334 m,
bearing: 323.936790 deg,
approach rate: -0.518741 m/s,
LOS rate: -0.067414 deg/s,
cmd heading: 320.594927 deg,
new cmd heading: 320.517975 deg.
2025-06-11T20:58:08.444Z,1749675488.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594094 target range: 109.252487 and range: 110.20 m.
2025-06-11T20:58:08.601Z,1749675488.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507693
2025-06-11T20:58:08.854Z,1749675488.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760830
2025-06-11T20:58:08.889Z,1749675488.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.25 m.
2025-06-11T20:58:08.943Z,1749675488.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.252487 m,
nav range: 104.984131 m,
bearing: 323.908884 deg,
approach rate: -0.483188 m/s,
LOS rate: -0.063077 deg/s,
cmd heading: 320.517965 deg,
new cmd heading: 320.434076 deg.
2025-06-11T20:58:08.950Z,1749675488.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592629 target range: 109.252487 and range: 110.20 m.
2025-06-11T20:58:09.105Z,1749675489.105 [DAT](INFO): DAT read: Rx Time:20:58:10.4064
2025-06-11T20:58:09.105Z,1749675489.105 [DAT](INFO): Rx dataTimestamp_ set to:1749675489.105012
2025-06-11T20:58:09.106Z,1749675489.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012686
2025-06-11T20:58:09.275Z,1749675489.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:09.278Z,1749675489.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.25 m.
2025-06-11T20:58:09.281Z,1749675489.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.252487 m,
nav range: 104.746666 m,
bearing: 323.877773 deg,
approach rate: -0.602293 m/s,
LOS rate: -0.079087 deg/s,
cmd heading: 320.434063 deg,
new cmd heading: 320.340519 deg.
2025-06-11T20:58:09.281Z,1749675489.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590997 target range: 109.252487 and range: 110.20 m.
2025-06-11T20:58:09.357Z,1749675489.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263784
2025-06-11T20:58:09.615Z,1749675489.615 [DAT](INFO): DAT read: 20:58:10.4064 LVL= 23168, 32753, 17522, 32755, AGC= 68, IDX= 421, 0.34, 2.455, 1.036, 2.340, 1.896, PHS= 0.646,-0.813, 0.441, RAW= 142.5, -4.0, CAL= 147.8, -13.2, ROT= 2.2, 13.2
2025-06-11T20:58:09.619Z,1749675489.619 [DAT](INFO): got valid direction response:
20:58:10.4064 LVL= 23168, 32753, 17522, 32755, AGC= 68, IDX= 421, 0.34, 2.455, 1.036, 2.340, 1.896, PHS= 0.646,-0.813, 0.441, RAW= 142.5, -4.0, CAL= 147.8, -13.2, ROT= 2.2, 13.2
2025-06-11T20:58:09.621Z,1749675489.621 [DAT](INFO): DAT read: Bearing 2.2, 13.2 (Local)
2025-06-11T20:58:09.622Z,1749675489.622 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.2, 13.2 (Local)
2025-06-11T20:58:09.623Z,1749675489.623 [DAT](INFO): DAT read: Range 10 to 50 : 108.5 m (Round-trip 144.7 ms) speed 0.4 m/s
2025-06-11T20:58:09.624Z,1749675489.624 [DAT](INFO): DAT read: user:633>
2025-06-11T20:58:09.625Z,1749675489.625 [DAT](INFO): DAT read: Tx time:20:58:11.5076
2025-06-11T20:58:09.625Z,1749675489.625 [DAT](INFO): Ping request sent.
2025-06-11T20:58:09.626Z,1749675489.626 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:09.626Z,1749675489.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:09.627Z,1749675489.627 [DAT](INFO): direction in FSK: [0.972861,0.037374,-0.228351]
2025-06-11T20:58:09.627Z,1749675489.627 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:09.627Z,1749675489.627 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:09.631Z,1749675489.631 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:09.631Z,1749675489.631 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:09.745Z,1749675489.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 108.500000 m,
deltaT: 3.527767 s,
deltaX: -1.699997 m,
approachRate: -0.481890 m/s,
rangeRepo size: 4
2025-06-11T20:58:09.747Z,1749675489.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 107.569710 m,
bearing: 324.676721 deg,
lat: 36.906381 deg,
lon: -122.115553 deg,
deltaT: 3.527767 s,
deltaX: -1.682777 m,
approachRate: -0.477009 m/s,
posRepo size: 4
2025-06-11T20:58:09.752Z,1749675489.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:09.755Z,1749675489.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 104.743736 m,
bearing: 324.621236 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.079087 deg/s,
cmd heading: 320.340517 deg,
new cmd heading: 320.229753 deg.
2025-06-11T20:58:09.755Z,1749675489.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589064 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:09.862Z,1749675489.862 [DAT](INFO): DAT read: TxSync time:20:58:11.5068
2025-06-11T20:58:10.127Z,1749675490.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:10.134Z,1749675490.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 104.529015 m,
bearing: 324.593624 deg,
approach rate: -0.561503 m/s,
LOS rate: -0.072354 deg/s,
cmd heading: 320.229758 deg,
new cmd heading: 320.146752 deg.
2025-06-11T20:58:10.135Z,1749675490.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587615 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:10.495Z,1749675490.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:10.498Z,1749675490.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 104.334915 m,
bearing: 324.568635 deg,
approach rate: -0.527451 m/s,
LOS rate: -0.068033 deg/s,
cmd heading: 320.146758 deg,
new cmd heading: 320.071650 deg.
2025-06-11T20:58:10.499Z,1749675490.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586304 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:10.877Z,1749675490.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:10.880Z,1749675490.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 104.117073 m,
bearing: 324.540640 deg,
approach rate: -0.569782 m/s,
LOS rate: -0.073376 deg/s,
cmd heading: 320.071653 deg,
new cmd heading: 319.987493 deg.
2025-06-11T20:58:10.881Z,1749675490.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584836 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:11.304Z,1749675491.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:11.306Z,1749675491.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:11.309Z,1749675491.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 103.882431 m,
bearing: 324.515007 deg,
approach rate: -0.547405 m/s,
LOS rate: -0.059935 deg/s,
cmd heading: 319.987505 deg,
new cmd heading: 319.910432 deg.
2025-06-11T20:58:11.310Z,1749675491.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583490 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:11.375Z,1749675491.375 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:11.375Z,1749675491.375 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:11.375Z,1749675491.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:11.629Z,1749675491.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003183
2025-06-11T20:58:11.685Z,1749675491.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:11.688Z,1749675491.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 103.674377 m,
bearing: 324.492215 deg,
approach rate: -0.548309 m/s,
LOS rate: -0.060187 deg/s,
cmd heading: 319.910433 deg,
new cmd heading: 319.841920 deg.
2025-06-11T20:58:11.689Z,1749675491.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582294 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:11.881Z,1749675491.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255133
2025-06-11T20:58:12.114Z,1749675492.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:12.117Z,1749675492.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 103.445984 m,
bearing: 324.476063 deg,
approach rate: -0.532634 m/s,
LOS rate: -0.037752 deg/s,
cmd heading: 319.841913 deg,
new cmd heading: 319.793349 deg.
2025-06-11T20:58:12.118Z,1749675492.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581447 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:12.133Z,1749675492.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507175
2025-06-11T20:58:12.385Z,1749675492.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759248
2025-06-11T20:58:12.509Z,1749675492.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:12.511Z,1749675492.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 103.235756 m,
bearing: 324.461246 deg,
approach rate: -0.532936 m/s,
LOS rate: -0.037638 deg/s,
cmd heading: 319.793336 deg,
new cmd heading: 319.748796 deg.
2025-06-11T20:58:12.512Z,1749675492.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580669 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:12.637Z,1749675492.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011138
2025-06-11T20:58:12.889Z,1749675492.889 [DAT](INFO): DAT read: Rx Time:20:58:14.0536
2025-06-11T20:58:12.889Z,1749675492.889 [DAT](INFO): Rx dataTimestamp_ set to:1749675492.889164
2025-06-11T20:58:12.890Z,1749675492.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264399
2025-06-11T20:58:12.976Z,1749675492.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:12.993Z,1749675492.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 103.029449 m,
bearing: 324.446770 deg,
approach rate: -0.447156 m/s,
LOS rate: -0.031438 deg/s,
cmd heading: 319.748804 deg,
new cmd heading: 319.705290 deg.
2025-06-11T20:58:13.002Z,1749675493.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579910 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:13.141Z,1749675493.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515211
2025-06-11T20:58:13.326Z,1749675493.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:13.328Z,1749675493.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.57 m.
2025-06-11T20:58:13.331Z,1749675493.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.569710 m,
nav range: 102.809196 m,
bearing: 324.443814 deg,
approach rate: -0.614446 m/s,
LOS rate: -0.008266 deg/s,
cmd heading: 319.705282 deg,
new cmd heading: 319.696393 deg.
2025-06-11T20:58:13.332Z,1749675493.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579755 target range: 107.569710 and range: 108.50 m.
2025-06-11T20:58:13.401Z,1749675493.401 [DAT](INFO): DAT read: 20:58:14.0536 LVL= 22672, 27825, 19346, 32755, AGC= 70, IDX= 409,-0.21, 1.481, 0.030, 1.372, 0.876, PHS= 0.693,-0.799, 0.493, RAW= 142.9, -5.6, CAL= 148.6, -14.8, ROT= 1.4, 14.8
2025-06-11T20:58:13.403Z,1749675493.403 [DAT](INFO): got valid direction response:
20:58:14.0536 LVL= 22672, 27825, 19346, 32755, AGC= 70, IDX= 409,-0.21, 1.481, 0.030, 1.372, 0.876, PHS= 0.693,-0.799, 0.493, RAW= 142.9, -5.6, CAL= 148.6, -14.8, ROT= 1.4, 14.8
2025-06-11T20:58:13.404Z,1749675493.404 [DAT](INFO): DAT read: Bearing 1.4, 14.8 (Local)
2025-06-11T20:58:13.405Z,1749675493.405 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.4, 14.8 (Local)
2025-06-11T20:58:13.407Z,1749675493.407 [DAT](INFO): DAT read: Range 10 to 50 : 106.3 m (Round-trip 141.8 ms) speed 0.4 m/s
2025-06-11T20:58:13.421Z,1749675493.421 [DAT](INFO): DAT read: user:634>
2025-06-11T20:58:13.422Z,1749675493.422 [DAT](INFO): DAT read: Tx time:20:58:15.1576
2025-06-11T20:58:13.423Z,1749675493.423 [DAT](INFO): Ping request sent.
2025-06-11T20:58:13.423Z,1749675493.423 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:13.423Z,1749675493.423 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:13.441Z,1749675493.441 [DAT](INFO): direction in FSK: [0.966535,0.023622,-0.255446]
2025-06-11T20:58:13.441Z,1749675493.441 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:13.441Z,1749675493.441 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:13.454Z,1749675493.454 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:13.454Z,1749675493.454 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:13.645Z,1749675493.645 [DAT](INFO): DAT read: TxSync time:20:58:15.1568
2025-06-11T20:58:13.720Z,1749675493.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 106.300003 m,
deltaT: 3.784171 s,
deltaX: -2.199997 m,
approachRate: -0.581368 m/s,
rangeRepo size: 4
2025-06-11T20:58:13.722Z,1749675493.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 105.392426 m,
bearing: 323.356095 deg,
lat: 36.906370 deg,
lon: -122.115569 deg,
deltaT: 3.784171 s,
deltaX: -2.177284 m,
approachRate: -0.575366 m/s,
posRepo size: 4
2025-06-11T20:58:13.723Z,1749675493.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.39 m.
2025-06-11T20:58:13.726Z,1749675493.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.392426 m,
nav range: 102.460968 m,
bearing: 323.356434 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.008266 deg/s,
cmd heading: 319.696402 deg,
new cmd heading: 319.686703 deg.
2025-06-11T20:58:13.727Z,1749675493.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579586 target range: 105.392426 and range: 106.30 m.
2025-06-11T20:58:14.150Z,1749675494.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.39 m.
2025-06-11T20:58:14.152Z,1749675494.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.392426 m,
nav range: 102.245972 m,
bearing: 323.357257 deg,
approach rate: -0.499926 m/s,
LOS rate: 0.001918 deg/s,
cmd heading: 319.686704 deg,
new cmd heading: 319.689178 deg.
2025-06-11T20:58:14.153Z,1749675494.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579629 target range: 105.392426 and range: 106.30 m.
2025-06-11T20:58:14.530Z,1749675494.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.39 m.
2025-06-11T20:58:14.533Z,1749675494.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.392426 m,
nav range: 102.056702 m,
bearing: 323.358652 deg,
approach rate: -0.497896 m/s,
LOS rate: 0.003677 deg/s,
cmd heading: 319.689190 deg,
new cmd heading: 319.693383 deg.
2025-06-11T20:58:14.534Z,1749675494.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579702 target range: 105.392426 and range: 106.30 m.
2025-06-11T20:58:14.949Z,1749675494.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.39 m.
2025-06-11T20:58:14.958Z,1749675494.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.392426 m,
nav range: 101.862885 m,
bearing: 323.360265 deg,
approach rate: -0.461935 m/s,
LOS rate: 0.003852 deg/s,
cmd heading: 319.693370 deg,
new cmd heading: 319.698219 deg.
2025-06-11T20:58:14.958Z,1749675494.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579786 target range: 105.392426 and range: 106.30 m.
2025-06-11T20:58:15.373Z,1749675495.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:15.375Z,1749675495.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.39 m.
2025-06-11T20:58:15.382Z,1749675495.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.392426 m,
nav range: 101.654984 m,
bearing: 323.370768 deg,
approach rate: -0.488353 m/s,
LOS rate: 0.024723 deg/s,
cmd heading: 319.698206 deg,
new cmd heading: 319.729780 deg.
2025-06-11T20:58:15.383Z,1749675495.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580338 target range: 105.392426 and range: 106.30 m.
2025-06-11T20:58:15.409Z,1749675495.409 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:15.409Z,1749675495.409 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:15.409Z,1749675495.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:15.661Z,1749675495.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237913
2025-06-11T20:58:15.739Z,1749675495.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.39 m.
2025-06-11T20:58:15.742Z,1749675495.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.392426 m,
nav range: 101.481499 m,
bearing: 323.379627 deg,
approach rate: -0.476773 m/s,
LOS rate: 0.024386 deg/s,
cmd heading: 319.729788 deg,
new cmd heading: 319.756408 deg.
2025-06-11T20:58:15.743Z,1749675495.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580802 target range: 105.392426 and range: 106.30 m.
2025-06-11T20:58:15.914Z,1749675495.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490802
2025-06-11T20:58:16.165Z,1749675496.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742240
2025-06-11T20:58:16.185Z,1749675496.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.39 m.
2025-06-11T20:58:16.188Z,1749675496.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.392426 m,
nav range: 101.276070 m,
bearing: 323.395392 deg,
approach rate: -0.460519 m/s,
LOS rate: 0.035414 deg/s,
cmd heading: 319.756399 deg,
new cmd heading: 319.803791 deg.
2025-06-11T20:58:16.189Z,1749675496.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581629 target range: 105.392426 and range: 106.30 m.
2025-06-11T20:58:16.417Z,1749675496.417 [DAT](INFO): DAT read: Rx Time:20:58:17.7012
2025-06-11T20:58:16.418Z,1749675496.418 [DAT](INFO): Rx dataTimestamp_ set to:1749675496.417880
2025-06-11T20:58:16.419Z,1749675496.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996292
2025-06-11T20:58:16.552Z,1749675496.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.39 m.
2025-06-11T20:58:16.555Z,1749675496.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.392426 m,
nav range: 101.107254 m,
bearing: 323.408497 deg,
approach rate: -0.460051 m/s,
LOS rate: 0.035773 deg/s,
cmd heading: 319.803800 deg,
new cmd heading: 319.843182 deg.
2025-06-11T20:58:16.556Z,1749675496.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582316 target range: 105.392426 and range: 106.30 m.
2025-06-11T20:58:16.669Z,1749675496.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245964
2025-06-11T20:58:16.931Z,1749675496.931 [DAT](INFO): DAT read: 20:58:17.7012 LVL= 26528, 31969, 23634, 32755, AGC= 69, IDX= 416, 0.29,-1.618,-3.048,-1.691,-2.231, PHS= 0.701,-0.770, 0.536, RAW= 144.1, -6.7, CAL= 150.1, -15.8, ROT= 359.9, 15.8
2025-06-11T20:58:16.942Z,1749675496.942 [DAT](INFO): got valid direction response:
20:58:17.7012 LVL= 26528, 31969, 23634, 32755, AGC= 69, IDX= 416, 0.29,-1.618,-3.048,-1.691,-2.231, PHS= 0.701,-0.770, 0.536, RAW= 144.1, -6.7, CAL= 150.1, -15.8, ROT= 359.9, 15.8
2025-06-11T20:58:16.943Z,1749675496.943 [DAT](INFO): DAT read: Bearing 359.9, 15.8 (Local)
2025-06-11T20:58:16.958Z,1749675496.958 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.9, 15.8 (Local)
2025-06-11T20:58:16.980Z,1749675496.980 [DAT](INFO): DAT read: Range 10 to 50 : 104.6 m (Round-trip 139.5 ms) speed 0.4 m/s
2025-06-11T20:58:16.983Z,1749675496.983 [DAT](INFO): DAT read: user:635>
2025-06-11T20:58:16.996Z,1749675496.996 [DAT](INFO): DAT read: Tx time:20:58:18.8076
2025-06-11T20:58:16.997Z,1749675496.997 [DAT](INFO): Ping request sent.
2025-06-11T20:58:16.997Z,1749675496.997 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:16.997Z,1749675496.997 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:16.998Z,1749675496.998 [DAT](INFO): direction in FSK: [0.962217,-0.001680,-0.272280]
2025-06-11T20:58:16.998Z,1749675496.998 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:16.999Z,1749675496.999 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:17.035Z,1749675497.035 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:17.049Z,1749675497.049 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:17.100Z,1749675497.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 104.599998 m,
deltaT: 3.528457 s,
deltaX: -1.700005 m,
approachRate: -0.481798 m/s,
rangeRepo size: 4
2025-06-11T20:58:17.102Z,1749675497.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 103.703041 m,
bearing: 321.259648 deg,
lat: 36.906370 deg,
lon: -122.115569 deg,
deltaT: 3.528457 s,
deltaX: -1.689384 m,
approachRate: -0.478788 m/s,
posRepo size: 4
2025-06-11T20:58:17.103Z,1749675497.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m.
2025-06-11T20:58:17.125Z,1749675497.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.703041 m,
nav range: 100.878006 m,
bearing: 323.426526 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.035773 deg/s,
cmd heading: 319.843170 deg,
new cmd heading: 319.901453 deg.
2025-06-11T20:58:17.126Z,1749675497.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583333 target range: 103.703041 and range: 104.60 m.
2025-06-11T20:58:17.174Z,1749675497.174 [DAT](INFO): DAT read: TxSync time:20:58:18.8068
2025-06-11T20:58:17.462Z,1749675497.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:17.468Z,1749675497.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m.
2025-06-11T20:58:17.471Z,1749675497.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.703041 m,
nav range: 100.690247 m,
bearing: 323.442468 deg,
approach rate: -0.508819 m/s,
LOS rate: 0.043283 deg/s,
cmd heading: 319.901445 deg,
new cmd heading: 319.949360 deg.
2025-06-11T20:58:17.476Z,1749675497.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584170 target range: 103.703041 and range: 104.60 m.
2025-06-11T20:58:17.677Z,1749675497.677 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:17.677Z,1749675497.677 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:17.677Z,1749675497.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:17.815Z,1749675497.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m.
2025-06-11T20:58:17.818Z,1749675497.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.703041 m,
nav range: 100.524086 m,
bearing: 323.456920 deg,
approach rate: -0.473055 m/s,
LOS rate: 0.041213 deg/s,
cmd heading: 319.949365 deg,
new cmd heading: 319.992793 deg.
2025-06-11T20:58:17.819Z,1749675497.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584928 target range: 103.703041 and range: 104.60 m.
2025-06-11T20:58:17.930Z,1749675497.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.932704
2025-06-11T20:58:18.181Z,1749675498.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.184014
2025-06-11T20:58:18.258Z,1749675498.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m.
2025-06-11T20:58:18.265Z,1749675498.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.703041 m,
nav range: 100.332542 m,
bearing: 323.470475 deg,
approach rate: -0.432883 m/s,
LOS rate: 0.030692 deg/s,
cmd heading: 319.992805 deg,
new cmd heading: 320.033547 deg.
2025-06-11T20:58:18.266Z,1749675498.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585639 target range: 103.703041 and range: 104.60 m.
2025-06-11T20:58:18.433Z,1749675498.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.435913
2025-06-11T20:58:18.678Z,1749675498.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m.
2025-06-11T20:58:18.681Z,1749675498.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.703041 m,
nav range: 100.125267 m,
bearing: 323.485368 deg,
approach rate: -0.493237 m/s,
LOS rate: 0.035513 deg/s,
cmd heading: 320.033541 deg,
new cmd heading: 320.078311 deg.
2025-06-11T20:58:18.682Z,1749675498.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586421 target range: 103.703041 and range: 104.60 m.
2025-06-11T20:58:18.685Z,1749675498.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.688032
2025-06-11T20:58:18.938Z,1749675498.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940763
2025-06-11T20:58:19.164Z,1749675499.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m.
2025-06-11T20:58:19.167Z,1749675499.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.703041 m,
nav range: 99.905396 m,
bearing: 323.494475 deg,
approach rate: -0.456168 m/s,
LOS rate: 0.018936 deg/s,
cmd heading: 320.078319 deg,
new cmd heading: 320.105700 deg.
2025-06-11T20:58:19.172Z,1749675499.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586898 target range: 103.703041 and range: 104.60 m.
2025-06-11T20:58:19.189Z,1749675499.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192103
2025-06-11T20:58:19.441Z,1749675499.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443968
2025-06-11T20:58:19.515Z,1749675499.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:19.517Z,1749675499.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m.
2025-06-11T20:58:19.519Z,1749675499.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.703041 m,
nav range: 99.741928 m,
bearing: 323.501216 deg,
approach rate: -0.458055 m/s,
LOS rate: 0.018920 deg/s,
cmd heading: 320.105695 deg,
new cmd heading: 320.125951 deg.
2025-06-11T20:58:19.521Z,1749675499.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587252 target range: 103.703041 and range: 104.60 m.
2025-06-11T20:58:19.693Z,1749675499.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.695904
2025-06-11T20:58:19.905Z,1749675499.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m.
2025-06-11T20:58:19.909Z,1749675499.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.703041 m,
nav range: 99.555237 m,
bearing: 323.508880 deg,
approach rate: -0.480567 m/s,
LOS rate: 0.019766 deg/s,
cmd heading: 320.125939 deg,
new cmd heading: 320.148976 deg.
2025-06-11T20:58:19.911Z,1749675499.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587654 target range: 103.703041 and range: 104.60 m.
2025-06-11T20:58:19.945Z,1749675499.945 [DAT](INFO): DAT read: Rx Time:20:58:21.3492
2025-06-11T20:58:19.945Z,1749675499.945 [DAT](INFO): Rx dataTimestamp_ set to:1749675499.945208
2025-06-11T20:58:19.946Z,1749675499.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949215
2025-06-11T20:58:20.197Z,1749675500.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200091
2025-06-11T20:58:20.426Z,1749675500.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m.
2025-06-11T20:58:20.429Z,1749675500.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.703041 m,
nav range: 99.321564 m,
bearing: 323.506622 deg,
approach rate: -0.448734 m/s,
LOS rate: -0.004346 deg/s,
cmd heading: 320.148971 deg,
new cmd heading: 320.142181 deg.
2025-06-11T20:58:20.430Z,1749675500.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587535 target range: 103.703041 and range: 104.60 m.
2025-06-11T20:58:20.449Z,1749675500.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451962
2025-06-11T20:58:20.707Z,1749675500.707 [DAT](INFO): DAT read: 20:58:21.3492 LVL= 26608, 30193, 22354, 32755, AGC= 67, IDX= 426, 0.14, 2.394, 0.849, 2.251, 1.717, PHS= 0.765,-0.821, 0.532, RAW= 142.1, -6.5, CAL= 148.1, -15.8, ROT= 1.9, 15.8
2025-06-11T20:58:20.708Z,1749675500.708 [DAT](INFO): got valid direction response:
20:58:21.3492 LVL= 26608, 30193, 22354, 32755, AGC= 67, IDX= 426, 0.14, 2.394, 0.849, 2.251, 1.717, PHS= 0.765,-0.821, 0.532, RAW= 142.1, -6.5, CAL= 148.1, -15.8, ROT= 1.9, 15.8
2025-06-11T20:58:20.709Z,1749675500.709 [DAT](INFO): DAT read: Bearing 1.9, 15.8 (Local)
2025-06-11T20:58:20.709Z,1749675500.709 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.9, 15.8 (Local)
2025-06-11T20:58:20.711Z,1749675500.711 [DAT](INFO): DAT read: Range 10 to 50 : 103.0 m (Round-trip 137.4 ms) speed 0.4 m/s
2025-06-11T20:58:20.712Z,1749675500.712 [DAT](INFO): DAT read: user:636>
2025-06-11T20:58:20.713Z,1749675500.713 [DAT](INFO): DAT read: Tx time:20:58:22.4577
2025-06-11T20:58:20.714Z,1749675500.714 [DAT](INFO): Ping request sent.
2025-06-11T20:58:20.714Z,1749675500.714 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:20.714Z,1749675500.714 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:20.715Z,1749675500.715 [DAT](INFO): direction in FSK: [0.961689,0.031903,-0.272280]
2025-06-11T20:58:20.715Z,1749675500.715 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:20.716Z,1749675500.716 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:20.719Z,1749675500.719 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:20.719Z,1749675500.719 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:20.929Z,1749675500.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 103.000000 m,
deltaT: 3.779585 s,
deltaX: -1.599998 m,
approachRate: -0.423326 m/s,
rangeRepo size: 4
2025-06-11T20:58:20.936Z,1749675500.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 102.117172 m,
bearing: 323.084455 deg,
lat: 36.906366 deg,
lon: -122.115576 deg,
deltaT: 3.779585 s,
deltaX: -1.585869 m,
approachRate: -0.419588 m/s,
posRepo size: 4
2025-06-11T20:58:20.937Z,1749675500.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.12 m.
2025-06-11T20:58:20.949Z,1749675500.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.117172 m,
nav range: 99.087944 m,
bearing: 323.084786 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.004346 deg/s,
cmd heading: 320.142168 deg,
new cmd heading: 320.135688 deg.
2025-06-11T20:58:20.950Z,1749675500.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587422 target range: 102.117172 and range: 103.00 m.
2025-06-11T20:58:20.953Z,1749675500.953 [DAT](INFO): DAT read: TxSync time:20:58:22.4569
2025-06-11T20:58:21.411Z,1749675501.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.12 m.
2025-06-11T20:58:21.414Z,1749675501.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.117172 m,
nav range: 98.826843 m,
bearing: 323.068253 deg,
approach rate: -0.534758 m/s,
LOS rate: -0.033952 deg/s,
cmd heading: 320.135693 deg,
new cmd heading: 320.085960 deg.
2025-06-11T20:58:21.415Z,1749675501.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586554 target range: 102.117172 and range: 103.00 m.
2025-06-11T20:58:21.829Z,1749675501.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:21.831Z,1749675501.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.12 m.
2025-06-11T20:58:21.834Z,1749675501.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.117172 m,
nav range: 98.623924 m,
bearing: 323.055174 deg,
approach rate: -0.483265 m/s,
LOS rate: -0.031211 deg/s,
cmd heading: 320.085969 deg,
new cmd heading: 320.046653 deg.
2025-06-11T20:58:21.835Z,1749675501.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585868 target range: 102.117172 and range: 103.00 m.
2025-06-11T20:58:21.961Z,1749675501.961 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:21.961Z,1749675501.961 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:21.961Z,1749675501.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:22.068Z,1749675502.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:58:22.213Z,1749675502.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499101
2025-06-11T20:58:22.235Z,1749675502.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.12 m.
2025-06-11T20:58:22.238Z,1749675502.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.117172 m,
nav range: 98.423721 m,
bearing: 323.033233 deg,
approach rate: -0.495303 m/s,
LOS rate: -0.054394 deg/s,
cmd heading: 320.046655 deg,
new cmd heading: 319.980696 deg.
2025-06-11T20:58:22.239Z,1749675502.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584717 target range: 102.117172 and range: 103.00 m.
2025-06-11T20:58:22.465Z,1749675502.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750933
2025-06-11T20:58:22.629Z,1749675502.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.12 m.
2025-06-11T20:58:22.631Z,1749675502.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.117172 m,
nav range: 98.229126 m,
bearing: 323.011608 deg,
approach rate: -0.494473 m/s,
LOS rate: -0.055058 deg/s,
cmd heading: 319.980702 deg,
new cmd heading: 319.915699 deg.
2025-06-11T20:58:22.633Z,1749675502.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583582 target range: 102.117172 and range: 103.00 m.
2025-06-11T20:58:22.718Z,1749675502.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003949
2025-06-11T20:58:22.969Z,1749675502.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255045
2025-06-11T20:58:23.068Z,1749675503.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:58:23.182Z,1749675503.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.12 m.
2025-06-11T20:58:23.208Z,1749675503.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.117172 m,
nav range: 98.011253 m,
bearing: 322.987294 deg,
approach rate: -0.394153 m/s,
LOS rate: -0.044085 deg/s,
cmd heading: 319.915706 deg,
new cmd heading: 319.842601 deg.
2025-06-11T20:58:23.209Z,1749675503.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582306 target range: 102.117172 and range: 103.00 m.
2025-06-11T20:58:23.221Z,1749675503.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506925
2025-06-11T20:58:23.473Z,1749675503.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759238
2025-06-11T20:58:23.637Z,1749675503.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.12 m.
2025-06-11T20:58:23.640Z,1749675503.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.117172 m,
nav range: 97.728210 m,
bearing: 322.944751 deg,
approach rate: -0.621244 m/s,
LOS rate: -0.093646 deg/s,
cmd heading: 319.842596 deg,
new cmd heading: 319.714598 deg.
2025-06-11T20:58:23.641Z,1749675503.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580072 target range: 102.117172 and range: 103.00 m.
2025-06-11T20:58:23.726Z,1749675503.726 [DAT](INFO): DAT read: Rx Time:20:58:24.9967
2025-06-11T20:58:23.727Z,1749675503.727 [DAT](INFO): Rx dataTimestamp_ set to:1749675503.726274
2025-06-11T20:58:23.727Z,1749675503.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013711
2025-06-11T20:58:23.977Z,1749675503.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262977
2025-06-11T20:58:24.046Z,1749675504.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:24.068Z,1749675504.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.12 m.
2025-06-11T20:58:24.076Z,1749675504.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.117172 m,
nav range: 97.523697 m,
bearing: 322.913852 deg,
approach rate: -0.497952 m/s,
LOS rate: -0.075389 deg/s,
cmd heading: 319.714598 deg,
new cmd heading: 319.621709 deg.
2025-06-11T20:58:24.077Z,1749675504.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578451 target range: 102.117172 and range: 103.00 m.
2025-06-11T20:58:24.238Z,1749675504.238 [DAT](INFO): DAT read: 20:58:24.9967 LVL= 21104, 31793, 20002, 32755, AGC= 70, IDX= 417, 0.20,-2.748, 2.055,-2.890, 2.842, PHS= 0.781,-0.740, 0.548, RAW= 141.8, -8.3, CAL= 148.3, -17.8, ROT= 1.7, 17.8
2025-06-11T20:58:24.239Z,1749675504.239 [DAT](INFO): got valid direction response:
20:58:24.9967 LVL= 21104, 31793, 20002, 32755, AGC= 70, IDX= 417, 0.20,-2.748, 2.055,-2.890, 2.842, PHS= 0.781,-0.740, 0.548, RAW= 141.8, -8.3, CAL= 148.3, -17.8, ROT= 1.7, 17.8
2025-06-11T20:58:24.250Z,1749675504.250 [DAT](INFO): DAT read: Bearing 1.7, 17.8 (Local)
2025-06-11T20:58:24.251Z,1749675504.251 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.7, 17.8 (Local)
2025-06-11T20:58:24.257Z,1749675504.257 [DAT](INFO): DAT read: Range 10 to 50 : 101.1 m (Round-trip 134.9 ms) speed 0.5 m/s
2025-06-11T20:58:24.257Z,1749675504.257 [DAT](INFO): DAT read: user:637>
2025-06-11T20:58:24.258Z,1749675504.258 [DAT](INFO): DAT read: Tx time:20:58:26.1077
2025-06-11T20:58:24.259Z,1749675504.259 [DAT](INFO): Ping request sent.
2025-06-11T20:58:24.259Z,1749675504.259 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:24.259Z,1749675504.259 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:24.265Z,1749675504.265 [DAT](INFO): direction in FSK: [0.951710,0.028246,-0.305695]
2025-06-11T20:58:24.266Z,1749675504.266 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:24.266Z,1749675504.266 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:24.278Z,1749675504.278 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:24.278Z,1749675504.278 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:24.481Z,1749675504.481 [DAT](INFO): DAT read: TxSync time:20:58:26.1069
2025-06-11T20:58:24.483Z,1749675504.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 101.099998 m,
deltaT: 3.528233 s,
deltaX: -1.900002 m,
approachRate: -0.538514 m/s,
rangeRepo size: 4
2025-06-11T20:58:24.486Z,1749675504.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 100.234253 m,
bearing: 323.613456 deg,
lat: 36.906366 deg,
lon: -122.115569 deg,
deltaT: 3.528233 s,
deltaX: -1.882919 m,
approachRate: -0.533672 m/s,
posRepo size: 4
2025-06-11T20:58:24.486Z,1749675504.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.23 m.
2025-06-11T20:58:24.489Z,1749675504.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.234253 m,
nav range: 96.963753 m,
bearing: 323.148149 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.075389 deg/s,
cmd heading: 319.621707 deg,
new cmd heading: 319.524028 deg.
2025-06-11T20:58:24.490Z,1749675504.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576746 target range: 100.234253 and range: 101.10 m.
2025-06-11T20:58:24.851Z,1749675504.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.23 m.
2025-06-11T20:58:24.854Z,1749675504.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.234253 m,
nav range: 96.774445 m,
bearing: 323.117084 deg,
approach rate: -0.509788 m/s,
LOS rate: -0.083819 deg/s,
cmd heading: 319.524036 deg,
new cmd heading: 319.430659 deg.
2025-06-11T20:58:24.855Z,1749675504.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575117 target range: 100.234253 and range: 101.10 m.
2025-06-11T20:58:25.307Z,1749675505.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.23 m.
2025-06-11T20:58:25.313Z,1749675505.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.234253 m,
nav range: 96.547256 m,
bearing: 323.080049 deg,
approach rate: -0.498884 m/s,
LOS rate: -0.081518 deg/s,
cmd heading: 319.430653 deg,
new cmd heading: 319.319286 deg.
2025-06-11T20:58:25.314Z,1749675505.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.573173 target range: 100.234253 and range: 101.10 m.
2025-06-11T20:58:25.660Z,1749675505.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.23 m.
2025-06-11T20:58:25.662Z,1749675505.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.234253 m,
nav range: 96.363731 m,
bearing: 323.050127 deg,
approach rate: -0.519897 m/s,
LOS rate: -0.084925 deg/s,
cmd heading: 319.319294 deg,
new cmd heading: 319.229358 deg.
2025-06-11T20:58:25.663Z,1749675505.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.571603 target range: 100.234253 and range: 101.10 m.
2025-06-11T20:58:26.055Z,1749675506.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:26.057Z,1749675506.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.23 m.
2025-06-11T20:58:26.060Z,1749675506.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.234253 m,
nav range: 96.161957 m,
bearing: 323.017242 deg,
approach rate: -0.507429 m/s,
LOS rate: -0.082874 deg/s,
cmd heading: 319.229354 deg,
new cmd heading: 319.130492 deg.
2025-06-11T20:58:26.061Z,1749675506.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.569878 target range: 100.234253 and range: 101.10 m.
2025-06-11T20:58:26.245Z,1749675506.245 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:26.245Z,1749675506.245 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:26.245Z,1749675506.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:26.489Z,1749675506.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.23 m.
2025-06-11T20:58:26.492Z,1749675506.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.234253 m,
nav range: 95.934303 m,
bearing: 322.986533 deg,
approach rate: -0.526771 m/s,
LOS rate: -0.071226 deg/s,
cmd heading: 319.130480 deg,
new cmd heading: 319.038135 deg.
2025-06-11T20:58:26.493Z,1749675506.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568266 target range: 100.234253 and range: 101.10 m.
2025-06-11T20:58:26.497Z,1749675506.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238506
2025-06-11T20:58:26.749Z,1749675506.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490172
2025-06-11T20:58:26.864Z,1749675506.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.23 m.
2025-06-11T20:58:26.866Z,1749675506.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.234253 m,
nav range: 95.737297 m,
bearing: 322.959693 deg,
approach rate: -0.526567 m/s,
LOS rate: -0.071886 deg/s,
cmd heading: 319.038136 deg,
new cmd heading: 318.957451 deg.
2025-06-11T20:58:26.867Z,1749675506.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.566858 target range: 100.234253 and range: 101.10 m.
2025-06-11T20:58:27.001Z,1749675507.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742544
2025-06-11T20:58:27.253Z,1749675507.253 [DAT](INFO): DAT read: Rx Time:20:58:28.6443
2025-06-11T20:58:27.253Z,1749675507.253 [DAT](INFO): Rx dataTimestamp_ set to:1749675507.252952
2025-06-11T20:58:27.254Z,1749675507.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995156
2025-06-11T20:58:27.291Z,1749675507.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.23 m.
2025-06-11T20:58:27.294Z,1749675507.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.234253 m,
nav range: 95.514572 m,
bearing: 322.936455 deg,
approach rate: -0.521392 m/s,
LOS rate: -0.054528 deg/s,
cmd heading: 318.957458 deg,
new cmd heading: 318.887579 deg.
2025-06-11T20:58:27.294Z,1749675507.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.565638 target range: 100.234253 and range: 101.10 m.
2025-06-11T20:58:27.505Z,1749675507.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246128
2025-06-11T20:58:27.679Z,1749675507.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.23 m.
2025-06-11T20:58:27.682Z,1749675507.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.234253 m,
nav range: 95.311569 m,
bearing: 322.915140 deg,
approach rate: -0.522138 m/s,
LOS rate: -0.054940 deg/s,
cmd heading: 318.887571 deg,
new cmd heading: 318.823491 deg.
2025-06-11T20:58:27.683Z,1749675507.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564520 target range: 100.234253 and range: 101.10 m.
2025-06-11T20:58:27.758Z,1749675507.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499063
2025-06-11T20:58:28.015Z,1749675508.015 [DAT](INFO): DAT read: 20:58:28.6443 LVL= 25664, 32753, 21330, 32755, AGC= 67, IDX= 408, 0.46,-0.573,-1.985,-0.694,-1.195, PHS= 0.710,-0.743, 0.498, RAW= 142.2, -6.9, CAL= 148.3, -16.2, ROT= 1.7, 16.2
2025-06-11T20:58:28.031Z,1749675508.031 [DAT](INFO): got valid direction response:
20:58:28.6443 LVL= 25664, 32753, 21330, 32755, AGC= 67, IDX= 408, 0.46,-0.573,-1.985,-0.694,-1.195, PHS= 0.710,-0.743, 0.498, RAW= 142.2, -6.9, CAL= 148.3, -16.2, ROT= 1.7, 16.2
2025-06-11T20:58:28.051Z,1749675508.051 [DAT](INFO): DAT read: Bearing 1.7, 16.2 (Local)
2025-06-11T20:58:28.051Z,1749675508.051 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.7, 16.2 (Local)
2025-06-11T20:58:28.053Z,1749675508.053 [DAT](INFO): DAT read: Range 10 to 50 : 99.3 m (Round-trip 132.5 ms) speed 0.5 m/s
2025-06-11T20:58:28.053Z,1749675508.053 [DAT](INFO): DAT read: user:638>
2025-06-11T20:58:28.054Z,1749675508.054 [DAT](INFO): DAT read: Tx time:20:58:29.7577
2025-06-11T20:58:28.055Z,1749675508.055 [DAT](INFO): Ping request sent.
2025-06-11T20:58:28.055Z,1749675508.055 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:28.055Z,1749675508.055 [DAT](INFO): DAT read: TxSync time:20:58:29.7569
2025-06-11T20:58:28.071Z,1749675508.071 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:28.076Z,1749675508.076 [DAT](INFO): direction in FSK: [0.959871,0.028488,-0.278991]
2025-06-11T20:58:28.077Z,1749675508.077 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:28.077Z,1749675508.077 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:28.089Z,1749675508.089 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:28.089Z,1749675508.089 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:28.233Z,1749675508.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 99.300003 m,
deltaT: 3.779667 s,
deltaX: -1.799995 m,
approachRate: -0.476231 m/s,
rangeRepo size: 4
2025-06-11T20:58:28.235Z,1749675508.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 98.449173 m,
bearing: 323.166270 deg,
lat: 36.906366 deg,
lon: -122.115569 deg,
deltaT: 3.779667 s,
deltaX: -1.785080 m,
approachRate: -0.472285 m/s,
posRepo size: 4
2025-06-11T20:58:28.240Z,1749675508.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.45 m.
2025-06-11T20:58:28.243Z,1749675508.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.449173 m,
nav range: 95.067268 m,
bearing: 322.889366 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.054940 deg/s,
cmd heading: 318.823504 deg,
new cmd heading: 318.732359 deg.
2025-06-11T20:58:28.248Z,1749675508.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562929 target range: 98.449173 and range: 99.30 m.
2025-06-11T20:58:28.575Z,1749675508.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:28.582Z,1749675508.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.45 m.
2025-06-11T20:58:28.589Z,1749675508.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.449173 m,
nav range: 94.843643 m,
bearing: 322.877312 deg,
approach rate: -0.640281 m/s,
LOS rate: -0.034594 deg/s,
cmd heading: 318.732362 deg,
new cmd heading: 318.696115 deg.
2025-06-11T20:58:28.590Z,1749675508.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562296 target range: 98.449173 and range: 99.30 m.
2025-06-11T20:58:28.764Z,1749675508.764 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:28.765Z,1749675508.765 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:28.765Z,1749675508.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:28.949Z,1749675508.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.45 m.
2025-06-11T20:58:28.951Z,1749675508.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.449173 m,
nav range: 94.651314 m,
bearing: 322.867478 deg,
approach rate: -0.524354 m/s,
LOS rate: -0.026866 deg/s,
cmd heading: 318.696108 deg,
new cmd heading: 318.666545 deg.
2025-06-11T20:58:28.952Z,1749675508.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561780 target range: 98.449173 and range: 99.30 m.
2025-06-11T20:58:29.018Z,1749675509.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963164
2025-06-11T20:58:29.269Z,1749675509.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214069
2025-06-11T20:58:29.379Z,1749675509.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.45 m.
2025-06-11T20:58:29.386Z,1749675509.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.449173 m,
nav range: 94.438736 m,
bearing: 322.866750 deg,
approach rate: -0.493980 m/s,
LOS rate: -0.001696 deg/s,
cmd heading: 318.666547 deg,
new cmd heading: 318.664357 deg.
2025-06-11T20:58:29.387Z,1749675509.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561742 target range: 98.449173 and range: 99.30 m.
2025-06-11T20:58:29.521Z,1749675509.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466364
2025-06-11T20:58:29.744Z,1749675509.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.45 m.
2025-06-11T20:58:29.751Z,1749675509.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.449173 m,
nav range: 94.239098 m,
bearing: 322.866292 deg,
approach rate: -0.547352 m/s,
LOS rate: -0.001257 deg/s,
cmd heading: 318.664361 deg,
new cmd heading: 318.662986 deg.
2025-06-11T20:58:29.753Z,1749675509.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561718 target range: 98.449173 and range: 99.30 m.
2025-06-11T20:58:29.773Z,1749675509.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718184
2025-06-11T20:58:30.025Z,1749675510.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970031
2025-06-11T20:58:30.169Z,1749675510.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.45 m.
2025-06-11T20:58:30.176Z,1749675510.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.449173 m,
nav range: 94.030823 m,
bearing: 322.865919 deg,
approach rate: -0.489238 m/s,
LOS rate: -0.000878 deg/s,
cmd heading: 318.662995 deg,
new cmd heading: 318.661873 deg.
2025-06-11T20:58:30.177Z,1749675510.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561699 target range: 98.449173 and range: 99.30 m.
2025-06-11T20:58:30.281Z,1749675510.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225902
2025-06-11T20:58:30.533Z,1749675510.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478293
2025-06-11T20:58:30.593Z,1749675510.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:30.595Z,1749675510.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.45 m.
2025-06-11T20:58:30.602Z,1749675510.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.449173 m,
nav range: 93.807220 m,
bearing: 322.873393 deg,
approach rate: -0.524789 m/s,
LOS rate: 0.017583 deg/s,
cmd heading: 318.661875 deg,
new cmd heading: 318.684350 deg.
2025-06-11T20:58:30.603Z,1749675510.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562091 target range: 98.449173 and range: 99.30 m.
2025-06-11T20:58:30.785Z,1749675510.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730087
2025-06-11T20:58:30.973Z,1749675510.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.45 m.
2025-06-11T20:58:30.976Z,1749675510.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.449173 m,
nav range: 93.611084 m,
bearing: 322.880408 deg,
approach rate: -0.519279 m/s,
LOS rate: 0.018611 deg/s,
cmd heading: 318.684360 deg,
new cmd heading: 318.705448 deg.
2025-06-11T20:58:30.977Z,1749675510.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562459 target range: 98.449173 and range: 99.30 m.
2025-06-11T20:58:31.038Z,1749675511.038 [DAT](INFO): DAT read: Rx Time:20:58:32.2917
2025-06-11T20:58:31.039Z,1749675511.039 [DAT](INFO): Rx dataTimestamp_ set to:1749675511.038589
2025-06-11T20:58:31.039Z,1749675511.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984776
2025-06-11T20:58:31.289Z,1749675511.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234153
2025-06-11T20:58:31.383Z,1749675511.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.45 m.
2025-06-11T20:58:31.403Z,1749675511.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.449173 m,
nav range: 93.405731 m,
bearing: 322.895137 deg,
approach rate: -0.501568 m/s,
LOS rate: 0.036053 deg/s,
cmd heading: 318.705451 deg,
new cmd heading: 318.749734 deg.
2025-06-11T20:58:31.410Z,1749675511.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.563232 target range: 98.449173 and range: 99.30 m.
2025-06-11T20:58:31.547Z,1749675511.547 [DAT](INFO): DAT read: 20:58:32.2917 LVL= 25888, 32753, 19810, 32755, AGC= 67, IDX= 414,-0.25, 2.879, 1.552, 2.713, 2.276, PHS= 0.691,-0.676, 0.435, RAW= 139.8, -7.2, CAL= 145.9, -17.0, ROT= 4.1, 17.0
2025-06-11T20:58:31.553Z,1749675511.553 [DAT](INFO): got valid direction response:
20:58:32.2917 LVL= 25888, 32753, 19810, 32755, AGC= 67, IDX= 414,-0.25, 2.879, 1.552, 2.713, 2.276, PHS= 0.691,-0.676, 0.435, RAW= 139.8, -7.2, CAL= 145.9, -17.0, ROT= 4.1, 17.0
2025-06-11T20:58:31.554Z,1749675511.554 [DAT](INFO): DAT read: Bearing 4.1, 17.0 (Local)
2025-06-11T20:58:31.554Z,1749675511.554 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.1, 17.0 (Local)
2025-06-11T20:58:31.565Z,1749675511.565 [DAT](INFO): DAT read: Range 10 to 50 : 97.3 m (Round-trip 129.8 ms) speed 0.5 m/s
2025-06-11T20:58:31.566Z,1749675511.566 [DAT](INFO): DAT read: user:639>
2025-06-11T20:58:31.567Z,1749675511.567 [DAT](INFO): DAT read: Tx time:20:58:33.4078
2025-06-11T20:58:31.572Z,1749675511.572 [DAT](INFO): Ping request sent.
2025-06-11T20:58:31.573Z,1749675511.573 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:31.573Z,1749675511.573 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:31.574Z,1749675511.574 [DAT](INFO): direction in FSK: [0.953857,0.068373,-0.292372]
2025-06-11T20:58:31.574Z,1749675511.574 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:31.574Z,1749675511.574 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:31.586Z,1749675511.586 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:31.587Z,1749675511.587 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:31.793Z,1749675511.793 [DAT](INFO): DAT read: TxSync time:20:58:33.4070
2025-06-11T20:58:31.805Z,1749675511.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 97.300003 m,
deltaT: 3.532024 s,
deltaX: -2.000000 m,
approachRate: -0.566248 m/s,
rangeRepo size: 4
2025-06-11T20:58:31.807Z,1749675511.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 96.466080 m,
bearing: 324.328982 deg,
lat: 36.906366 deg,
lon: -122.115566 deg,
deltaT: 3.532024 s,
deltaX: -1.983093 m,
approachRate: -0.561461 m/s,
posRepo size: 4
2025-06-11T20:58:31.820Z,1749675511.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.47 m.
2025-06-11T20:58:31.833Z,1749675511.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.466080 m,
nav range: 93.036362 m,
bearing: 323.052039 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.036053 deg/s,
cmd heading: 318.749738 deg,
new cmd heading: 318.794701 deg.
2025-06-11T20:58:31.834Z,1749675511.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564017 target range: 96.466080 and range: 97.30 m.
2025-06-11T20:58:32.286Z,1749675512.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.47 m.
2025-06-11T20:58:32.289Z,1749675512.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.466080 m,
nav range: 92.779327 m,
bearing: 323.071934 deg,
approach rate: -0.526726 m/s,
LOS rate: 0.040882 deg/s,
cmd heading: 318.794708 deg,
new cmd heading: 318.854558 deg.
2025-06-11T20:58:32.290Z,1749675512.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.565062 target range: 96.466080 and range: 97.30 m.
2025-06-11T20:58:32.654Z,1749675512.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:32.660Z,1749675512.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.47 m.
2025-06-11T20:58:32.663Z,1749675512.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.466080 m,
nav range: 92.616127 m,
bearing: 323.085757 deg,
approach rate: -0.441337 m/s,
LOS rate: 0.037447 deg/s,
cmd heading: 318.854568 deg,
new cmd heading: 318.896111 deg.
2025-06-11T20:58:32.668Z,1749675512.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.565787 target range: 96.466080 and range: 97.30 m.
2025-06-11T20:58:32.809Z,1749675512.809 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:32.809Z,1749675512.809 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:32.809Z,1749675512.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:33.018Z,1749675513.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.47 m.
2025-06-11T20:58:33.041Z,1749675513.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.466080 m,
nav range: 92.428780 m,
bearing: 323.101851 deg,
approach rate: -0.517839 m/s,
LOS rate: 0.044574 deg/s,
cmd heading: 318.896123 deg,
new cmd heading: 318.944502 deg.
2025-06-11T20:58:33.042Z,1749675513.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.566632 target range: 96.466080 and range: 97.30 m.
2025-06-11T20:58:33.061Z,1749675513.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488614
2025-06-11T20:58:33.313Z,1749675513.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740856
2025-06-11T20:58:33.439Z,1749675513.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.47 m.
2025-06-11T20:58:33.442Z,1749675513.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.466080 m,
nav range: 92.231339 m,
bearing: 323.117928 deg,
approach rate: -0.468970 m/s,
LOS rate: 0.038269 deg/s,
cmd heading: 318.944508 deg,
new cmd heading: 318.992843 deg.
2025-06-11T20:58:33.443Z,1749675513.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.567475 target range: 96.466080 and range: 97.30 m.
2025-06-11T20:58:33.565Z,1749675513.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992606
2025-06-11T20:58:33.817Z,1749675513.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244484
2025-06-11T20:58:33.873Z,1749675513.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.47 m.
2025-06-11T20:58:33.876Z,1749675513.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.466080 m,
nav range: 92.027893 m,
bearing: 323.134466 deg,
approach rate: -0.468308 m/s,
LOS rate: 0.038152 deg/s,
cmd heading: 318.992838 deg,
new cmd heading: 319.042562 deg.
2025-06-11T20:58:33.877Z,1749675513.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568343 target range: 96.466080 and range: 97.30 m.
2025-06-11T20:58:34.069Z,1749675514.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496477
2025-06-11T20:58:34.238Z,1749675514.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.47 m.
2025-06-11T20:58:34.255Z,1749675514.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.466080 m,
nav range: 91.860840 m,
bearing: 323.148028 deg,
approach rate: -0.457477 m/s,
LOS rate: 0.037206 deg/s,
cmd heading: 319.042562 deg,
new cmd heading: 319.083320 deg.
2025-06-11T20:58:34.262Z,1749675514.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.569055 target range: 96.466080 and range: 97.30 m.
2025-06-11T20:58:34.321Z,1749675514.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748630
2025-06-11T20:58:34.573Z,1749675514.573 [DAT](INFO): DAT read: Rx Time:20:58:35.9395
2025-06-11T20:58:34.573Z,1749675514.573 [DAT](INFO): Rx dataTimestamp_ set to:1749675514.573032
2025-06-11T20:58:34.574Z,1749675514.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001618
2025-06-11T20:58:34.667Z,1749675514.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:34.669Z,1749675514.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.47 m.
2025-06-11T20:58:34.672Z,1749675514.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.466080 m,
nav range: 91.660439 m,
bearing: 323.160774 deg,
approach rate: -0.464909 m/s,
LOS rate: 0.029635 deg/s,
cmd heading: 319.083325 deg,
new cmd heading: 319.121648 deg.
2025-06-11T20:58:34.673Z,1749675514.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.569724 target range: 96.466080 and range: 97.30 m.
2025-06-11T20:58:34.825Z,1749675514.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252452
2025-06-11T20:58:35.052Z,1749675515.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.47 m.
2025-06-11T20:58:35.055Z,1749675515.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.466080 m,
nav range: 91.485847 m,
bearing: 323.171925 deg,
approach rate: -0.456324 m/s,
LOS rate: 0.029201 deg/s,
cmd heading: 319.121656 deg,
new cmd heading: 319.155173 deg.
2025-06-11T20:58:35.056Z,1749675515.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570309 target range: 96.466080 and range: 97.30 m.
2025-06-11T20:58:35.080Z,1749675515.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507601
2025-06-11T20:58:35.343Z,1749675515.343 [DAT](INFO): DAT read: 20:58:35.9395 LVL= 22832, 26593, 18866, 32755, AGC= 66, IDX= 422, 0.20, 1.530,-0.027, 1.376, 0.879, PHS= 0.739,-0.858, 0.494, RAW= 141.8, -5.1, CAL= 147.4, -14.4, ROT= 2.6, 14.4
2025-06-11T20:58:35.344Z,1749675515.344 [DAT](INFO): got valid direction response:
20:58:35.9395 LVL= 22832, 26593, 18866, 32755, AGC= 66, IDX= 422, 0.20, 1.530,-0.027, 1.376, 0.879, PHS= 0.739,-0.858, 0.494, RAW= 141.8, -5.1, CAL= 147.4, -14.4, ROT= 2.6, 14.4
2025-06-11T20:58:35.345Z,1749675515.345 [DAT](INFO): DAT read: Bearing 2.6, 14.4 (Local)
2025-06-11T20:58:35.346Z,1749675515.346 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.6, 14.4 (Local)
2025-06-11T20:58:35.347Z,1749675515.347 [DAT](INFO): DAT read: Range 10 to 50 : 95.7 m (Round-trip 127.6 ms) speed 0.4 m/s
2025-06-11T20:58:35.349Z,1749675515.349 [DAT](INFO): DAT read: user:640>
2025-06-11T20:58:35.350Z,1749675515.350 [DAT](INFO): DAT read: Tx time:20:58:37.0578
2025-06-11T20:58:35.350Z,1749675515.350 [DAT](INFO): Ping request sent.
2025-06-11T20:58:35.350Z,1749675515.350 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:35.351Z,1749675515.351 [DAT](INFO): DAT read: TxSync time:20:58:37.0570
2025-06-11T20:58:35.352Z,1749675515.352 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:35.353Z,1749675515.353 [DAT](INFO): direction in FSK: [0.967586,0.043938,-0.248690]
2025-06-11T20:58:35.353Z,1749675515.353 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:35.353Z,1749675515.353 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:35.365Z,1749675515.365 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:35.365Z,1749675515.365 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:35.429Z,1749675515.429 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061112595744,35.0, +10.2, 90.7RA, 0.00, 80.11, 72.30, 75.35, 76.37
2025-06-11T20:58:35.474Z,1749675515.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 95.699997 m,
deltaT: 3.789761 s,
deltaX: -1.600006 m,
approachRate: -0.422192 m/s,
rangeRepo size: 4
2025-06-11T20:58:35.480Z,1749675515.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 94.879410 m,
bearing: 322.533006 deg,
lat: 36.906368 deg,
lon: -122.115566 deg,
deltaT: 3.789761 s,
deltaX: -1.586670 m,
approachRate: -0.418673 m/s,
posRepo size: 4
2025-06-11T20:58:35.481Z,1749675515.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.88 m.
2025-06-11T20:58:35.483Z,1749675515.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.879410 m,
nav range: 91.507355 m,
bearing: 323.277002 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.029201 deg/s,
cmd heading: 319.155178 deg,
new cmd heading: 319.192061 deg.
2025-06-11T20:58:35.492Z,1749675515.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570952 target range: 94.879410 and range: 95.70 m.
2025-06-11T20:58:35.841Z,1749675515.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.88 m.
2025-06-11T20:58:35.845Z,1749675515.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.879410 m,
nav range: 91.335342 m,
bearing: 323.288004 deg,
approach rate: -0.467167 m/s,
LOS rate: 0.029938 deg/s,
cmd heading: 319.192061 deg,
new cmd heading: 319.225131 deg.
2025-06-11T20:58:35.846Z,1749675515.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.571529 target range: 94.879410 and range: 95.70 m.
2025-06-11T20:58:36.226Z,1749675516.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.88 m.
2025-06-11T20:58:36.228Z,1749675516.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.879410 m,
nav range: 91.150993 m,
bearing: 323.299703 deg,
approach rate: -0.479720 m/s,
LOS rate: 0.030503 deg/s,
cmd heading: 319.225119 deg,
new cmd heading: 319.260285 deg.
2025-06-11T20:58:36.229Z,1749675516.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.572143 target range: 94.879410 and range: 95.70 m.
2025-06-11T20:58:36.650Z,1749675516.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.88 m.
2025-06-11T20:58:36.653Z,1749675516.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.879410 m,
nav range: 90.961617 m,
bearing: 323.294282 deg,
approach rate: -0.446379 m/s,
LOS rate: -0.012803 deg/s,
cmd heading: 319.260281 deg,
new cmd heading: 319.243986 deg.
2025-06-11T20:58:36.654Z,1749675516.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.571859 target range: 94.879410 and range: 95.70 m.
2025-06-11T20:58:37.044Z,1749675517.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:37.049Z,1749675517.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.88 m.
2025-06-11T20:58:37.074Z,1749675517.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.879410 m,
nav range: 90.785835 m,
bearing: 323.289018 deg,
approach rate: -0.441573 m/s,
LOS rate: -0.013249 deg/s,
cmd heading: 319.243998 deg,
new cmd heading: 319.228175 deg.
2025-06-11T20:58:37.075Z,1749675517.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.571583 target range: 94.879410 and range: 95.70 m.
2025-06-11T20:58:37.096Z,1749675517.096 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:37.096Z,1749675517.096 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:37.096Z,1749675517.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:37.348Z,1749675517.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997064
2025-06-11T20:58:37.466Z,1749675517.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.88 m.
2025-06-11T20:58:37.469Z,1749675517.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.879410 m,
nav range: 90.594826 m,
bearing: 323.276664 deg,
approach rate: -0.457118 m/s,
LOS rate: -0.029629 deg/s,
cmd heading: 319.228179 deg,
new cmd heading: 319.191038 deg.
2025-06-11T20:58:37.470Z,1749675517.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570935 target range: 94.879410 and range: 95.70 m.
2025-06-11T20:58:37.597Z,1749675517.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246221
2025-06-11T20:58:37.850Z,1749675517.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499033
2025-06-11T20:58:37.946Z,1749675517.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.88 m.
2025-06-11T20:58:37.953Z,1749675517.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.879410 m,
nav range: 90.382080 m,
bearing: 323.262721 deg,
approach rate: -0.442698 m/s,
LOS rate: -0.029081 deg/s,
cmd heading: 319.191050 deg,
new cmd heading: 319.149125 deg.
2025-06-11T20:58:37.954Z,1749675517.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570203 target range: 94.879410 and range: 95.70 m.
2025-06-11T20:58:38.101Z,1749675518.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750343
2025-06-11T20:58:38.356Z,1749675518.356 [DAT](INFO): DAT read: Rx Time:20:58:39.5873
2025-06-11T20:58:38.358Z,1749675518.358 [DAT](INFO): Rx dataTimestamp_ set to:1749675518.356491
2025-06-11T20:58:38.360Z,1749675518.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008701
2025-06-11T20:58:38.393Z,1749675518.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.88 m.
2025-06-11T20:58:38.400Z,1749675518.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.879410 m,
nav range: 90.179649 m,
bearing: 323.249315 deg,
approach rate: -0.452784 m/s,
LOS rate: -0.030054 deg/s,
cmd heading: 319.149113 deg,
new cmd heading: 319.108803 deg.
2025-06-11T20:58:38.401Z,1749675518.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.569499 target range: 94.879410 and range: 95.70 m.
2025-06-11T20:58:38.605Z,1749675518.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254357
2025-06-11T20:58:38.837Z,1749675518.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.88 m.
2025-06-11T20:58:38.840Z,1749675518.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.879410 m,
nav range: 89.962234 m,
bearing: 323.230519 deg,
approach rate: -0.490026 m/s,
LOS rate: -0.042465 deg/s,
cmd heading: 319.108815 deg,
new cmd heading: 319.052293 deg.
2025-06-11T20:58:38.841Z,1749675518.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568513 target range: 94.879410 and range: 95.70 m.
2025-06-11T20:58:38.886Z,1749675518.886 [DAT](INFO): DAT read: 20:58:39.5873 LVL= 22896, 30369, 23026, 32755, AGC= 67, IDX= 416,-0.45, 0.181,-1.274, 0.002,-0.444, PHS= 0.714,-0.783, 0.443, RAW= 140.2, -5.5, CAL= 146.0, -15.0, ROT= 4.0, 15.0
2025-06-11T20:58:38.888Z,1749675518.888 [DAT](INFO): got valid direction response:
20:58:39.5873 LVL= 22896, 30369, 23026, 32755, AGC= 67, IDX= 416,-0.45, 0.181,-1.274, 0.002,-0.444, PHS= 0.714,-0.783, 0.443, RAW= 140.2, -5.5, CAL= 146.0, -15.0, ROT= 4.0, 15.0
2025-06-11T20:58:38.889Z,1749675518.889 [DAT](INFO): DAT read: Bearing 4.0, 15.0 (Local)
2025-06-11T20:58:38.890Z,1749675518.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.0, 15.0 (Local)
2025-06-11T20:58:38.900Z,1749675518.900 [DAT](INFO): DAT read: Range 10 to 50 : 93.9 m (Round-trip 125.3 ms) speed 0.4 m/s
2025-06-11T20:58:38.901Z,1749675518.901 [DAT](INFO): DAT read: user:641>
2025-06-11T20:58:38.902Z,1749675518.902 [DAT](INFO): DAT read: Tx time:20:58:40.7078
2025-06-11T20:58:38.902Z,1749675518.902 [DAT](INFO): Ping request sent.
2025-06-11T20:58:38.902Z,1749675518.902 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:38.902Z,1749675518.902 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:38.903Z,1749675518.903 [DAT](INFO): direction in FSK: [0.963573,0.067380,-0.258819]
2025-06-11T20:58:38.907Z,1749675518.907 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:38.909Z,1749675518.909 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:38.926Z,1749675518.926 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:38.926Z,1749675518.926 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:39.129Z,1749675519.129 [DAT](INFO): DAT read: TxSync time:20:58:40.7070
2025-06-11T20:58:39.227Z,1749675519.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 93.900002 m,
deltaT: 3.547072 s,
deltaX: -1.799995 m,
approachRate: -0.507460 m/s,
rangeRepo size: 4
2025-06-11T20:58:39.229Z,1749675519.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 93.095367 m,
bearing: 324.633267 deg,
lat: 36.906370 deg,
lon: -122.115558 deg,
deltaT: 3.547072 s,
deltaX: -1.784042 m,
approachRate: -0.502962 m/s,
posRepo size: 4
2025-06-11T20:58:39.230Z,1749675519.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-06-11T20:58:39.233Z,1749675519.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.095367 m,
nav range: 89.459061 m,
bearing: 323.630989 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.042465 deg/s,
cmd heading: 319.052288 deg,
new cmd heading: 319.002696 deg.
2025-06-11T20:58:39.234Z,1749675519.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.567647 target range: 93.095367 and range: 93.90 m.
2025-06-11T20:58:39.638Z,1749675519.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:39.640Z,1749675519.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-06-11T20:58:39.643Z,1749675519.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.095367 m,
nav range: 89.252632 m,
bearing: 323.608873 deg,
approach rate: -0.498559 m/s,
LOS rate: -0.053538 deg/s,
cmd heading: 319.002701 deg,
new cmd heading: 318.936199 deg.
2025-06-11T20:58:39.644Z,1749675519.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.566487 target range: 93.095367 and range: 93.90 m.
2025-06-11T20:58:39.884Z,1749675519.884 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:39.885Z,1749675519.885 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:39.885Z,1749675519.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:40.028Z,1749675520.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-06-11T20:58:40.031Z,1749675520.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.095367 m,
nav range: 89.063438 m,
bearing: 323.588658 deg,
approach rate: -0.487605 m/s,
LOS rate: -0.052211 deg/s,
cmd heading: 318.936202 deg,
new cmd heading: 318.875428 deg.
2025-06-11T20:58:40.032Z,1749675520.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.565426 target range: 93.095367 and range: 93.90 m.
2025-06-11T20:58:40.138Z,1749675520.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235637
2025-06-11T20:58:40.391Z,1749675520.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488836
2025-06-11T20:58:40.497Z,1749675520.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-06-11T20:58:40.499Z,1749675520.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.095367 m,
nav range: 88.832588 m,
bearing: 323.564780 deg,
approach rate: -0.493210 m/s,
LOS rate: -0.051146 deg/s,
cmd heading: 318.875441 deg,
new cmd heading: 318.803623 deg.
2025-06-11T20:58:40.504Z,1749675520.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564173 target range: 93.095367 and range: 93.90 m.
2025-06-11T20:58:40.641Z,1749675520.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738674
2025-06-11T20:58:40.844Z,1749675520.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-06-11T20:58:40.846Z,1749675520.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.095367 m,
nav range: 88.657425 m,
bearing: 323.546397 deg,
approach rate: -0.504646 m/s,
LOS rate: -0.053066 deg/s,
cmd heading: 318.803615 deg,
new cmd heading: 318.748357 deg.
2025-06-11T20:58:40.847Z,1749675520.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.563208 target range: 93.095367 and range: 93.90 m.
2025-06-11T20:58:40.894Z,1749675520.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991602
2025-06-11T20:58:41.145Z,1749675521.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242827
2025-06-11T20:58:41.232Z,1749675521.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-06-11T20:58:41.234Z,1749675521.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.095367 m,
nav range: 88.451279 m,
bearing: 323.524606 deg,
approach rate: -0.531329 m/s,
LOS rate: -0.056296 deg/s,
cmd heading: 318.748345 deg,
new cmd heading: 318.682819 deg.
2025-06-11T20:58:41.235Z,1749675521.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562065 target range: 93.095367 and range: 93.90 m.
2025-06-11T20:58:41.399Z,1749675521.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496960
2025-06-11T20:58:41.649Z,1749675521.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746833
2025-06-11T20:58:41.651Z,1749675521.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:41.654Z,1749675521.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-06-11T20:58:41.657Z,1749675521.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.095367 m,
nav range: 88.235977 m,
bearing: 323.503411 deg,
approach rate: -0.510028 m/s,
LOS rate: -0.050332 deg/s,
cmd heading: 318.682830 deg,
new cmd heading: 318.619088 deg.
2025-06-11T20:58:41.658Z,1749675521.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560952 target range: 93.095367 and range: 93.90 m.
2025-06-11T20:58:41.902Z,1749675521.902 [DAT](INFO): DAT read: Rx Time:20:58:43.2348
2025-06-11T20:58:41.902Z,1749675521.902 [DAT](INFO): Rx dataTimestamp_ set to:1749675521.901743
2025-06-11T20:58:41.903Z,1749675521.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000925
2025-06-11T20:58:42.058Z,1749675522.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-06-11T20:58:42.061Z,1749675522.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.095367 m,
nav range: 88.027710 m,
bearing: 323.482819 deg,
approach rate: -0.515392 m/s,
LOS rate: -0.051078 deg/s,
cmd heading: 318.619090 deg,
new cmd heading: 318.557169 deg.
2025-06-11T20:58:42.062Z,1749675522.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559872 target range: 93.095367 and range: 93.90 m.
2025-06-11T20:58:42.153Z,1749675522.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250864
2025-06-11T20:58:42.434Z,1749675522.434 [DAT](INFO): DAT read: 20:58:43.2348 LVL= 27984, 32753, 23026, 32755, AGC= 68, IDX= 422, 0.01, 1.720, 0.275, 1.571, 1.114, PHS= 0.694,-0.792, 0.453, RAW= 141.3, -5.2, CAL= 147.0, -14.6, ROT= 3.0, 14.6
2025-06-11T20:58:42.435Z,1749675522.435 [DAT](INFO): got valid direction response:
20:58:43.2348 LVL= 27984, 32753, 23026, 32755, AGC= 68, IDX= 422, 0.01, 1.720, 0.275, 1.571, 1.114, PHS= 0.694,-0.792, 0.453, RAW= 141.3, -5.2, CAL= 147.0, -14.6, ROT= 3.0, 14.6
2025-06-11T20:58:42.440Z,1749675522.440 [DAT](INFO): DAT read: Bearing 3.0, 14.6 (Local)
2025-06-11T20:58:42.441Z,1749675522.441 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.0, 14.6 (Local)
2025-06-11T20:58:42.442Z,1749675522.442 [DAT](INFO): DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.8 ms) speed 0.5 m/s
2025-06-11T20:58:42.443Z,1749675522.443 [DAT](INFO): DAT read: user:642>
2025-06-11T20:58:42.448Z,1749675522.448 [DAT](INFO): DAT read: Tx time:20:58:44.3579
2025-06-11T20:58:42.448Z,1749675522.448 [DAT](INFO): Ping request sent.
2025-06-11T20:58:42.448Z,1749675522.448 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:42.449Z,1749675522.449 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:42.450Z,1749675522.450 [DAT](INFO): direction in FSK: [0.966383,0.050646,-0.252069]
2025-06-11T20:58:42.450Z,1749675522.450 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:42.450Z,1749675522.450 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:42.457Z,1749675522.457 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:42.458Z,1749675522.458 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:42.613Z,1749675522.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 92.099998 m,
deltaT: 3.529607 s,
deltaX: -1.800003 m,
approachRate: -0.509973 m/s,
rangeRepo size: 4
2025-06-11T20:58:42.615Z,1749675522.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 91.311142 m,
bearing: 323.614018 deg,
lat: 36.906376 deg,
lon: -122.115562 deg,
deltaT: 3.529607 s,
deltaX: -1.784225 m,
approachRate: -0.505503 m/s,
posRepo size: 4
2025-06-11T20:58:42.615Z,1749675522.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.31 m.
2025-06-11T20:58:42.636Z,1749675522.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.311142 m,
nav range: 88.563850 m,
bearing: 323.550068 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.051078 deg/s,
cmd heading: 318.557182 deg,
new cmd heading: 318.472906 deg.
2025-06-11T20:58:42.637Z,1749675522.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558401 target range: 91.311142 and range: 92.10 m.
2025-06-11T20:58:42.660Z,1749675522.660 [DAT](INFO): DAT read: TxSync time:20:58:44.3571
2025-06-11T20:58:42.938Z,1749675522.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.31 m.
2025-06-11T20:58:42.942Z,1749675522.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.311142 m,
nav range: 88.382767 m,
bearing: 323.534566 deg,
approach rate: -0.549188 m/s,
LOS rate: -0.047112 deg/s,
cmd heading: 318.472897 deg,
new cmd heading: 318.426294 deg.
2025-06-11T20:58:42.943Z,1749675522.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557587 target range: 91.311142 and range: 92.10 m.
2025-06-11T20:58:43.324Z,1749675523.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.31 m.
2025-06-11T20:58:43.326Z,1749675523.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.311142 m,
nav range: 88.184540 m,
bearing: 323.518098 deg,
approach rate: -0.518334 m/s,
LOS rate: -0.043159 deg/s,
cmd heading: 318.426288 deg,
new cmd heading: 318.376772 deg.
2025-06-11T20:58:43.327Z,1749675523.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556723 target range: 91.311142 and range: 92.10 m.
2025-06-11T20:58:43.746Z,1749675523.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:43.752Z,1749675523.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.31 m.
2025-06-11T20:58:43.755Z,1749675523.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.311142 m,
nav range: 87.963341 m,
bearing: 323.503801 deg,
approach rate: -0.516883 m/s,
LOS rate: -0.033491 deg/s,
cmd heading: 318.376783 deg,
new cmd heading: 318.333786 deg.
2025-06-11T20:58:43.760Z,1749675523.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555973 target range: 91.311142 and range: 92.10 m.
2025-06-11T20:58:43.917Z,1749675523.917 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:43.918Z,1749675523.918 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:43.918Z,1749675523.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:44.119Z,1749675524.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.31 m.
2025-06-11T20:58:44.122Z,1749675524.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.311142 m,
nav range: 87.758446 m,
bearing: 323.490515 deg,
approach rate: -0.551454 m/s,
LOS rate: -0.035841 deg/s,
cmd heading: 318.333780 deg,
new cmd heading: 318.293829 deg.
2025-06-11T20:58:44.123Z,1749675524.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555275 target range: 91.311142 and range: 92.10 m.
2025-06-11T20:58:44.170Z,1749675524.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721127
2025-06-11T20:58:44.424Z,1749675524.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974535
2025-06-11T20:58:44.566Z,1749675524.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.31 m.
2025-06-11T20:58:44.573Z,1749675524.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.311142 m,
nav range: 87.529778 m,
bearing: 323.483171 deg,
approach rate: -0.511687 m/s,
LOS rate: -0.016476 deg/s,
cmd heading: 318.293837 deg,
new cmd heading: 318.271748 deg.
2025-06-11T20:58:44.574Z,1749675524.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554890 target range: 91.311142 and range: 92.10 m.
2025-06-11T20:58:44.673Z,1749675524.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224351
2025-06-11T20:58:44.926Z,1749675524.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477205
2025-06-11T20:58:44.935Z,1749675524.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.31 m.
2025-06-11T20:58:44.942Z,1749675524.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.311142 m,
nav range: 87.338333 m,
bearing: 323.477058 deg,
approach rate: -0.519546 m/s,
LOS rate: -0.016628 deg/s,
cmd heading: 318.271734 deg,
new cmd heading: 318.253353 deg.
2025-06-11T20:58:44.944Z,1749675524.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554569 target range: 91.311142 and range: 92.10 m.
2025-06-11T20:58:45.178Z,1749675525.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729648
2025-06-11T20:58:45.413Z,1749675525.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.31 m.
2025-06-11T20:58:45.416Z,1749675525.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.311142 m,
nav range: 87.091278 m,
bearing: 323.469128 deg,
approach rate: -0.516266 m/s,
LOS rate: -0.016617 deg/s,
cmd heading: 318.253347 deg,
new cmd heading: 318.229492 deg.
2025-06-11T20:58:45.417Z,1749675525.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554152 target range: 91.311142 and range: 92.10 m.
2025-06-11T20:58:45.432Z,1749675525.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982701
2025-06-11T20:58:45.681Z,1749675525.681 [DAT](INFO): DAT read: Rx Time:20:58:46.8823
2025-06-11T20:58:45.682Z,1749675525.682 [DAT](INFO): Rx dataTimestamp_ set to:1749675525.681703
2025-06-11T20:58:45.683Z,1749675525.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234412
2025-06-11T20:58:45.835Z,1749675525.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:45.838Z,1749675525.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.31 m.
2025-06-11T20:58:45.840Z,1749675525.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.311142 m,
nav range: 86.877548 m,
bearing: 323.466775 deg,
approach rate: -0.503682 m/s,
LOS rate: -0.005560 deg/s,
cmd heading: 318.229496 deg,
new cmd heading: 318.222419 deg.
2025-06-11T20:58:45.841Z,1749675525.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554029 target range: 91.311142 and range: 92.10 m.
2025-06-11T20:58:45.934Z,1749675525.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485436
2025-06-11T20:58:46.191Z,1749675526.191 [DAT](INFO): DAT read: 20:58:46.8823 LVL= 27632, 32753, 19138, 32451, AGC= 70, IDX= 412,-0.09,-1.972, 2.811,-2.143,-2.585, PHS= 0.701,-0.840, 0.440, RAW= 140.9, -4.3, CAL= 146.3, -13.6, ROT= 3.7, 13.6
2025-06-11T20:58:46.197Z,1749675526.197 [DAT](INFO): got valid direction response:
20:58:46.8823 LVL= 27632, 32753, 19138, 32451, AGC= 70, IDX= 412,-0.09,-1.972, 2.811,-2.143,-2.585, PHS= 0.701,-0.840, 0.440, RAW= 140.9, -4.3, CAL= 146.3, -13.6, ROT= 3.7, 13.6
2025-06-11T20:58:46.198Z,1749675526.198 [DAT](INFO): DAT read: Bearing 3.7, 13.6 (Local)
2025-06-11T20:58:46.198Z,1749675526.198 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.7, 13.6 (Local)
2025-06-11T20:58:46.199Z,1749675526.199 [DAT](INFO): DAT read: Range 10 to 50 : 90.2 m (Round-trip 120.3 ms) speed 0.4 m/s
2025-06-11T20:58:46.210Z,1749675526.210 [DAT](INFO): DAT read: user:643>
2025-06-11T20:58:46.211Z,1749675526.211 [DAT](INFO): DAT read: Tx time:20:58:48.0079
2025-06-11T20:58:46.211Z,1749675526.211 [DAT](INFO): Ping request sent.
2025-06-11T20:58:46.211Z,1749675526.211 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:46.216Z,1749675526.216 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:46.217Z,1749675526.217 [DAT](INFO): direction in FSK: [0.969935,0.062723,-0.235142]
2025-06-11T20:58:46.217Z,1749675526.217 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:46.217Z,1749675526.217 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:46.229Z,1749675526.229 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:46.229Z,1749675526.229 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:46.242Z,1749675526.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 90.199997 m,
deltaT: 3.777845 s,
deltaX: -1.900002 m,
approachRate: -0.502933 m/s,
rangeRepo size: 4
2025-06-11T20:58:46.255Z,1749675526.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 89.426979 m,
bearing: 323.538063 deg,
lat: 36.906378 deg,
lon: -122.115562 deg,
deltaT: 3.777845 s,
deltaX: -1.884163 m,
approachRate: -0.498740 m/s,
posRepo size: 4
2025-06-11T20:58:46.260Z,1749675526.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.43 m.
2025-06-11T20:58:46.263Z,1749675526.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.426979 m,
nav range: 86.829010 m,
bearing: 323.530738 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005560 deg/s,
cmd heading: 318.222420 deg,
new cmd heading: 318.215691 deg.
2025-06-11T20:58:46.268Z,1749675526.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553912 target range: 89.426979 and range: 90.20 m.
2025-06-11T20:58:46.439Z,1749675526.439 [DAT](INFO): DAT read: TxSync time:20:58:48.0071
2025-06-11T20:58:46.656Z,1749675526.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.43 m.
2025-06-11T20:58:46.659Z,1749675526.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.426979 m,
nav range: 86.599213 m,
bearing: 323.537481 deg,
approach rate: -0.554213 m/s,
LOS rate: 0.016306 deg/s,
cmd heading: 318.215699 deg,
new cmd heading: 318.235982 deg.
2025-06-11T20:58:46.660Z,1749675526.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554265 target range: 89.426979 and range: 90.20 m.
2025-06-11T20:58:47.064Z,1749675527.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.43 m.
2025-06-11T20:58:47.067Z,1749675527.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.426979 m,
nav range: 86.404533 m,
bearing: 323.543756 deg,
approach rate: -0.501491 m/s,
LOS rate: 0.016201 deg/s,
cmd heading: 318.235971 deg,
new cmd heading: 318.254839 deg.
2025-06-11T20:58:47.072Z,1749675527.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554595 target range: 89.426979 and range: 90.20 m.
2025-06-11T20:58:47.422Z,1749675527.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.43 m.
2025-06-11T20:58:47.437Z,1749675527.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.426979 m,
nav range: 86.218956 m,
bearing: 323.549964 deg,
approach rate: -0.491118 m/s,
LOS rate: 0.016465 deg/s,
cmd heading: 318.254850 deg,
new cmd heading: 318.273515 deg.
2025-06-11T20:58:47.438Z,1749675527.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554921 target range: 89.426979 and range: 90.20 m.
2025-06-11T20:58:47.895Z,1749675527.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:47.908Z,1749675527.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.43 m.
2025-06-11T20:58:47.917Z,1749675527.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.426979 m,
nav range: 85.985497 m,
bearing: 323.562563 deg,
approach rate: -0.484622 m/s,
LOS rate: 0.026224 deg/s,
cmd heading: 318.273510 deg,
new cmd heading: 318.311409 deg.
2025-06-11T20:58:47.919Z,1749675527.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555582 target range: 89.426979 and range: 90.20 m.
2025-06-11T20:58:47.953Z,1749675527.953 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:47.953Z,1749675527.953 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:47.953Z,1749675527.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:48.205Z,1749675528.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993380
2025-06-11T20:58:48.304Z,1749675528.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.43 m.
2025-06-11T20:58:48.307Z,1749675528.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.426979 m,
nav range: 85.785355 m,
bearing: 323.573669 deg,
approach rate: -0.499259 m/s,
LOS rate: 0.027768 deg/s,
cmd heading: 318.311404 deg,
new cmd heading: 318.344799 deg.
2025-06-11T20:58:48.333Z,1749675528.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556165 target range: 89.426979 and range: 90.20 m.
2025-06-11T20:58:48.466Z,1749675528.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252077
2025-06-11T20:58:48.709Z,1749675528.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497515
2025-06-11T20:58:48.727Z,1749675528.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.43 m.
2025-06-11T20:58:48.738Z,1749675528.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.426979 m,
nav range: 85.596565 m,
bearing: 323.587028 deg,
approach rate: -0.446930 m/s,
LOS rate: 0.031696 deg/s,
cmd heading: 318.344790 deg,
new cmd heading: 318.384957 deg.
2025-06-11T20:58:48.739Z,1749675528.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556866 target range: 89.426979 and range: 90.20 m.
2025-06-11T20:58:48.961Z,1749675528.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749352
2025-06-11T20:58:49.101Z,1749675529.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.43 m.
2025-06-11T20:58:49.103Z,1749675529.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.426979 m,
nav range: 85.405190 m,
bearing: 323.600583 deg,
approach rate: -0.511704 m/s,
LOS rate: 0.036324 deg/s,
cmd heading: 318.384951 deg,
new cmd heading: 318.425707 deg.
2025-06-11T20:58:49.105Z,1749675529.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557577 target range: 89.426979 and range: 90.20 m.
2025-06-11T20:58:49.213Z,1749675529.213 [DAT](INFO): DAT read: Rx Time:20:58:50.5300
2025-06-11T20:58:49.213Z,1749675529.213 [DAT](INFO): Rx dataTimestamp_ set to:1749675529.213178
2025-06-11T20:58:49.214Z,1749675529.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002667
2025-06-11T20:58:49.467Z,1749675529.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255680
2025-06-11T20:58:49.571Z,1749675529.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.43 m.
2025-06-11T20:58:49.577Z,1749675529.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.426979 m,
nav range: 85.186241 m,
bearing: 323.616166 deg,
approach rate: -0.466096 m/s,
LOS rate: 0.033257 deg/s,
cmd heading: 318.425714 deg,
new cmd heading: 318.472582 deg.
2025-06-11T20:58:49.578Z,1749675529.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558395 target range: 89.426979 and range: 90.20 m.
2025-06-11T20:58:49.729Z,1749675529.729 [DAT](INFO): DAT read: 20:58:50.5300 LVL= 23952, 27617, 18530, 26739, AGC= 66, IDX= 421,-0.11,-1.343,-2.771,-1.530,-1.901, PHS= 0.646,-0.823, 0.369, RAW= 139.8, -2.9, CAL= 144.9, -12.2, ROT= 5.1, 12.2
2025-06-11T20:58:49.730Z,1749675529.730 [DAT](INFO): got valid direction response:
20:58:50.5300 LVL= 23952, 27617, 18530, 26739, AGC= 66, IDX= 421,-0.11,-1.343,-2.771,-1.530,-1.901, PHS= 0.646,-0.823, 0.369, RAW= 139.8, -2.9, CAL= 144.9, -12.2, ROT= 5.1, 12.2
2025-06-11T20:58:49.731Z,1749675529.731 [DAT](INFO): DAT read: Bearing 5.1, 12.2 (Local)
2025-06-11T20:58:49.731Z,1749675529.731 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.1, 12.2 (Local)
2025-06-11T20:58:49.733Z,1749675529.733 [DAT](INFO): DAT read: Range 10 to 50 : 88.5 m (Round-trip 118.0 ms) speed 0.4 m/s
2025-06-11T20:58:49.734Z,1749675529.734 [DAT](INFO): DAT read: user:644>
2025-06-11T20:58:49.735Z,1749675529.735 [DAT](INFO): DAT read: Tx time:20:58:51.6579
2025-06-11T20:58:49.735Z,1749675529.735 [DAT](INFO): Ping request sent.
2025-06-11T20:58:49.735Z,1749675529.735 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:49.736Z,1749675529.736 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:49.737Z,1749675529.737 [DAT](INFO): direction in FSK: [0.973546,0.086887,-0.211325]
2025-06-11T20:58:49.737Z,1749675529.737 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:49.737Z,1749675529.737 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:49.741Z,1749675529.741 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:49.741Z,1749675529.741 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:49.969Z,1749675529.969 [DAT](INFO): DAT read: TxSync time:20:58:51.6571
2025-06-11T20:58:49.983Z,1749675529.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 88.500000 m,
deltaT: 3.531804 s,
deltaX: -1.699997 m,
approachRate: -0.481340 m/s,
rangeRepo size: 4
2025-06-11T20:58:49.989Z,1749675529.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 87.741058 m,
bearing: 324.390950 deg,
lat: 36.906380 deg,
lon: -122.115562 deg,
deltaT: 3.531804 s,
deltaX: -1.685921 m,
approachRate: -0.477354 m/s,
posRepo size: 4
2025-06-11T20:58:49.990Z,1749675529.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-06-11T20:58:49.997Z,1749675529.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.741058 m,
nav range: 85.208153 m,
bearing: 323.734776 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.033257 deg/s,
cmd heading: 318.472569 deg,
new cmd heading: 318.513613 deg.
2025-06-11T20:58:49.998Z,1749675529.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559111 target range: 87.741058 and range: 88.50 m.
2025-06-11T20:58:50.320Z,1749675530.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:50.322Z,1749675530.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-06-11T20:58:50.325Z,1749675530.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.741058 m,
nav range: 85.036507 m,
bearing: 323.745432 deg,
approach rate: -0.504567 m/s,
LOS rate: 0.031388 deg/s,
cmd heading: 318.513605 deg,
new cmd heading: 318.545638 deg.
2025-06-11T20:58:50.326Z,1749675530.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559670 target range: 87.741058 and range: 88.50 m.
2025-06-11T20:58:50.472Z,1749675530.472 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:50.473Z,1749675530.473 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:50.473Z,1749675530.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:50.725Z,1749675530.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989302
2025-06-11T20:58:50.745Z,1749675530.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-06-11T20:58:50.752Z,1749675530.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.741058 m,
nav range: 84.850182 m,
bearing: 323.753108 deg,
approach rate: -0.440521 m/s,
LOS rate: 0.018189 deg/s,
cmd heading: 318.545625 deg,
new cmd heading: 318.568705 deg.
2025-06-11T20:58:50.753Z,1749675530.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560073 target range: 87.741058 and range: 88.50 m.
2025-06-11T20:58:50.977Z,1749675530.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241467
2025-06-11T20:58:51.106Z,1749675531.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-06-11T20:58:51.109Z,1749675531.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.741058 m,
nav range: 84.665108 m,
bearing: 323.760760 deg,
approach rate: -0.512566 m/s,
LOS rate: 0.021237 deg/s,
cmd heading: 318.568711 deg,
new cmd heading: 318.591716 deg.
2025-06-11T20:58:51.110Z,1749675531.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560474 target range: 87.741058 and range: 88.50 m.
2025-06-11T20:58:51.229Z,1749675531.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493469
2025-06-11T20:58:51.481Z,1749675531.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745502
2025-06-11T20:58:51.546Z,1749675531.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-06-11T20:58:51.570Z,1749675531.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.741058 m,
nav range: 84.473785 m,
bearing: 323.768620 deg,
approach rate: -0.436061 m/s,
LOS rate: 0.017955 deg/s,
cmd heading: 318.591715 deg,
new cmd heading: 318.615348 deg.
2025-06-11T20:58:51.577Z,1749675531.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560887 target range: 87.741058 and range: 88.50 m.
2025-06-11T20:58:51.734Z,1749675531.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998941
2025-06-11T20:58:51.959Z,1749675531.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-06-11T20:58:51.966Z,1749675531.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.741058 m,
nav range: 84.268585 m,
bearing: 323.772299 deg,
approach rate: -0.495144 m/s,
LOS rate: 0.008900 deg/s,
cmd heading: 318.615347 deg,
new cmd heading: 318.626413 deg.
2025-06-11T20:58:51.967Z,1749675531.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561080 target range: 87.741058 and range: 88.50 m.
2025-06-11T20:58:51.988Z,1749675531.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252924
2025-06-11T20:58:52.237Z,1749675532.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501432
2025-06-11T20:58:52.319Z,1749675532.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-06-11T20:58:52.322Z,1749675532.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.741058 m,
nav range: 84.095993 m,
bearing: 323.775291 deg,
approach rate: -0.479831 m/s,
LOS rate: 0.008337 deg/s,
cmd heading: 318.626412 deg,
new cmd heading: 318.635408 deg.
2025-06-11T20:58:52.323Z,1749675532.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561237 target range: 87.741058 and range: 88.50 m.
2025-06-11T20:58:52.489Z,1749675532.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753451
2025-06-11T20:58:52.741Z,1749675532.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005370
2025-06-11T20:58:52.758Z,1749675532.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:52.765Z,1749675532.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-06-11T20:58:52.779Z,1749675532.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.741058 m,
nav range: 83.894554 m,
bearing: 323.772371 deg,
approach rate: -0.451285 m/s,
LOS rate: -0.006559 deg/s,
cmd heading: 318.635401 deg,
new cmd heading: 318.626618 deg.
2025-06-11T20:58:52.788Z,1749675532.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561084 target range: 87.741058 and range: 88.50 m.
2025-06-11T20:58:52.993Z,1749675532.993 [DAT](INFO): DAT read: Rx Time:20:58:54.1776
2025-06-11T20:58:52.994Z,1749675532.994 [DAT](INFO): Rx dataTimestamp_ set to:1749675532.993304
2025-06-11T20:58:52.994Z,1749675532.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258796
2025-06-11T20:58:53.141Z,1749675533.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.74 m.
2025-06-11T20:58:53.143Z,1749675533.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.741058 m,
nav range: 83.718948 m,
bearing: 323.769768 deg,
approach rate: -0.474274 m/s,
LOS rate: -0.007045 deg/s,
cmd heading: 318.626631 deg,
new cmd heading: 318.618805 deg.
2025-06-11T20:58:53.148Z,1749675533.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560947 target range: 87.741058 and range: 88.50 m.
2025-06-11T20:58:53.189Z,1749675533.189 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:58:53.246Z,1749675533.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510291
2025-06-11T20:58:53.503Z,1749675533.503 [DAT](INFO): DAT read: 20:58:54.1776 LVL= 22816, 23841, 18674, 31011, AGC= 69, IDX= 411,-0.16,-2.934, 1.928,-3.059, 2.803, PHS= 0.634,-0.828, 0.418, RAW= 142.1, -3.3, CAL= 147.2, -12.5, ROT= 2.8, 12.5
2025-06-11T20:58:53.504Z,1749675533.504 [DAT](INFO): got valid direction response:
20:58:54.1776 LVL= 22816, 23841, 18674, 31011, AGC= 69, IDX= 411,-0.16,-2.934, 1.928,-3.059, 2.803, PHS= 0.634,-0.828, 0.418, RAW= 142.1, -3.3, CAL= 147.2, -12.5, ROT= 2.8, 12.5
2025-06-11T20:58:53.505Z,1749675533.505 [DAT](INFO): DAT read: Bearing 2.8, 12.5 (Local)
2025-06-11T20:58:53.505Z,1749675533.505 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.8, 12.5 (Local)
2025-06-11T20:58:53.507Z,1749675533.507 [DAT](INFO): DAT read: Range 10 to 50 : 86.6 m (Round-trip 115.5 ms) speed 0.3 m/s
2025-06-11T20:58:53.508Z,1749675533.508 [DAT](INFO): DAT read: user:645>
2025-06-11T20:58:53.508Z,1749675533.508 [DAT](INFO): DAT read: Tx time:20:58:55.2580
2025-06-11T20:58:53.509Z,1749675533.509 [DAT](INFO): Ping request sent.
2025-06-11T20:58:53.509Z,1749675533.509 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:53.509Z,1749675533.509 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:53.510Z,1749675533.510 [DAT](INFO): direction in FSK: [0.975130,0.047692,-0.216440]
2025-06-11T20:58:53.510Z,1749675533.510 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:53.511Z,1749675533.511 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:53.514Z,1749675533.514 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:53.514Z,1749675533.514 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:53.712Z,1749675533.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 86.599998 m,
deltaT: 3.779905 s,
deltaX: -1.900002 m,
approachRate: -0.502659 m/s,
rangeRepo size: 4
2025-06-11T20:58:53.714Z,1749675533.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 85.856255 m,
bearing: 322.278858 deg,
lat: 36.906379 deg,
lon: -122.115564 deg,
deltaT: 3.779905 s,
deltaX: -1.884804 m,
approachRate: -0.498638 m/s,
posRepo size: 4
2025-06-11T20:58:53.715Z,1749675533.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.86 m.
2025-06-11T20:58:53.722Z,1749675533.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.856255 m,
nav range: 83.452316 m,
bearing: 323.659224 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007045 deg/s,
cmd heading: 318.618817 deg,
new cmd heading: 318.606734 deg.
2025-06-11T20:58:53.723Z,1749675533.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560737 target range: 85.856255 and range: 86.60 m.
2025-06-11T20:58:53.749Z,1749675533.749 [DAT](INFO): DAT read: TxSync time:20:58:55.2572
2025-06-11T20:58:54.023Z,1749675534.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.86 m.
2025-06-11T20:58:54.026Z,1749675534.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.856255 m,
nav range: 83.290833 m,
bearing: 323.653580 deg,
approach rate: -0.511985 m/s,
LOS rate: -0.017929 deg/s,
cmd heading: 318.606741 deg,
new cmd heading: 318.589777 deg.
2025-06-11T20:58:54.027Z,1749675534.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560441 target range: 85.856255 and range: 86.60 m.
2025-06-11T20:58:54.193Z,1749675534.193 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:58:54.414Z,1749675534.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.86 m.
2025-06-11T20:58:54.433Z,1749675534.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.856255 m,
nav range: 83.104805 m,
bearing: 323.646964 deg,
approach rate: -0.475655 m/s,
LOS rate: -0.016956 deg/s,
cmd heading: 318.589775 deg,
new cmd heading: 318.569881 deg.
2025-06-11T20:58:54.434Z,1749675534.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560093 target range: 85.856255 and range: 86.60 m.
2025-06-11T20:58:54.847Z,1749675534.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:54.849Z,1749675534.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.86 m.
2025-06-11T20:58:54.852Z,1749675534.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.856255 m,
nav range: 82.901993 m,
bearing: 323.635597 deg,
approach rate: -0.465957 m/s,
LOS rate: -0.026178 deg/s,
cmd heading: 318.569886 deg,
new cmd heading: 318.535703 deg.
2025-06-11T20:58:54.853Z,1749675534.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559497 target range: 85.856255 and range: 86.60 m.
2025-06-11T20:58:55.011Z,1749675535.011 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:55.011Z,1749675535.011 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:55.011Z,1749675535.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:55.234Z,1749675535.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.86 m.
2025-06-11T20:58:55.237Z,1749675535.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.856255 m,
nav range: 82.722298 m,
bearing: 323.625242 deg,
approach rate: -0.467179 m/s,
LOS rate: -0.026981 deg/s,
cmd heading: 318.535707 deg,
new cmd heading: 318.504574 deg.
2025-06-11T20:58:55.238Z,1749675535.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558953 target range: 85.856255 and range: 86.60 m.
2025-06-11T20:58:55.261Z,1749675535.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752227
2025-06-11T20:58:55.513Z,1749675535.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003961
2025-06-11T20:58:55.700Z,1749675535.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.86 m.
2025-06-11T20:58:55.703Z,1749675535.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.856255 m,
nav range: 82.505623 m,
bearing: 323.610928 deg,
approach rate: -0.469290 m/s,
LOS rate: -0.031084 deg/s,
cmd heading: 318.504562 deg,
new cmd heading: 318.461507 deg.
2025-06-11T20:58:55.703Z,1749675535.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558202 target range: 85.856255 and range: 86.60 m.
2025-06-11T20:58:55.766Z,1749675535.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256758
2025-06-11T20:58:56.017Z,1749675536.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508007
2025-06-11T20:58:56.041Z,1749675536.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.86 m.
2025-06-11T20:58:56.045Z,1749675536.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.856255 m,
nav range: 82.329880 m,
bearing: 323.599142 deg,
approach rate: -0.508173 m/s,
LOS rate: -0.034153 deg/s,
cmd heading: 318.461504 deg,
new cmd heading: 318.426071 deg.
2025-06-11T20:58:56.046Z,1749675536.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557583 target range: 85.856255 and range: 86.60 m.
2025-06-11T20:58:56.269Z,1749675536.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759998
2025-06-11T20:58:56.432Z,1749675536.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.86 m.
2025-06-11T20:58:56.435Z,1749675536.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.856255 m,
nav range: 82.139572 m,
bearing: 323.586230 deg,
approach rate: -0.486623 m/s,
LOS rate: -0.033092 deg/s,
cmd heading: 318.426069 deg,
new cmd heading: 318.387245 deg.
2025-06-11T20:58:56.436Z,1749675536.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556906 target range: 85.856255 and range: 86.60 m.
2025-06-11T20:58:56.522Z,1749675536.522 [DAT](INFO): DAT read: Rx Time:20:58:57.7753
2025-06-11T20:58:56.523Z,1749675536.523 [DAT](INFO): Rx dataTimestamp_ set to:1749675536.522527
2025-06-11T20:58:56.523Z,1749675536.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014538
2025-06-11T20:58:56.773Z,1749675536.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264191
2025-06-11T20:58:56.868Z,1749675536.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:56.870Z,1749675536.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.86 m.
2025-06-11T20:58:56.873Z,1749675536.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.856255 m,
nav range: 81.930206 m,
bearing: 323.571570 deg,
approach rate: -0.478373 m/s,
LOS rate: -0.033582 deg/s,
cmd heading: 318.387246 deg,
new cmd heading: 318.343153 deg.
2025-06-11T20:58:56.874Z,1749675536.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556136 target range: 85.856255 and range: 86.60 m.
2025-06-11T20:58:57.031Z,1749675537.031 [DAT](INFO): DAT read: 20:58:57.7753 LVL= 24160, 32753, 21442, 32755, AGC= 68, IDX= 420,-0.11, 2.572, 1.180, 2.396, 2.038, PHS= 0.623,-0.810, 0.355, RAW= 139.9, -2.6, CAL= 145.0, -11.9, ROT= 5.0, 11.9
2025-06-11T20:58:57.032Z,1749675537.032 [DAT](INFO): got valid direction response:
20:58:57.7753 LVL= 24160, 32753, 21442, 32755, AGC= 68, IDX= 420,-0.11, 2.572, 1.180, 2.396, 2.038, PHS= 0.623,-0.810, 0.355, RAW= 139.9, -2.6, CAL= 145.0, -11.9, ROT= 5.0, 11.9
2025-06-11T20:58:57.033Z,1749675537.033 [DAT](INFO): DAT read: Bearing 5.0, 11.9 (Local)
2025-06-11T20:58:57.034Z,1749675537.034 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.0, 11.9 (Local)
2025-06-11T20:58:57.035Z,1749675537.035 [DAT](INFO): DAT read: Range 10 to 50 : 84.9 m (Round-trip 113.2 ms) speed 0.4 m/s
2025-06-11T20:58:57.036Z,1749675537.036 [DAT](INFO): DAT read: user:646>
2025-06-11T20:58:57.037Z,1749675537.037 [DAT](INFO): DAT read: Tx time:20:58:58.8580
2025-06-11T20:58:57.037Z,1749675537.037 [DAT](INFO): Ping request sent.
2025-06-11T20:58:57.037Z,1749675537.037 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:58:57.037Z,1749675537.037 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:58:57.038Z,1749675537.038 [DAT](INFO): direction in FSK: [0.974785,0.085283,-0.206204]
2025-06-11T20:58:57.039Z,1749675537.039 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:57.039Z,1749675537.039 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:57.058Z,1749675537.058 [DAT](INFO): publishing transmit ping time
2025-06-11T20:58:57.058Z,1749675537.058 [DAT](INFO): publishing direction and range info
2025-06-11T20:58:57.270Z,1749675537.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 84.900002 m,
deltaT: 3.528040 s,
deltaX: -1.699997 m,
approachRate: -0.481853 m/s,
rangeRepo size: 4
2025-06-11T20:58:57.277Z,1749675537.277 [DAT](INFO): DAT read: TxSync time:20:58:58.8572
2025-06-11T20:58:57.278Z,1749675537.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 84.171005 m,
bearing: 324.807531 deg,
lat: 36.906380 deg,
lon: -122.115564 deg,
deltaT: 3.528040 s,
deltaX: -1.685249 m,
approachRate: -0.477673 m/s,
posRepo size: 4
2025-06-11T20:58:57.279Z,1749675537.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.17 m.
2025-06-11T20:58:57.285Z,1749675537.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.171005 m,
nav range: 81.821182 m,
bearing: 323.596077 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.033582 deg/s,
cmd heading: 318.343151 deg,
new cmd heading: 318.302941 deg.
2025-06-11T20:58:57.286Z,1749675537.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555434 target range: 84.171005 and range: 84.90 m.
2025-06-11T20:58:57.712Z,1749675537.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.17 m.
2025-06-11T20:58:57.714Z,1749675537.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.171005 m,
nav range: 81.590202 m,
bearing: 323.586831 deg,
approach rate: -0.522158 m/s,
LOS rate: -0.020963 deg/s,
cmd heading: 318.302935 deg,
new cmd heading: 318.275116 deg.
2025-06-11T20:58:57.715Z,1749675537.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554949 target range: 84.171005 and range: 84.90 m.
2025-06-11T20:58:58.241Z,1749675538.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.17 m.
2025-06-11T20:58:58.243Z,1749675538.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.171005 m,
nav range: 81.353928 m,
bearing: 323.577872 deg,
approach rate: -0.446611 m/s,
LOS rate: -0.016982 deg/s,
cmd heading: 318.275122 deg,
new cmd heading: 318.248170 deg.
2025-06-11T20:58:58.305Z,1749675538.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554478 target range: 84.171005 and range: 84.90 m.
2025-06-11T20:58:58.579Z,1749675538.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.17 m.
2025-06-11T20:58:58.587Z,1749675538.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.171005 m,
nav range: 81.157555 m,
bearing: 323.570621 deg,
approach rate: -0.579459 m/s,
LOS rate: -0.021449 deg/s,
cmd heading: 318.248156 deg,
new cmd heading: 318.226350 deg.
2025-06-11T20:58:58.608Z,1749675538.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554098 target range: 84.171005 and range: 84.90 m.
2025-06-11T20:58:59.065Z,1749675539.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:58:59.067Z,1749675539.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.17 m.
2025-06-11T20:58:59.070Z,1749675539.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.171005 m,
nav range: 80.914833 m,
bearing: 323.565348 deg,
approach rate: -0.497660 m/s,
LOS rate: -0.010844 deg/s,
cmd heading: 318.226354 deg,
new cmd heading: 318.210487 deg.
2025-06-11T20:58:59.071Z,1749675539.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553821 target range: 84.171005 and range: 84.90 m.
2025-06-11T20:58:59.296Z,1749675539.296 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:58:59.296Z,1749675539.296 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:58:59.296Z,1749675539.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:58:59.423Z,1749675539.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.17 m.
2025-06-11T20:58:59.429Z,1749675539.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.171005 m,
nav range: 80.741463 m,
bearing: 323.561758 deg,
approach rate: -0.487864 m/s,
LOS rate: -0.010124 deg/s,
cmd heading: 318.210481 deg,
new cmd heading: 318.199688 deg.
2025-06-11T20:58:59.430Z,1749675539.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553632 target range: 84.171005 and range: 84.90 m.
2025-06-11T20:58:59.545Z,1749675539.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507691
2025-06-11T20:58:59.797Z,1749675539.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760242
2025-06-11T20:58:59.841Z,1749675539.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.17 m.
2025-06-11T20:58:59.844Z,1749675539.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.171005 m,
nav range: 80.528900 m,
bearing: 323.563552 deg,
approach rate: -0.507855 m/s,
LOS rate: 0.004297 deg/s,
cmd heading: 318.199689 deg,
new cmd heading: 318.205085 deg.
2025-06-11T20:58:59.845Z,1749675539.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553726 target range: 84.171005 and range: 84.90 m.
2025-06-11T20:59:00.050Z,1749675540.050 [DAT](INFO): DAT read: Rx Time:20:59:01.3732
2025-06-11T20:59:00.050Z,1749675540.050 [DAT](INFO): Rx dataTimestamp_ set to:1749675540.049957
2025-06-11T20:59:00.051Z,1749675540.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014062
2025-06-11T20:59:00.271Z,1749675540.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.17 m.
2025-06-11T20:59:00.273Z,1749675540.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.171005 m,
nav range: 80.314819 m,
bearing: 323.565520 deg,
approach rate: -0.498516 m/s,
LOS rate: 0.004595 deg/s,
cmd heading: 318.205072 deg,
new cmd heading: 318.210992 deg.
2025-06-11T20:59:00.274Z,1749675540.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553830 target range: 84.171005 and range: 84.90 m.
2025-06-11T20:59:00.316Z,1749675540.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279311
2025-06-11T20:59:00.567Z,1749675540.567 [DAT](INFO): DAT read: 20:59:01.3732 LVL= 26032, 28577, 23058, 32755, AGC= 68, IDX= 413, 0.05,-2.010, 2.754,-2.188,-2.597, PHS= 0.675,-0.885, 0.407, RAW= 140.7, -2.7, CAL= 145.8, -12.0, ROT= 4.2, 12.0
2025-06-11T20:59:00.569Z,1749675540.569 [DAT](INFO): got valid direction response:
20:59:01.3732 LVL= 26032, 28577, 23058, 32755, AGC= 68, IDX= 413, 0.05,-2.010, 2.754,-2.188,-2.597, PHS= 0.675,-0.885, 0.407, RAW= 140.7, -2.7, CAL= 145.8, -12.0, ROT= 4.2, 12.0
2025-06-11T20:59:00.570Z,1749675540.570 [DAT](INFO): DAT read: Bearing 4.2, 12.0 (Local)
2025-06-11T20:59:00.570Z,1749675540.570 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.2, 12.0 (Local)
2025-06-11T20:59:00.571Z,1749675540.571 [DAT](INFO): DAT read: Range 10 to 50 : 83.3 m (Round-trip 111.1 ms) speed 0.4 m/s
2025-06-11T20:59:00.601Z,1749675540.601 [DAT](INFO): DAT read: user:647>
2025-06-11T20:59:00.601Z,1749675540.601 [DAT](INFO): DAT read: Tx time:20:59:02.4580
2025-06-11T20:59:00.602Z,1749675540.602 [DAT](INFO): Ping request sent.
2025-06-11T20:59:00.602Z,1749675540.602 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:00.602Z,1749675540.602 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:00.603Z,1749675540.603 [DAT](INFO): direction in FSK: [0.975521,0.071638,-0.207912]
2025-06-11T20:59:00.603Z,1749675540.603 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:00.612Z,1749675540.612 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:00.626Z,1749675540.626 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:00.626Z,1749675540.626 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:00.805Z,1749675540.805 [DAT](INFO): DAT read: TxSync time:20:59:02.4572
2025-06-11T20:59:00.838Z,1749675540.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 83.300003 m,
deltaT: 3.529524 s,
deltaX: -1.599998 m,
approachRate: -0.453318 m/s,
rangeRepo size: 4
2025-06-11T20:59:00.845Z,1749675540.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 82.583931 m,
bearing: 323.243642 deg,
lat: 36.906381 deg,
lon: -122.115566 deg,
deltaT: 3.529524 s,
deltaX: -1.587074 m,
approachRate: -0.449657 m/s,
posRepo size: 4
2025-06-11T20:59:00.845Z,1749675540.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-06-11T20:59:00.853Z,1749675540.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.583931 m,
nav range: 80.271988 m,
bearing: 323.491316 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004595 deg/s,
cmd heading: 318.211000 deg,
new cmd heading: 318.218810 deg.
2025-06-11T20:59:00.854Z,1749675540.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553966 target range: 82.583931 and range: 83.30 m.
2025-06-11T20:59:01.163Z,1749675541.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:01.166Z,1749675541.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-06-11T20:59:01.169Z,1749675541.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.583931 m,
nav range: 80.099243 m,
bearing: 323.497743 deg,
approach rate: -0.525592 m/s,
LOS rate: 0.019596 deg/s,
cmd heading: 318.218814 deg,
new cmd heading: 318.238136 deg.
2025-06-11T20:59:01.170Z,1749675541.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554303 target range: 82.583931 and range: 83.30 m.
2025-06-11T20:59:01.309Z,1749675541.309 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:01.309Z,1749675541.309 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:01.309Z,1749675541.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:01.552Z,1749675541.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-06-11T20:59:01.555Z,1749675541.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.583931 m,
nav range: 79.904999 m,
bearing: 323.505177 deg,
approach rate: -0.503323 m/s,
LOS rate: 0.019310 deg/s,
cmd heading: 318.238130 deg,
new cmd heading: 318.260487 deg.
2025-06-11T20:59:01.555Z,1749675541.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554693 target range: 82.583931 and range: 83.30 m.
2025-06-11T20:59:01.561Z,1749675541.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.959218
2025-06-11T20:59:01.813Z,1749675541.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.211011
2025-06-11T20:59:01.976Z,1749675541.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-06-11T20:59:01.978Z,1749675541.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.583931 m,
nav range: 79.691696 m,
bearing: 323.515984 deg,
approach rate: -0.503148 m/s,
LOS rate: 0.025559 deg/s,
cmd heading: 318.260478 deg,
new cmd heading: 318.292984 deg.
2025-06-11T20:59:01.979Z,1749675541.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555261 target range: 82.583931 and range: 83.30 m.
2025-06-11T20:59:02.066Z,1749675542.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464014
2025-06-11T20:59:02.317Z,1749675542.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715183
2025-06-11T20:59:02.358Z,1749675542.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-06-11T20:59:02.365Z,1749675542.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.583931 m,
nav range: 79.507507 m,
bearing: 323.525350 deg,
approach rate: -0.481464 m/s,
LOS rate: 0.024541 deg/s,
cmd heading: 318.292990 deg,
new cmd heading: 318.321155 deg.
2025-06-11T20:59:02.366Z,1749675542.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555752 target range: 82.583931 and range: 83.30 m.
2025-06-11T20:59:02.569Z,1749675542.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966969
2025-06-11T20:59:02.777Z,1749675542.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-06-11T20:59:02.800Z,1749675542.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.583931 m,
nav range: 79.293823 m,
bearing: 323.543054 deg,
approach rate: -0.510058 m/s,
LOS rate: 0.042372 deg/s,
cmd heading: 318.321158 deg,
new cmd heading: 318.374412 deg.
2025-06-11T20:59:02.801Z,1749675542.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556682 target range: 82.583931 and range: 83.30 m.
2025-06-11T20:59:02.821Z,1749675542.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219142
2025-06-11T20:59:03.073Z,1749675543.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471076
2025-06-11T20:59:03.168Z,1749675543.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:03.170Z,1749675543.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-06-11T20:59:03.177Z,1749675543.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.583931 m,
nav range: 79.110550 m,
bearing: 323.558350 deg,
approach rate: -0.466189 m/s,
LOS rate: 0.039000 deg/s,
cmd heading: 318.374406 deg,
new cmd heading: 318.420402 deg.
2025-06-11T20:59:03.178Z,1749675543.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557485 target range: 82.583931 and range: 83.30 m.
2025-06-11T20:59:03.325Z,1749675543.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723018
2025-06-11T20:59:03.553Z,1749675543.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-06-11T20:59:03.555Z,1749675543.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.583931 m,
nav range: 78.912788 m,
bearing: 323.574932 deg,
approach rate: -0.518296 m/s,
LOS rate: 0.043567 deg/s,
cmd heading: 318.420414 deg,
new cmd heading: 318.470284 deg.
2025-06-11T20:59:03.556Z,1749675543.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558355 target range: 82.583931 and range: 83.30 m.
2025-06-11T20:59:03.578Z,1749675543.578 [DAT](INFO): DAT read: Rx Time:20:59:04.9707
2025-06-11T20:59:03.578Z,1749675543.578 [DAT](INFO): Rx dataTimestamp_ set to:1749675543.578072
2025-06-11T20:59:03.579Z,1749675543.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977191
2025-06-11T20:59:03.829Z,1749675543.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227110
2025-06-11T20:59:04.022Z,1749675544.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-06-11T20:59:04.025Z,1749675544.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.583931 m,
nav range: 78.697044 m,
bearing: 323.588630 deg,
approach rate: -0.458943 m/s,
LOS rate: 0.029218 deg/s,
cmd heading: 318.470274 deg,
new cmd heading: 318.511480 deg.
2025-06-11T20:59:04.026Z,1749675544.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559074 target range: 82.583931 and range: 83.30 m.
2025-06-11T20:59:04.082Z,1749675544.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479978
2025-06-11T20:59:04.339Z,1749675544.339 [DAT](INFO): DAT read: 20:59:04.9707 LVL= 19088, 30433, 17234, 32563, AGC= 67, IDX= 420,-0.08,-2.927, 1.974,-3.114, 2.829, PHS= 0.615,-0.808, 0.337, RAW= 139.4, -2.2, CAL= 144.4, -11.5, ROT= 5.6, 11.5
2025-06-11T20:59:04.340Z,1749675544.340 [DAT](INFO): got valid direction response:
20:59:04.9707 LVL= 19088, 30433, 17234, 32563, AGC= 67, IDX= 420,-0.08,-2.927, 1.974,-3.114, 2.829, PHS= 0.615,-0.808, 0.337, RAW= 139.4, -2.2, CAL= 144.4, -11.5, ROT= 5.6, 11.5
2025-06-11T20:59:04.341Z,1749675544.341 [DAT](INFO): DAT read: Bearing 5.6, 11.5 (Local)
2025-06-11T20:59:04.342Z,1749675544.342 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.6, 11.5 (Local)
2025-06-11T20:59:04.343Z,1749675544.343 [DAT](INFO): DAT read: Range 10 to 50 : 81.3 m (Round-trip 108.5 ms) speed 0.4 m/s
2025-06-11T20:59:04.344Z,1749675544.344 [DAT](INFO): DAT read: user:648>
2025-06-11T20:59:04.345Z,1749675544.345 [DAT](INFO): DAT read: Tx time:20:59:06.0580
2025-06-11T20:59:04.345Z,1749675544.345 [DAT](INFO): Ping request sent.
2025-06-11T20:59:04.345Z,1749675544.345 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:04.346Z,1749675544.346 [DAT](INFO): DAT read: TxSync time:20:59:06.0572
2025-06-11T20:59:04.347Z,1749675544.347 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:04.348Z,1749675544.348 [DAT](INFO): direction in FSK: [0.975248,0.095624,-0.199368]
2025-06-11T20:59:04.348Z,1749675544.348 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:04.348Z,1749675544.348 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:04.351Z,1749675544.351 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:04.352Z,1749675544.352 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:04.460Z,1749675544.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 81.300003 m,
deltaT: 3.778452 s,
deltaX: -2.000000 m,
approachRate: -0.529317 m/s,
rangeRepo size: 4
2025-06-11T20:59:04.462Z,1749675544.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 80.597633 m,
bearing: 324.555107 deg,
lat: 36.906389 deg,
lon: -122.115557 deg,
deltaT: 3.778452 s,
deltaX: -1.986298 m,
approachRate: -0.525691 m/s,
posRepo size: 4
2025-06-11T20:59:04.463Z,1749675544.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m.
2025-06-11T20:59:04.470Z,1749675544.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.597633 m,
nav range: 78.754631 m,
bearing: 324.473163 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.029218 deg/s,
cmd heading: 318.511474 deg,
new cmd heading: 318.549794 deg.
2025-06-11T20:59:04.471Z,1749675544.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559743 target range: 80.597633 and range: 81.30 m.
2025-06-11T20:59:04.837Z,1749675544.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m.
2025-06-11T20:59:04.844Z,1749675544.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.597633 m,
nav range: 78.567383 m,
bearing: 324.484165 deg,
approach rate: -0.502061 m/s,
LOS rate: 0.029570 deg/s,
cmd heading: 318.549805 deg,
new cmd heading: 318.582891 deg.
2025-06-11T20:59:04.845Z,1749675544.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560320 target range: 80.597633 and range: 81.30 m.
2025-06-11T20:59:05.189Z,1749675545.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:05.191Z,1749675545.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m.
2025-06-11T20:59:05.195Z,1749675545.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.597633 m,
nav range: 78.394554 m,
bearing: 324.494459 deg,
approach rate: -0.480935 m/s,
LOS rate: 0.028707 deg/s,
cmd heading: 318.582890 deg,
new cmd heading: 318.613839 deg.
2025-06-11T20:59:05.196Z,1749675545.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560861 target range: 80.597633 and range: 81.30 m.
2025-06-11T20:59:05.341Z,1749675545.341 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:05.341Z,1749675545.341 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:05.341Z,1749675545.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:05.593Z,1749675545.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247305
2025-06-11T20:59:05.606Z,1749675545.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m.
2025-06-11T20:59:05.609Z,1749675545.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.597633 m,
nav range: 78.198997 m,
bearing: 324.506162 deg,
approach rate: -0.471362 m/s,
LOS rate: 0.028279 deg/s,
cmd heading: 318.613845 deg,
new cmd heading: 318.649041 deg.
2025-06-11T20:59:05.610Z,1749675545.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561475 target range: 80.597633 and range: 81.30 m.
2025-06-11T20:59:05.845Z,1749675545.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499365
2025-06-11T20:59:06.015Z,1749675546.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m.
2025-06-11T20:59:06.018Z,1749675546.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.597633 m,
nav range: 78.011925 m,
bearing: 324.514976 deg,
approach rate: -0.457761 m/s,
LOS rate: 0.021620 deg/s,
cmd heading: 318.649034 deg,
new cmd heading: 318.675540 deg.
2025-06-11T20:59:06.019Z,1749675546.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561937 target range: 80.597633 and range: 81.30 m.
2025-06-11T20:59:06.098Z,1749675546.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752182
2025-06-11T20:59:06.349Z,1749675546.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003218
2025-06-11T20:59:06.429Z,1749675546.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m.
2025-06-11T20:59:06.432Z,1749675546.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.597633 m,
nav range: 77.822250 m,
bearing: 324.523956 deg,
approach rate: -0.458048 m/s,
LOS rate: 0.021739 deg/s,
cmd heading: 318.675535 deg,
new cmd heading: 318.702542 deg.
2025-06-11T20:59:06.433Z,1749675546.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562408 target range: 80.597633 and range: 81.30 m.
2025-06-11T20:59:06.601Z,1749675546.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255333
2025-06-11T20:59:06.854Z,1749675546.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508041
2025-06-11T20:59:06.865Z,1749675546.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m.
2025-06-11T20:59:06.872Z,1749675546.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.597633 m,
nav range: 77.636551 m,
bearing: 324.523768 deg,
approach rate: -0.425970 m/s,
LOS rate: -0.000433 deg/s,
cmd heading: 318.702528 deg,
new cmd heading: 318.701962 deg.
2025-06-11T20:59:06.873Z,1749675546.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562398 target range: 80.597633 and range: 81.30 m.
2025-06-11T20:59:07.105Z,1749675547.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759543
2025-06-11T20:59:07.219Z,1749675547.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:07.225Z,1749675547.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m.
2025-06-11T20:59:07.230Z,1749675547.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.597633 m,
nav range: 77.466156 m,
bearing: 324.523309 deg,
approach rate: -0.473278 m/s,
LOS rate: -0.001277 deg/s,
cmd heading: 318.701954 deg,
new cmd heading: 318.700575 deg.
2025-06-11T20:59:07.231Z,1749675547.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562375 target range: 80.597633 and range: 81.30 m.
2025-06-11T20:59:07.358Z,1749675547.358 [DAT](INFO): DAT read: Rx Time:20:59:08.5684
2025-06-11T20:59:07.359Z,1749675547.359 [DAT](INFO): Rx dataTimestamp_ set to:1749675547.358646
2025-06-11T20:59:07.359Z,1749675547.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013996
2025-06-11T20:59:07.609Z,1749675547.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263411
2025-06-11T20:59:07.613Z,1749675547.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m.
2025-06-11T20:59:07.616Z,1749675547.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.597633 m,
nav range: 77.279388 m,
bearing: 324.522623 deg,
approach rate: -0.481149 m/s,
LOS rate: -0.001774 deg/s,
cmd heading: 318.700588 deg,
new cmd heading: 318.698523 deg.
2025-06-11T20:59:07.617Z,1749675547.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562338 target range: 80.597633 and range: 81.30 m.
2025-06-11T20:59:07.867Z,1749675547.867 [DAT](INFO): DAT read: 20:59:08.5684 LVL= 24480, 31937, 21986, 32755, AGC= 67, IDX= 412,-0.13,-0.235,-1.601,-0.374,-0.691, PHS= 0.543,-0.863, 0.314, RAW= 141.3, 0.1, CAL= 145.6, -8.9, ROT= 4.4, 8.9
2025-06-11T20:59:07.868Z,1749675547.868 [DAT](INFO): got valid direction response:
20:59:08.5684 LVL= 24480, 31937, 21986, 32755, AGC= 67, IDX= 412,-0.13,-0.235,-1.601,-0.374,-0.691, PHS= 0.543,-0.863, 0.314, RAW= 141.3, 0.1, CAL= 145.6, -8.9, ROT= 4.4, 8.9
2025-06-11T20:59:07.869Z,1749675547.869 [DAT](INFO): DAT read: Bearing 4.4, 8.9 (Local)
2025-06-11T20:59:07.870Z,1749675547.870 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.4, 8.9 (Local)
2025-06-11T20:59:07.871Z,1749675547.871 [DAT](INFO): DAT read: Range 10 to 50 : 79.6 m (Round-trip 106.2 ms) speed 0.4 m/s
2025-06-11T20:59:07.872Z,1749675547.872 [DAT](INFO): DAT read: user:649>
2025-06-11T20:59:07.873Z,1749675547.873 [DAT](INFO): DAT read: Tx time:20:59:09.6581
2025-06-11T20:59:07.873Z,1749675547.873 [DAT](INFO): Ping request sent.
2025-06-11T20:59:07.873Z,1749675547.873 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:07.874Z,1749675547.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:07.875Z,1749675547.875 [DAT](INFO): direction in FSK: [0.985048,0.075795,-0.154710]
2025-06-11T20:59:07.875Z,1749675547.875 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:07.875Z,1749675547.875 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:07.883Z,1749675547.883 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:07.883Z,1749675547.883 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:08.105Z,1749675548.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.599998 m,
deltaT: 3.528521 s,
deltaX: -1.700005 m,
approachRate: -0.481790 m/s,
rangeRepo size: 4
2025-06-11T20:59:08.107Z,1749675548.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.914253 m,
bearing: 323.918243 deg,
lat: 36.906390 deg,
lon: -122.115569 deg,
deltaT: 3.528521 s,
deltaX: -1.683380 m,
approachRate: -0.477078 m/s,
posRepo size: 4
2025-06-11T20:59:08.107Z,1749675548.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.91 m.
2025-06-11T20:59:08.113Z,1749675548.113 [DAT](INFO): DAT read: TxSync time:20:59:09.6573
2025-06-11T20:59:08.122Z,1749675548.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.914253 m,
nav range: 77.714149 m,
bearing: 323.909175 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001774 deg/s,
cmd heading: 318.698512 deg,
new cmd heading: 318.695922 deg.
2025-06-11T20:59:08.123Z,1749675548.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562293 target range: 78.914253 and range: 79.60 m.
2025-06-11T20:59:08.416Z,1749675548.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.91 m.
2025-06-11T20:59:08.418Z,1749675548.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.914253 m,
nav range: 77.555397 m,
bearing: 323.903433 deg,
approach rate: -0.503061 m/s,
LOS rate: -0.018234 deg/s,
cmd heading: 318.695916 deg,
new cmd heading: 318.678654 deg.
2025-06-11T20:59:08.419Z,1749675548.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561992 target range: 78.914253 and range: 79.60 m.
2025-06-11T20:59:08.867Z,1749675548.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.91 m.
2025-06-11T20:59:08.871Z,1749675548.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.914253 m,
nav range: 77.345360 m,
bearing: 323.893409 deg,
approach rate: -0.465106 m/s,
LOS rate: -0.022256 deg/s,
cmd heading: 318.678650 deg,
new cmd heading: 318.648498 deg.
2025-06-11T20:59:08.872Z,1749675548.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561465 target range: 78.914253 and range: 79.60 m.
2025-06-11T20:59:09.237Z,1749675549.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:09.239Z,1749675549.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.91 m.
2025-06-11T20:59:09.241Z,1749675549.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.914253 m,
nav range: 77.171028 m,
bearing: 323.885048 deg,
approach rate: -0.469128 m/s,
LOS rate: -0.022550 deg/s,
cmd heading: 318.648487 deg,
new cmd heading: 318.623348 deg.
2025-06-11T20:59:09.242Z,1749675549.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561027 target range: 78.914253 and range: 79.60 m.
2025-06-11T20:59:09.373Z,1749675549.373 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:09.373Z,1749675549.373 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:09.373Z,1749675549.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:09.625Z,1749675549.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751587
2025-06-11T20:59:09.629Z,1749675549.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.91 m.
2025-06-11T20:59:09.632Z,1749675549.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.914253 m,
nav range: 76.989449 m,
bearing: 323.876326 deg,
approach rate: -0.464776 m/s,
LOS rate: -0.022378 deg/s,
cmd heading: 318.623352 deg,
new cmd heading: 318.597125 deg.
2025-06-11T20:59:09.633Z,1749675549.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560569 target range: 78.914253 and range: 79.60 m.
2025-06-11T20:59:09.877Z,1749675549.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003605
2025-06-11T20:59:10.074Z,1749675550.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.91 m.
2025-06-11T20:59:10.077Z,1749675550.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.914253 m,
nav range: 76.779045 m,
bearing: 323.868013 deg,
approach rate: -0.475770 m/s,
LOS rate: -0.018850 deg/s,
cmd heading: 318.597124 deg,
new cmd heading: 318.572116 deg.
2025-06-11T20:59:10.078Z,1749675550.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560133 target range: 78.914253 and range: 79.60 m.
2025-06-11T20:59:10.130Z,1749675550.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256157
2025-06-11T20:59:10.381Z,1749675550.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507716
2025-06-11T20:59:10.443Z,1749675550.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.91 m.
2025-06-11T20:59:10.446Z,1749675550.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.914253 m,
nav range: 76.603203 m,
bearing: 323.860810 deg,
approach rate: -0.473848 m/s,
LOS rate: -0.019455 deg/s,
cmd heading: 318.572126 deg,
new cmd heading: 318.550467 deg.
2025-06-11T20:59:10.447Z,1749675550.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559754 target range: 78.914253 and range: 79.60 m.
2025-06-11T20:59:10.636Z,1749675550.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762775
2025-06-11T20:59:10.886Z,1749675550.886 [DAT](INFO): DAT read: Rx Time:20:59:12.1661
2025-06-11T20:59:10.887Z,1749675550.887 [DAT](INFO): Rx dataTimestamp_ set to:1749675550.886899
2025-06-11T20:59:10.889Z,1749675550.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015489
2025-06-11T20:59:10.926Z,1749675550.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.91 m.
2025-06-11T20:59:10.931Z,1749675550.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.914253 m,
nav range: 76.383240 m,
bearing: 323.850531 deg,
approach rate: -0.455227 m/s,
LOS rate: -0.021335 deg/s,
cmd heading: 318.550461 deg,
new cmd heading: 318.519534 deg.
2025-06-11T20:59:10.933Z,1749675550.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559215 target range: 78.914253 and range: 79.60 m.
2025-06-11T20:59:11.137Z,1749675551.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263722
2025-06-11T20:59:11.245Z,1749675551.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:11.247Z,1749675551.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.91 m.
2025-06-11T20:59:11.250Z,1749675551.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.914253 m,
nav range: 76.204559 m,
bearing: 323.842124 deg,
approach rate: -0.555550 m/s,
LOS rate: -0.026201 deg/s,
cmd heading: 318.519534 deg,
new cmd heading: 318.494252 deg.
2025-06-11T20:59:11.251Z,1749675551.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558774 target range: 78.914253 and range: 79.60 m.
2025-06-11T20:59:11.396Z,1749675551.396 [DAT](INFO): DAT read: 20:59:12.1661 LVL= 21904, 32753, 20386, 32755, AGC= 69, IDX= 420,-0.06,-2.472, 2.351,-2.641,-3.001, PHS= 0.618,-0.884, 0.357, RAW= 140.7, -1.3, CAL= 145.4, -10.5, ROT= 4.6, 10.5
2025-06-11T20:59:11.397Z,1749675551.397 [DAT](INFO): got valid direction response:
20:59:12.1661 LVL= 21904, 32753, 20386, 32755, AGC= 69, IDX= 420,-0.06,-2.472, 2.351,-2.641,-3.001, PHS= 0.618,-0.884, 0.357, RAW= 140.7, -1.3, CAL= 145.4, -10.5, ROT= 4.6, 10.5
2025-06-11T20:59:11.398Z,1749675551.398 [DAT](INFO): DAT read: Bearing 4.6, 10.5 (Local)
2025-06-11T20:59:11.398Z,1749675551.398 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.6, 10.5 (Local)
2025-06-11T20:59:11.400Z,1749675551.400 [DAT](INFO): DAT read: Range 10 to 50 : 77.9 m (Round-trip 103.9 ms) speed 0.4 m/s
2025-06-11T20:59:11.401Z,1749675551.401 [DAT](INFO): DAT read: user:650>
2025-06-11T20:59:11.402Z,1749675551.402 [DAT](INFO): DAT read: Tx time:20:59:13.2581
2025-06-11T20:59:11.402Z,1749675551.402 [DAT](INFO): Ping request sent.
2025-06-11T20:59:11.402Z,1749675551.402 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:11.402Z,1749675551.402 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:11.403Z,1749675551.403 [DAT](INFO): direction in FSK: [0.980088,0.078856,-0.182236]
2025-06-11T20:59:11.403Z,1749675551.403 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:11.405Z,1749675551.405 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:11.408Z,1749675551.408 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:11.408Z,1749675551.408 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:11.641Z,1749675551.641 [DAT](INFO): DAT read: TxSync time:20:59:13.2573
2025-06-11T20:59:11.655Z,1749675551.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 77.900002 m,
deltaT: 3.527604 s,
deltaX: -1.699997 m,
approachRate: -0.481913 m/s,
rangeRepo size: 4
2025-06-11T20:59:11.658Z,1749675551.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 77.230011 m,
bearing: 324.319217 deg,
lat: 36.906390 deg,
lon: -122.115561 deg,
deltaT: 3.527604 s,
deltaX: -1.684242 m,
approachRate: -0.477447 m/s,
posRepo size: 4
2025-06-11T20:59:11.658Z,1749675551.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.23 m.
2025-06-11T20:59:11.661Z,1749675551.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.230011 m,
nav range: 75.599419 m,
bearing: 324.282681 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.026201 deg/s,
cmd heading: 318.494262 deg,
new cmd heading: 318.462264 deg.
2025-06-11T20:59:11.662Z,1749675551.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558215 target range: 77.230011 and range: 77.90 m.
2025-06-11T20:59:12.094Z,1749675552.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.23 m.
2025-06-11T20:59:12.101Z,1749675552.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.230011 m,
nav range: 75.386337 m,
bearing: 324.280744 deg,
approach rate: -0.485108 m/s,
LOS rate: -0.004422 deg/s,
cmd heading: 318.462269 deg,
new cmd heading: 318.456442 deg.
2025-06-11T20:59:12.102Z,1749675552.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558114 target range: 77.230011 and range: 77.90 m.
2025-06-11T20:59:12.612Z,1749675552.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.23 m.
2025-06-11T20:59:12.615Z,1749675552.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.230011 m,
nav range: 75.119568 m,
bearing: 324.278043 deg,
approach rate: -0.514399 m/s,
LOS rate: -0.005227 deg/s,
cmd heading: 318.456450 deg,
new cmd heading: 318.448318 deg.
2025-06-11T20:59:12.617Z,1749675552.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557971 target range: 77.230011 and range: 77.90 m.
2025-06-11T20:59:13.016Z,1749675553.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.23 m.
2025-06-11T20:59:13.019Z,1749675553.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.230011 m,
nav range: 74.924080 m,
bearing: 324.277809 deg,
approach rate: -0.489371 m/s,
LOS rate: -0.000589 deg/s,
cmd heading: 318.448308 deg,
new cmd heading: 318.447602 deg.
2025-06-11T20:59:13.024Z,1749675553.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557959 target range: 77.230011 and range: 77.90 m.
2025-06-11T20:59:13.517Z,1749675553.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:13.519Z,1749675553.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.23 m.
2025-06-11T20:59:13.521Z,1749675553.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.230011 m,
nav range: 74.666473 m,
bearing: 324.277250 deg,
approach rate: -0.508395 m/s,
LOS rate: -0.001106 deg/s,
cmd heading: 318.447598 deg,
new cmd heading: 318.445917 deg.
2025-06-11T20:59:13.522Z,1749675553.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557930 target range: 77.230011 and range: 77.90 m.
2025-06-11T20:59:13.673Z,1749675553.673 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:13.673Z,1749675553.673 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:13.673Z,1749675553.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:13.926Z,1749675553.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523549
2025-06-11T20:59:13.948Z,1749675553.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.23 m.
2025-06-11T20:59:13.957Z,1749675553.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.230011 m,
nav range: 74.462845 m,
bearing: 324.276723 deg,
approach rate: -0.478868 m/s,
LOS rate: -0.001243 deg/s,
cmd heading: 318.445904 deg,
new cmd heading: 318.444319 deg.
2025-06-11T20:59:13.958Z,1749675553.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557902 target range: 77.230011 and range: 77.90 m.
2025-06-11T20:59:14.177Z,1749675554.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774813
2025-06-11T20:59:14.302Z,1749675554.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.23 m.
2025-06-11T20:59:14.309Z,1749675554.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.230011 m,
nav range: 74.285439 m,
bearing: 324.280393 deg,
approach rate: -0.494715 m/s,
LOS rate: 0.010258 deg/s,
cmd heading: 318.444319 deg,
new cmd heading: 318.455355 deg.
2025-06-11T20:59:14.310Z,1749675554.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558095 target range: 77.230011 and range: 77.90 m.
2025-06-11T20:59:14.429Z,1749675554.429 [DAT](INFO): DAT read: Rx Time:20:59:15.7638
2025-06-11T20:59:14.429Z,1749675554.429 [DAT](INFO): Rx dataTimestamp_ set to:1749675554.429037
2025-06-11T20:59:14.430Z,1749675554.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027932
2025-06-11T20:59:14.664Z,1749675554.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.23 m.
2025-06-11T20:59:14.667Z,1749675554.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 77.230011 m,
nav range: 74.092957 m,
bearing: 324.284423 deg,
approach rate: -0.532516 m/s,
LOS rate: 0.011178 deg/s,
cmd heading: 318.455357 deg,
new cmd heading: 318.467478 deg.
2025-06-11T20:59:14.668Z,1749675554.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558306 target range: 77.230011 and range: 77.90 m.
2025-06-11T20:59:14.681Z,1749675554.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278858
2025-06-11T20:59:14.955Z,1749675554.955 [DAT](INFO): DAT read: 20:59:15.7638 LVL= 26400, 31409, 26386, 32755, AGC= 66, IDX= 413,-0.44, 1.987, 0.537, 1.825, 1.461, PHS= 0.614,-0.877, 0.361, RAW= 140.9, -1.4, CAL= 145.6, -10.6, ROT= 4.4, 10.6
2025-06-11T20:59:14.956Z,1749675554.956 [DAT](INFO): got valid direction response:
20:59:15.7638 LVL= 26400, 31409, 26386, 32755, AGC= 66, IDX= 413,-0.44, 1.987, 0.537, 1.825, 1.461, PHS= 0.614,-0.877, 0.361, RAW= 140.9, -1.4, CAL= 145.6, -10.6, ROT= 4.4, 10.6
2025-06-11T20:59:14.957Z,1749675554.957 [DAT](INFO): DAT read: Bearing 4.4, 10.6 (Local)
2025-06-11T20:59:14.957Z,1749675554.957 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.4, 10.6 (Local)
2025-06-11T20:59:14.959Z,1749675554.959 [DAT](INFO): DAT read: Range 10 to 50 : 76.2 m (Round-trip 101.6 ms) speed 0.4 m/s
2025-06-11T20:59:14.960Z,1749675554.960 [DAT](INFO): DAT read: user:651>
2025-06-11T20:59:14.961Z,1749675554.961 [DAT](INFO): DAT read: Tx time:20:59:16.8581
2025-06-11T20:59:14.961Z,1749675554.961 [DAT](INFO): Ping request sent.
2025-06-11T20:59:14.961Z,1749675554.961 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:14.961Z,1749675554.961 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:14.962Z,1749675554.962 [DAT](INFO): direction in FSK: [0.980038,0.075410,-0.183951]
2025-06-11T20:59:14.963Z,1749675554.963 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:14.963Z,1749675554.963 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:14.966Z,1749675554.966 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:14.966Z,1749675554.966 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:15.133Z,1749675555.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 76.199997 m,
deltaT: 3.546661 s,
deltaX: -1.700005 m,
approachRate: -0.479325 m/s,
rangeRepo size: 4
2025-06-11T20:59:15.135Z,1749675555.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 75.546059 m,
bearing: 324.145235 deg,
lat: 36.906390 deg,
lon: -122.115564 deg,
deltaT: 3.546661 s,
deltaX: -1.683952 m,
approachRate: -0.474799 m/s,
posRepo size: 4
2025-06-11T20:59:15.141Z,1749675555.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:15.148Z,1749675555.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 74.012787 m,
bearing: 324.139913 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011178 deg/s,
cmd heading: 318.467487 deg,
new cmd heading: 318.482987 deg.
2025-06-11T20:59:15.149Z,1749675555.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558577 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:15.185Z,1749675555.185 [DAT](INFO): DAT read: TxSync time:20:59:16.8573
2025-06-11T20:59:15.496Z,1749675555.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:15.499Z,1749675555.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 73.826416 m,
bearing: 324.143473 deg,
approach rate: -0.504881 m/s,
LOS rate: 0.009668 deg/s,
cmd heading: 318.482978 deg,
new cmd heading: 318.493685 deg.
2025-06-11T20:59:15.500Z,1749675555.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558764 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:15.850Z,1749675555.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:15.881Z,1749675555.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:15.905Z,1749675555.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 73.641487 m,
bearing: 324.147571 deg,
approach rate: -0.482066 m/s,
LOS rate: 0.010711 deg/s,
cmd heading: 318.493688 deg,
new cmd heading: 318.506015 deg.
2025-06-11T20:59:15.913Z,1749675555.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558979 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:15.941Z,1749675555.941 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:15.941Z,1749675555.941 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:15.942Z,1749675555.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:16.193Z,1749675556.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231673
2025-06-11T20:59:16.301Z,1749675556.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:16.308Z,1749675556.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 73.421547 m,
bearing: 324.155749 deg,
approach rate: -0.520800 m/s,
LOS rate: 0.019422 deg/s,
cmd heading: 318.506010 deg,
new cmd heading: 318.530616 deg.
2025-06-11T20:59:16.309Z,1749675556.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559408 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:16.445Z,1749675556.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483829
2025-06-11T20:59:16.666Z,1749675556.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:16.669Z,1749675556.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 73.232460 m,
bearing: 324.163145 deg,
approach rate: -0.518707 m/s,
LOS rate: 0.020343 deg/s,
cmd heading: 318.530626 deg,
new cmd heading: 318.552873 deg.
2025-06-11T20:59:16.670Z,1749675556.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559796 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:16.710Z,1749675556.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748893
2025-06-11T20:59:16.961Z,1749675556.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999801
2025-06-11T20:59:17.103Z,1749675557.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:17.106Z,1749675557.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 73.018394 m,
bearing: 324.170952 deg,
approach rate: -0.489845 m/s,
LOS rate: 0.017915 deg/s,
cmd heading: 318.552865 deg,
new cmd heading: 318.576352 deg.
2025-06-11T20:59:17.107Z,1749675557.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560206 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:17.213Z,1749675557.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252151
2025-06-11T20:59:17.465Z,1749675557.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503849
2025-06-11T20:59:17.487Z,1749675557.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:17.490Z,1749675557.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 72.830475 m,
bearing: 324.177716 deg,
approach rate: -0.489306 m/s,
LOS rate: 0.017659 deg/s,
cmd heading: 318.576361 deg,
new cmd heading: 318.596707 deg.
2025-06-11T20:59:17.491Z,1749675557.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560562 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:17.717Z,1749675557.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755752
2025-06-11T20:59:17.870Z,1749675557.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:17.873Z,1749675557.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:17.876Z,1749675557.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 72.642258 m,
bearing: 324.184277 deg,
approach rate: -0.487041 m/s,
LOS rate: 0.017020 deg/s,
cmd heading: 318.596715 deg,
new cmd heading: 318.616447 deg.
2025-06-11T20:59:17.877Z,1749675557.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560906 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:17.970Z,1749675557.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009067
2025-06-11T20:59:18.221Z,1749675558.221 [DAT](INFO): DAT read: Rx Time:20:59:19.3615
2025-06-11T20:59:18.221Z,1749675558.221 [DAT](INFO): Rx dataTimestamp_ set to:1749675558.221026
2025-06-11T20:59:18.222Z,1749675558.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260831
2025-06-11T20:59:18.312Z,1749675558.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:18.315Z,1749675558.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 72.427055 m,
bearing: 324.187573 deg,
approach rate: -0.490495 m/s,
LOS rate: 0.007536 deg/s,
cmd heading: 318.616440 deg,
new cmd heading: 318.626359 deg.
2025-06-11T20:59:18.317Z,1749675558.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561079 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:18.473Z,1749675558.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511685
2025-06-11T20:59:18.681Z,1749675558.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T20:59:18.685Z,1749675558.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.546059 m,
nav range: 72.246613 m,
bearing: 324.190179 deg,
approach rate: -0.488446 m/s,
LOS rate: 0.007071 deg/s,
cmd heading: 318.626358 deg,
new cmd heading: 318.634194 deg.
2025-06-11T20:59:18.686Z,1749675558.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561216 target range: 75.546059 and range: 76.20 m.
2025-06-11T20:59:18.737Z,1749675558.737 [DAT](INFO): DAT read: 20:59:19.3615 LVL= 24416, 31473, 18738, 32755, AGC= 65, IDX= 421,-0.20,-1.956, 2.857,-2.095,-2.477, PHS= 0.609,-0.902, 0.378, RAW= 141.9, -1.2, CAL= 146.4, -10.3, ROT= 3.6, 10.3
2025-06-11T20:59:18.739Z,1749675558.739 [DAT](INFO): got valid direction response:
20:59:19.3615 LVL= 24416, 31473, 18738, 32755, AGC= 65, IDX= 421,-0.20,-1.956, 2.857,-2.095,-2.477, PHS= 0.609,-0.902, 0.378, RAW= 141.9, -1.2, CAL= 146.4, -10.3, ROT= 3.6, 10.3
2025-06-11T20:59:18.741Z,1749675558.741 [DAT](INFO): DAT read: Bearing 3.6, 10.3 (Local)
2025-06-11T20:59:18.741Z,1749675558.741 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.6, 10.3 (Local)
2025-06-11T20:59:18.743Z,1749675558.743 [DAT](INFO): DAT read: Range 10 to 50 : 74.4 m (Round-trip 99.3 ms) speed 0.4 m/s
2025-06-11T20:59:18.746Z,1749675558.746 [DAT](INFO): DAT read: user:652>
2025-06-11T20:59:18.747Z,1749675558.747 [DAT](INFO): DAT read: Tx time:20:59:20.4581
2025-06-11T20:59:18.747Z,1749675558.747 [DAT](INFO): Ping request sent.
2025-06-11T20:59:18.747Z,1749675558.747 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:18.749Z,1749675558.749 [DAT](INFO): DAT read: TxSync time:20:59:20.4574
2025-06-11T20:59:18.749Z,1749675558.749 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:18.750Z,1749675558.750 [DAT](INFO): direction in FSK: [0.981944,0.061779,-0.178802]
2025-06-11T20:59:18.751Z,1749675558.751 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:18.751Z,1749675558.751 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:18.754Z,1749675558.754 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:18.755Z,1749675558.755 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:19.118Z,1749675559.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 74.400002 m,
deltaT: 3.791124 s,
deltaX: -1.799995 m,
approachRate: -0.474792 m/s,
rangeRepo size: 4
2025-06-11T20:59:19.137Z,1749675559.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 73.760437 m,
bearing: 323.406567 deg,
lat: 36.906390 deg,
lon: -122.115564 deg,
deltaT: 3.791124 s,
deltaX: -1.785622 m,
approachRate: -0.471001 m/s,
posRepo size: 4
2025-06-11T20:59:19.137Z,1749675559.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T20:59:19.140Z,1749675559.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760437 m,
nav range: 72.037857 m,
bearing: 324.189839 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007071 deg/s,
cmd heading: 318.634199 deg,
new cmd heading: 318.643455 deg.
2025-06-11T20:59:19.141Z,1749675559.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561378 target range: 73.760437 and range: 74.40 m.
2025-06-11T20:59:19.531Z,1749675559.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T20:59:19.533Z,1749675559.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760437 m,
nav range: 71.847267 m,
bearing: 324.189572 deg,
approach rate: -0.461583 m/s,
LOS rate: -0.000648 deg/s,
cmd heading: 318.643460 deg,
new cmd heading: 318.642658 deg.
2025-06-11T20:59:19.534Z,1749675559.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561364 target range: 73.760437 and range: 74.40 m.
2025-06-11T20:59:19.899Z,1749675559.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:19.902Z,1749675559.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T20:59:19.906Z,1749675559.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760437 m,
nav range: 71.657036 m,
bearing: 324.189136 deg,
approach rate: -0.512901 m/s,
LOS rate: -0.001178 deg/s,
cmd heading: 318.642668 deg,
new cmd heading: 318.641357 deg.
2025-06-11T20:59:19.908Z,1749675559.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561341 target range: 73.760437 and range: 74.40 m.
2025-06-11T20:59:19.987Z,1749675559.987 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:19.987Z,1749675559.987 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:19.989Z,1749675559.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:20.239Z,1749675560.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491457
2025-06-11T20:59:20.365Z,1749675560.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T20:59:20.368Z,1749675560.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760437 m,
nav range: 71.438148 m,
bearing: 324.188172 deg,
approach rate: -0.472411 m/s,
LOS rate: -0.002089 deg/s,
cmd heading: 318.641357 deg,
new cmd heading: 318.638453 deg.
2025-06-11T20:59:20.369Z,1749675560.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561290 target range: 73.760437 and range: 74.40 m.
2025-06-11T20:59:20.493Z,1749675560.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745328
2025-06-11T20:59:20.735Z,1749675560.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T20:59:20.738Z,1749675560.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760437 m,
nav range: 71.269997 m,
bearing: 324.187426 deg,
approach rate: -0.454163 m/s,
LOS rate: -0.002018 deg/s,
cmd heading: 318.638461 deg,
new cmd heading: 318.636220 deg.
2025-06-11T20:59:20.739Z,1749675560.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561251 target range: 73.760437 and range: 74.40 m.
2025-06-11T20:59:20.745Z,1749675560.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997375
2025-06-11T20:59:20.999Z,1749675560.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251260
2025-06-11T20:59:21.125Z,1749675561.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T20:59:21.128Z,1749675561.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760437 m,
nav range: 71.078773 m,
bearing: 324.180653 deg,
approach rate: -0.490232 m/s,
LOS rate: -0.017412 deg/s,
cmd heading: 318.636220 deg,
new cmd heading: 318.615845 deg.
2025-06-11T20:59:21.129Z,1749675561.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560895 target range: 73.760437 and range: 74.40 m.
2025-06-11T20:59:21.249Z,1749675561.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501446
2025-06-11T20:59:21.501Z,1749675561.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753260
2025-06-11T20:59:21.526Z,1749675561.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T20:59:21.548Z,1749675561.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760437 m,
nav range: 70.889763 m,
bearing: 324.173921 deg,
approach rate: -0.472169 m/s,
LOS rate: -0.016861 deg/s,
cmd heading: 318.615839 deg,
new cmd heading: 318.595591 deg.
2025-06-11T20:59:21.549Z,1749675561.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560542 target range: 73.760437 and range: 74.40 m.
2025-06-11T20:59:21.753Z,1749675561.753 [DAT](INFO): DAT read: Rx Time:20:59:22.9591
2025-06-11T20:59:21.753Z,1749675561.753 [DAT](INFO): Rx dataTimestamp_ set to:1749675561.753103
2025-06-11T20:59:21.754Z,1749675561.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006465
2025-06-11T20:59:21.917Z,1749675561.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:21.920Z,1749675561.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T20:59:21.925Z,1749675561.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760437 m,
nav range: 70.706566 m,
bearing: 324.167357 deg,
approach rate: -0.464915 m/s,
LOS rate: -0.016701 deg/s,
cmd heading: 318.595595 deg,
new cmd heading: 318.575852 deg.
2025-06-11T20:59:21.927Z,1749675561.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560197 target range: 73.760437 and range: 74.40 m.
2025-06-11T20:59:22.011Z,1749675562.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262743
2025-06-11T20:59:22.263Z,1749675562.263 [DAT](INFO): DAT read: 20:59:22.9591 LVL= 22224, 25665, 19522, 32019, AGC= 69, IDX= 411, 0.29,-0.447,-1.850,-0.546,-0.944, PHS= 0.585,-0.859, 0.395, RAW= 143.0, -1.8, CAL= 147.6, -10.9, ROT= 2.4, 10.9
2025-06-11T20:59:22.264Z,1749675562.264 [DAT](INFO): got valid direction response:
20:59:22.9591 LVL= 22224, 25665, 19522, 32019, AGC= 69, IDX= 411, 0.29,-0.447,-1.850,-0.546,-0.944, PHS= 0.585,-0.859, 0.395, RAW= 143.0, -1.8, CAL= 147.6, -10.9, ROT= 2.4, 10.9
2025-06-11T20:59:22.265Z,1749675562.265 [DAT](INFO): DAT read: Bearing 2.4, 10.9 (Local)
2025-06-11T20:59:22.266Z,1749675562.266 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.4, 10.9 (Local)
2025-06-11T20:59:22.267Z,1749675562.267 [DAT](INFO): DAT read: Range 10 to 50 : 72.6 m (Round-trip 96.8 ms) speed 0.4 m/s
2025-06-11T20:59:22.268Z,1749675562.268 [DAT](INFO): DAT read: user:653>
2025-06-11T20:59:22.269Z,1749675562.269 [DAT](INFO): DAT read: Tx time:20:59:24.0582
2025-06-11T20:59:22.269Z,1749675562.269 [DAT](INFO): Ping request sent.
2025-06-11T20:59:22.269Z,1749675562.269 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:22.270Z,1749675562.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:22.271Z,1749675562.270 [DAT](INFO): direction in FSK: [0.981097,0.041120,-0.189095]
2025-06-11T20:59:22.271Z,1749675562.271 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:22.271Z,1749675562.271 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:22.298Z,1749675562.298 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:22.299Z,1749675562.299 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:22.421Z,1749675562.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 72.599998 m,
deltaT: 3.530024 s,
deltaX: -1.800003 m,
approachRate: -0.509912 m/s,
rangeRepo size: 4
2025-06-11T20:59:22.423Z,1749675562.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.977951 m,
bearing: 322.450966 deg,
lat: 36.906390 deg,
lon: -122.115569 deg,
deltaT: 3.530024 s,
deltaX: -1.782486 m,
approachRate: -0.504950 m/s,
posRepo size: 4
2025-06-11T20:59:22.432Z,1749675562.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m.
2025-06-11T20:59:22.434Z,1749675562.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.977951 m,
nav range: 70.760757 m,
bearing: 323.841923 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016701 deg/s,
cmd heading: 318.575842 deg,
new cmd heading: 318.550965 deg.
2025-06-11T20:59:22.435Z,1749675562.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559763 target range: 71.977951 and range: 72.60 m.
2025-06-11T20:59:22.509Z,1749675562.509 [DAT](INFO): DAT read: TxSync time:20:59:24.0574
2025-06-11T20:59:22.734Z,1749675562.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m.
2025-06-11T20:59:22.736Z,1749675562.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.977951 m,
nav range: 70.603241 m,
bearing: 323.835452 deg,
approach rate: -0.496212 m/s,
LOS rate: -0.020431 deg/s,
cmd heading: 318.550952 deg,
new cmd heading: 318.531495 deg.
2025-06-11T20:59:22.737Z,1749675562.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559423 target range: 71.977951 and range: 72.60 m.
2025-06-11T20:59:23.153Z,1749675563.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m.
2025-06-11T20:59:23.156Z,1749675563.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.977951 m,
nav range: 70.403442 m,
bearing: 323.827056 deg,
approach rate: -0.475836 m/s,
LOS rate: -0.020051 deg/s,
cmd heading: 318.531500 deg,
new cmd heading: 318.506243 deg.
2025-06-11T20:59:23.157Z,1749675563.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558983 target range: 71.977951 and range: 72.60 m.
2025-06-11T20:59:23.557Z,1749675563.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m.
2025-06-11T20:59:23.559Z,1749675563.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.977951 m,
nav range: 70.213104 m,
bearing: 323.819359 deg,
approach rate: -0.471862 m/s,
LOS rate: -0.019134 deg/s,
cmd heading: 318.506256 deg,
new cmd heading: 318.483101 deg.
2025-06-11T20:59:23.561Z,1749675563.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558579 target range: 71.977951 and range: 72.60 m.
2025-06-11T20:59:23.946Z,1749675563.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:23.949Z,1749675563.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m.
2025-06-11T20:59:23.951Z,1749675563.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.977951 m,
nav range: 70.027084 m,
bearing: 323.811627 deg,
approach rate: -0.474652 m/s,
LOS rate: -0.019783 deg/s,
cmd heading: 318.483115 deg,
new cmd heading: 318.459855 deg.
2025-06-11T20:59:23.952Z,1749675563.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558173 target range: 71.977951 and range: 72.60 m.
2025-06-11T20:59:24.024Z,1749675564.024 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:24.024Z,1749675564.024 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:24.025Z,1749675564.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:24.273Z,1749675564.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003577
2025-06-11T20:59:24.312Z,1749675564.312 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:59:24.378Z,1749675564.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m.
2025-06-11T20:59:24.381Z,1749675564.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.977951 m,
nav range: 69.817352 m,
bearing: 323.806443 deg,
approach rate: -0.488214 m/s,
LOS rate: -0.012103 deg/s,
cmd heading: 318.459865 deg,
new cmd heading: 318.444268 deg.
2025-06-11T20:59:24.382Z,1749675564.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557901 target range: 71.977951 and range: 72.60 m.
2025-06-11T20:59:24.525Z,1749675564.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255981
2025-06-11T20:59:24.753Z,1749675564.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m.
2025-06-11T20:59:24.756Z,1749675564.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.977951 m,
nav range: 69.636162 m,
bearing: 323.801869 deg,
approach rate: -0.483018 m/s,
LOS rate: -0.012224 deg/s,
cmd heading: 318.444265 deg,
new cmd heading: 318.430508 deg.
2025-06-11T20:59:24.757Z,1749675564.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557661 target range: 71.977951 and range: 72.60 m.
2025-06-11T20:59:24.777Z,1749675564.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507563
2025-06-11T20:59:25.031Z,1749675565.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761364
2025-06-11T20:59:25.186Z,1749675565.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m.
2025-06-11T20:59:25.190Z,1749675565.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.977951 m,
nav range: 69.421944 m,
bearing: 323.800082 deg,
approach rate: -0.495001 m/s,
LOS rate: -0.004143 deg/s,
cmd heading: 318.430495 deg,
new cmd heading: 318.425117 deg.
2025-06-11T20:59:25.191Z,1749675565.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557567 target range: 71.977951 and range: 72.60 m.
2025-06-11T20:59:25.281Z,1749675565.281 [DAT](INFO): DAT read: Rx Time:20:59:26.5569
2025-06-11T20:59:25.281Z,1749675565.281 [DAT](INFO): Rx dataTimestamp_ set to:1749675565.281171
2025-06-11T20:59:25.282Z,1749675565.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012805
2025-06-11T20:59:25.316Z,1749675565.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:59:25.533Z,1749675565.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263825
2025-06-11T20:59:25.595Z,1749675565.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.98 m.
2025-06-11T20:59:25.602Z,1749675565.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.977951 m,
nav range: 69.225182 m,
bearing: 323.798495 deg,
approach rate: -0.480809 m/s,
LOS rate: -0.003888 deg/s,
cmd heading: 318.425113 deg,
new cmd heading: 318.420339 deg.
2025-06-11T20:59:25.603Z,1749675565.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557483 target range: 71.977951 and range: 72.60 m.
2025-06-11T20:59:25.791Z,1749675565.791 [DAT](INFO): DAT read: 20:59:26.5569 LVL= 31184, 32753, 27890, 32755, AGC= 68, IDX= 420, 0.23,-2.610, 2.237,-2.730,-3.101, PHS= 0.580,-0.898, 0.368, RAW= 142.4, -0.7, CAL= 146.8, -9.8, ROT= 3.2, 9.8
2025-06-11T20:59:25.795Z,1749675565.795 [DAT](INFO): got valid direction response:
20:59:26.5569 LVL= 31184, 32753, 27890, 32755, AGC= 68, IDX= 420, 0.23,-2.610, 2.237,-2.730,-3.101, PHS= 0.580,-0.898, 0.368, RAW= 142.4, -0.7, CAL= 146.8, -9.8, ROT= 3.2, 9.8
2025-06-11T20:59:25.797Z,1749675565.797 [DAT](INFO): DAT read: Bearing 3.2, 9.8 (Local)
2025-06-11T20:59:25.798Z,1749675565.798 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.2, 9.8 (Local)
2025-06-11T20:59:25.799Z,1749675565.799 [DAT](INFO): DAT read: Range 10 to 50 : 70.9 m (Round-trip 94.6 ms) speed 0.4 m/s
2025-06-11T20:59:25.803Z,1749675565.803 [DAT](INFO): DAT read: user:654>
2025-06-11T20:59:25.807Z,1749675565.807 [DAT](INFO): DAT read: Tx time:20:59:27.6582
2025-06-11T20:59:25.808Z,1749675565.808 [DAT](INFO): Ping request sent.
2025-06-11T20:59:25.808Z,1749675565.808 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:25.809Z,1749675565.809 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:25.810Z,1749675565.810 [DAT](INFO): direction in FSK: [0.983871,0.055007,-0.170209]
2025-06-11T20:59:25.810Z,1749675565.810 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:25.810Z,1749675565.810 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:25.814Z,1749675565.814 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:25.815Z,1749675565.815 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:26.040Z,1749675566.040 [DAT](INFO): DAT read: TxSync time:20:59:27.6574
2025-06-11T20:59:26.159Z,1749675566.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 70.900002 m,
deltaT: 3.528031 s,
deltaX: -1.699997 m,
approachRate: -0.481854 m/s,
rangeRepo size: 4
2025-06-11T20:59:26.178Z,1749675566.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 70.292549 m,
bearing: 322.917525 deg,
lat: 36.906387 deg,
lon: -122.115575 deg,
deltaT: 3.528031 s,
deltaX: -1.685402 m,
approachRate: -0.477717 m/s,
posRepo size: 4
2025-06-11T20:59:26.178Z,1749675566.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.29 m.
2025-06-11T20:59:26.185Z,1749675566.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.292549 m,
nav range: 68.963364 m,
bearing: 323.305282 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003888 deg/s,
cmd heading: 318.420332 deg,
new cmd heading: 318.413760 deg.
2025-06-11T20:59:26.187Z,1749675566.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557368 target range: 70.292549 and range: 70.90 m.
2025-06-11T20:59:26.623Z,1749675566.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:26.626Z,1749675566.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.29 m.
2025-06-11T20:59:26.628Z,1749675566.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.292549 m,
nav range: 68.731827 m,
bearing: 323.306709 deg,
approach rate: -0.495982 m/s,
LOS rate: 0.003067 deg/s,
cmd heading: 318.413748 deg,
new cmd heading: 318.418043 deg.
2025-06-11T20:59:26.629Z,1749675566.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557443 target range: 70.292549 and range: 70.90 m.
2025-06-11T20:59:26.793Z,1749675566.793 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:26.793Z,1749675566.793 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:26.793Z,1749675566.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:27.049Z,1749675567.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239775
2025-06-11T20:59:27.201Z,1749675567.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.29 m.
2025-06-11T20:59:27.203Z,1749675567.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.292549 m,
nav range: 68.452148 m,
bearing: 323.307514 deg,
approach rate: -0.486318 m/s,
LOS rate: 0.001407 deg/s,
cmd heading: 318.418037 deg,
new cmd heading: 318.420464 deg.
2025-06-11T20:59:27.216Z,1749675567.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557486 target range: 70.292549 and range: 70.90 m.
2025-06-11T20:59:27.297Z,1749675567.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488441
2025-06-11T20:59:27.549Z,1749675567.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741003
2025-06-11T20:59:27.667Z,1749675567.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.29 m.
2025-06-11T20:59:27.678Z,1749675567.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.292549 m,
nav range: 68.207085 m,
bearing: 323.308069 deg,
approach rate: -0.525140 m/s,
LOS rate: 0.001193 deg/s,
cmd heading: 318.420468 deg,
new cmd heading: 318.422138 deg.
2025-06-11T20:59:27.679Z,1749675567.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557515 target range: 70.292549 and range: 70.90 m.
2025-06-11T20:59:27.803Z,1749675567.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994306
2025-06-11T20:59:28.044Z,1749675568.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.29 m.
2025-06-11T20:59:28.047Z,1749675568.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.292549 m,
nav range: 68.018440 m,
bearing: 323.308276 deg,
approach rate: -0.500993 m/s,
LOS rate: 0.000553 deg/s,
cmd heading: 318.422135 deg,
new cmd heading: 318.422760 deg.
2025-06-11T20:59:28.048Z,1749675568.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557526 target range: 70.292549 and range: 70.90 m.
2025-06-11T20:59:28.056Z,1749675568.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246773
2025-06-11T20:59:28.305Z,1749675568.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496361
2025-06-11T20:59:28.474Z,1749675568.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.29 m.
2025-06-11T20:59:28.477Z,1749675568.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.292549 m,
nav range: 67.800812 m,
bearing: 323.307856 deg,
approach rate: -0.505703 m/s,
LOS rate: -0.000980 deg/s,
cmd heading: 318.422763 deg,
new cmd heading: 318.421498 deg.
2025-06-11T20:59:28.478Z,1749675568.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557504 target range: 70.292549 and range: 70.90 m.
2025-06-11T20:59:28.561Z,1749675568.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752274
2025-06-11T20:59:28.809Z,1749675568.809 [DAT](INFO): DAT read: Rx Time:20:59:30.1544
2025-06-11T20:59:28.809Z,1749675568.809 [DAT](INFO): Rx dataTimestamp_ set to:1749675568.809040
2025-06-11T20:59:28.810Z,1749675568.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001487
2025-06-11T20:59:28.845Z,1749675568.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:28.847Z,1749675568.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.29 m.
2025-06-11T20:59:28.850Z,1749675568.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.292549 m,
nav range: 67.613243 m,
bearing: 323.307492 deg,
approach rate: -0.503258 m/s,
LOS rate: -0.000981 deg/s,
cmd heading: 318.421507 deg,
new cmd heading: 318.420410 deg.
2025-06-11T20:59:28.851Z,1749675568.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557485 target range: 70.292549 and range: 70.90 m.
2025-06-11T20:59:29.064Z,1749675569.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254743
2025-06-11T20:59:29.340Z,1749675569.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.29 m.
2025-06-11T20:59:29.343Z,1749675569.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.292549 m,
nav range: 67.399940 m,
bearing: 323.302182 deg,
approach rate: -0.439763 m/s,
LOS rate: -0.010982 deg/s,
cmd heading: 318.420414 deg,
new cmd heading: 318.404434 deg.
2025-06-11T20:59:29.353Z,1749675569.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557206 target range: 70.292549 and range: 70.90 m.
2025-06-11T20:59:29.356Z,1749675569.356 [DAT](INFO): DAT read: 20:59:30.1544 LVL= 22352, 24113, 18546, 27411, AGC= 66, IDX= 412,-0.01, 2.622, 1.089, 2.486, 2.063, PHS= 0.647,-0.927, 0.420, RAW= 142.3, -1.9, CAL= 147.0, -11.1, ROT= 3.0, 11.1
2025-06-11T20:59:29.357Z,1749675569.357 [DAT](INFO): got valid direction response:
20:59:30.1544 LVL= 22352, 24113, 18546, 27411, AGC= 66, IDX= 412,-0.01, 2.622, 1.089, 2.486, 2.063, PHS= 0.647,-0.927, 0.420, RAW= 142.3, -1.9, CAL= 147.0, -11.1, ROT= 3.0, 11.1
2025-06-11T20:59:29.358Z,1749675569.358 [DAT](INFO): DAT read: Bearing 3.0, 11.1 (Local)
2025-06-11T20:59:29.359Z,1749675569.359 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.0, 11.1 (Local)
2025-06-11T20:59:29.365Z,1749675569.365 [DAT](INFO): DAT read: Range 10 to 50 : 69.0 m (Round-trip 92.1 ms) speed 0.4 m/s
2025-06-11T20:59:29.366Z,1749675569.366 [DAT](INFO): DAT read: user:655>
2025-06-11T20:59:29.366Z,1749675569.366 [DAT](INFO): DAT read: Tx time:20:59:31.2582
2025-06-11T20:59:29.367Z,1749675569.367 [DAT](INFO): Ping request sent.
2025-06-11T20:59:29.367Z,1749675569.367 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:29.367Z,1749675569.367 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:29.392Z,1749675569.392 [DAT](INFO): direction in FSK: [0.979948,0.051357,-0.192522]
2025-06-11T20:59:29.393Z,1749675569.393 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:29.393Z,1749675569.393 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:29.412Z,1749675569.412 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:29.412Z,1749675569.412 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:29.565Z,1749675569.565 [DAT](INFO): DAT read: TxSync time:20:59:31.2574
2025-06-11T20:59:29.679Z,1749675569.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 69.000000 m,
deltaT: 3.529894 s,
deltaX: -1.900002 m,
approachRate: -0.538260 m/s,
rangeRepo size: 4
2025-06-11T20:59:29.681Z,1749675569.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.409111 m,
bearing: 322.614590 deg,
lat: 36.906385 deg,
lon: -122.115579 deg,
deltaT: 3.529894 s,
deltaX: -1.883438 m,
approachRate: -0.533568 m/s,
posRepo size: 4
2025-06-11T20:59:29.682Z,1749675569.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T20:59:29.701Z,1749675569.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.409111 m,
nav range: 67.307724 m,
bearing: 322.899598 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010982 deg/s,
cmd heading: 318.404431 deg,
new cmd heading: 318.393023 deg.
2025-06-11T20:59:29.702Z,1749675569.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557006 target range: 68.409111 and range: 69.00 m.
2025-06-11T20:59:30.165Z,1749675570.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T20:59:30.172Z,1749675570.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.409111 m,
nav range: 67.069229 m,
bearing: 322.892532 deg,
approach rate: -0.489854 m/s,
LOS rate: -0.014564 deg/s,
cmd heading: 318.393011 deg,
new cmd heading: 318.371738 deg.
2025-06-11T20:59:30.173Z,1749675570.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556635 target range: 68.409111 and range: 69.00 m.
2025-06-11T20:59:30.513Z,1749675570.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T20:59:30.516Z,1749675570.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.409111 m,
nav range: 66.891228 m,
bearing: 322.886341 deg,
approach rate: -0.510992 m/s,
LOS rate: -0.017820 deg/s,
cmd heading: 318.371728 deg,
new cmd heading: 318.353106 deg.
2025-06-11T20:59:30.517Z,1749675570.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556310 target range: 68.409111 and range: 69.00 m.
2025-06-11T20:59:30.884Z,1749675570.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:30.886Z,1749675570.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T20:59:30.889Z,1749675570.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.409111 m,
nav range: 66.707916 m,
bearing: 322.880486 deg,
approach rate: -0.491498 m/s,
LOS rate: -0.015743 deg/s,
cmd heading: 318.353095 deg,
new cmd heading: 318.335480 deg.
2025-06-11T20:59:30.890Z,1749675570.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556002 target range: 68.409111 and range: 69.00 m.
2025-06-11T20:59:31.077Z,1749675571.077 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:31.077Z,1749675571.077 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:31.077Z,1749675571.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:31.325Z,1749675571.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T20:59:31.327Z,1749675571.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.409111 m,
nav range: 66.494041 m,
bearing: 322.874356 deg,
approach rate: -0.488115 m/s,
LOS rate: -0.014035 deg/s,
cmd heading: 318.335474 deg,
new cmd heading: 318.317025 deg.
2025-06-11T20:59:31.329Z,1749675571.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962149
2025-06-11T20:59:31.352Z,1749675571.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555680 target range: 68.409111 and range: 69.00 m.
2025-06-11T20:59:31.582Z,1749675571.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215474
2025-06-11T20:59:31.699Z,1749675571.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T20:59:31.702Z,1749675571.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.409111 m,
nav range: 66.306519 m,
bearing: 322.868772 deg,
approach rate: -0.500932 m/s,
LOS rate: -0.014957 deg/s,
cmd heading: 318.317032 deg,
new cmd heading: 318.300235 deg.
2025-06-11T20:59:31.703Z,1749675571.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555387 target range: 68.409111 and range: 69.00 m.
2025-06-11T20:59:31.833Z,1749675571.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466539
2025-06-11T20:59:32.085Z,1749675572.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718200
2025-06-11T20:59:32.164Z,1749675572.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T20:59:32.180Z,1749675572.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.409111 m,
nav range: 66.109406 m,
bearing: 322.862721 deg,
approach rate: -0.428971 m/s,
LOS rate: -0.013208 deg/s,
cmd heading: 318.300230 deg,
new cmd heading: 318.282022 deg.
2025-06-11T20:59:32.181Z,1749675572.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555069 target range: 68.409111 and range: 69.00 m.
2025-06-11T20:59:32.338Z,1749675572.338 [DAT](INFO): DAT read: Rx Time:20:59:33.7522
2025-06-11T20:59:32.339Z,1749675572.339 [DAT](INFO): Rx dataTimestamp_ set to:1749675572.338537
2025-06-11T20:59:32.341Z,1749675572.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973834
2025-06-11T20:59:32.531Z,1749675572.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T20:59:32.533Z,1749675572.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.409111 m,
nav range: 65.898743 m,
bearing: 322.853133 deg,
approach rate: -0.566090 m/s,
LOS rate: -0.025847 deg/s,
cmd heading: 318.282034 deg,
new cmd heading: 318.253178 deg.
2025-06-11T20:59:32.534Z,1749675572.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554566 target range: 68.409111 and range: 69.00 m.
2025-06-11T20:59:32.590Z,1749675572.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223433
2025-06-11T20:59:32.841Z,1749675572.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473989
2025-06-11T20:59:32.966Z,1749675572.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:32.968Z,1749675572.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T20:59:32.971Z,1749675572.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.409111 m,
nav range: 65.685883 m,
bearing: 322.843281 deg,
approach rate: -0.486911 m/s,
LOS rate: -0.022609 deg/s,
cmd heading: 318.253183 deg,
new cmd heading: 318.223532 deg.
2025-06-11T20:59:32.971Z,1749675572.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554049 target range: 68.409111 and range: 69.00 m.
2025-06-11T20:59:33.102Z,1749675573.102 [DAT](INFO): DAT read: 20:59:33.7522 LVL= 20976, 31569, 21218, 32755, AGC= 68, IDX= 420, 0.04, 0.304,-1.106, 0.188,-0.227, PHS= 0.619,-0.832, 0.412, RAW= 142.4, -3.0, CAL= 147.4, -12.1, ROT= 2.6, 12.1
2025-06-11T20:59:33.103Z,1749675573.103 [DAT](INFO): got valid direction response:
20:59:33.7522 LVL= 20976, 31569, 21218, 32755, AGC= 68, IDX= 420, 0.04, 0.304,-1.106, 0.188,-0.227, PHS= 0.619,-0.832, 0.412, RAW= 142.4, -3.0, CAL= 147.4, -12.1, ROT= 2.6, 12.1
2025-06-11T20:59:33.104Z,1749675573.104 [DAT](INFO): DAT read: Bearing 2.6, 12.1 (Local)
2025-06-11T20:59:33.105Z,1749675573.105 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.6, 12.1 (Local)
2025-06-11T20:59:33.106Z,1749675573.106 [DAT](INFO): DAT read: Range 10 to 50 : 67.3 m (Round-trip 89.8 ms) speed 0.4 m/s
2025-06-11T20:59:33.107Z,1749675573.107 [DAT](INFO): DAT read: user:656>
2025-06-11T20:59:33.108Z,1749675573.108 [DAT](INFO): DAT read: Tx time:20:59:34.8583
2025-06-11T20:59:33.108Z,1749675573.108 [DAT](INFO): Ping request sent.
2025-06-11T20:59:33.109Z,1749675573.109 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:33.110Z,1749675573.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:33.113Z,1749675573.113 [DAT](INFO): direction in FSK: [0.976777,0.044355,-0.209619]
2025-06-11T20:59:33.113Z,1749675573.113 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:33.114Z,1749675573.114 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:33.185Z,1749675573.185 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:33.185Z,1749675573.185 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:33.345Z,1749675573.345 [DAT](INFO): DAT read: TxSync time:20:59:34.8575
2025-06-11T20:59:33.423Z,1749675573.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 67.300003 m,
deltaT: 3.779832 s,
deltaX: -1.699997 m,
approachRate: -0.449755 m/s,
rangeRepo size: 4
2025-06-11T20:59:33.429Z,1749675573.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 66.725899 m,
bearing: 322.261194 deg,
lat: 36.906381 deg,
lon: -122.115580 deg,
deltaT: 3.779832 s,
deltaX: -1.683212 m,
approachRate: -0.445314 m/s,
posRepo size: 4
2025-06-11T20:59:33.430Z,1749675573.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.73 m.
2025-06-11T20:59:33.437Z,1749675573.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.725899 m,
nav range: 65.180840 m,
bearing: 322.542123 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.022609 deg/s,
cmd heading: 318.223540 deg,
new cmd heading: 318.192716 deg.
2025-06-11T20:59:33.438Z,1749675573.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553511 target range: 66.725899 and range: 67.30 m.
2025-06-11T20:59:33.751Z,1749675573.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.73 m.
2025-06-11T20:59:33.753Z,1749675573.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.725899 m,
nav range: 65.010239 m,
bearing: 322.534999 deg,
approach rate: -0.519559 m/s,
LOS rate: -0.021753 deg/s,
cmd heading: 318.192723 deg,
new cmd heading: 318.171295 deg.
2025-06-11T20:59:33.754Z,1749675573.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553137 target range: 66.725899 and range: 67.30 m.
2025-06-11T20:59:34.169Z,1749675574.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.73 m.
2025-06-11T20:59:34.195Z,1749675574.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.725899 m,
nav range: 64.821747 m,
bearing: 322.527490 deg,
approach rate: -0.456617 m/s,
LOS rate: -0.018245 deg/s,
cmd heading: 318.171303 deg,
new cmd heading: 318.148708 deg.
2025-06-11T20:59:34.202Z,1749675574.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552742 target range: 66.725899 and range: 67.30 m.
2025-06-11T20:59:34.566Z,1749675574.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.73 m.
2025-06-11T20:59:34.570Z,1749675574.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.725899 m,
nav range: 64.617607 m,
bearing: 322.520044 deg,
approach rate: -0.507457 m/s,
LOS rate: -0.018566 deg/s,
cmd heading: 318.148709 deg,
new cmd heading: 318.126303 deg.
2025-06-11T20:59:34.573Z,1749675574.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552351 target range: 66.725899 and range: 67.30 m.
2025-06-11T20:59:34.961Z,1749675574.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.73 m.
2025-06-11T20:59:34.964Z,1749675574.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.725899 m,
nav range: 64.427864 m,
bearing: 322.513170 deg,
approach rate: -0.479865 m/s,
LOS rate: -0.017438 deg/s,
cmd heading: 318.126306 deg,
new cmd heading: 318.105621 deg.
2025-06-11T20:59:34.965Z,1749675574.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551991 target range: 66.725899 and range: 67.30 m.
2025-06-11T20:59:35.397Z,1749675575.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:35.399Z,1749675575.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.73 m.
2025-06-11T20:59:35.402Z,1749675575.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.725899 m,
nav range: 64.217804 m,
bearing: 322.508879 deg,
approach rate: -0.479428 m/s,
LOS rate: -0.009825 deg/s,
cmd heading: 318.105624 deg,
new cmd heading: 318.092709 deg.
2025-06-11T20:59:35.403Z,1749675575.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551765 target range: 66.725899 and range: 67.30 m.
2025-06-11T20:59:35.613Z,1749675575.613 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:35.613Z,1749675575.613 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:35.614Z,1749675575.614 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:35.785Z,1749675575.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.73 m.
2025-06-11T20:59:35.787Z,1749675575.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.725899 m,
nav range: 64.041977 m,
bearing: 322.505420 deg,
approach rate: -0.456152 m/s,
LOS rate: -0.008998 deg/s,
cmd heading: 318.092701 deg,
new cmd heading: 318.082296 deg.
2025-06-11T20:59:35.788Z,1749675575.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551583 target range: 66.725899 and range: 67.30 m.
2025-06-11T20:59:35.865Z,1749675575.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756620
2025-06-11T20:59:36.117Z,1749675576.117 [DAT](INFO): DAT read: Rx Time:20:59:37.3497
2025-06-11T20:59:36.117Z,1749675576.117 [DAT](INFO): Rx dataTimestamp_ set to:1749675576.117025
2025-06-11T20:59:36.118Z,1749675576.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009631
2025-06-11T20:59:36.262Z,1749675576.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.73 m.
2025-06-11T20:59:36.269Z,1749675576.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.725899 m,
nav range: 63.815216 m,
bearing: 322.501090 deg,
approach rate: -0.474742 m/s,
LOS rate: -0.009097 deg/s,
cmd heading: 318.082292 deg,
new cmd heading: 318.069256 deg.
2025-06-11T20:59:36.274Z,1749675576.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551356 target range: 66.725899 and range: 67.30 m.
2025-06-11T20:59:36.373Z,1749675576.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265142
2025-06-11T20:59:36.602Z,1749675576.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.73 m.
2025-06-11T20:59:36.604Z,1749675576.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.725899 m,
nav range: 63.643906 m,
bearing: 322.502474 deg,
approach rate: -0.504977 m/s,
LOS rate: 0.004090 deg/s,
cmd heading: 318.069260 deg,
new cmd heading: 318.073423 deg.
2025-06-11T20:59:36.605Z,1749675576.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551428 target range: 66.725899 and range: 67.30 m.
2025-06-11T20:59:36.639Z,1749675576.639 [DAT](INFO): DAT read: 20:59:37.3497 LVL= 21760, 29345, 19042, 32755, AGC= 68, IDX= 410, 0.07, 2.966, 1.479, 2.836, 2.379, PHS= 0.675,-0.852, 0.454, RAW= 142.3, -3.9, CAL= 147.5, -13.1, ROT= 2.5, 13.1
2025-06-11T20:59:36.640Z,1749675576.640 [DAT](INFO): got valid direction response:
20:59:37.3497 LVL= 21760, 29345, 19042, 32755, AGC= 68, IDX= 410, 0.07, 2.966, 1.479, 2.836, 2.379, PHS= 0.675,-0.852, 0.454, RAW= 142.3, -3.9, CAL= 147.5, -13.1, ROT= 2.5, 13.1
2025-06-11T20:59:36.642Z,1749675576.642 [DAT](INFO): DAT read: Bearing 2.5, 13.1 (Local)
2025-06-11T20:59:36.642Z,1749675576.642 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.5, 13.1 (Local)
2025-06-11T20:59:36.658Z,1749675576.658 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.3 ms) speed 0.4 m/s
2025-06-11T20:59:36.659Z,1749675576.659 [DAT](INFO): DAT read: user:657>
2025-06-11T20:59:36.672Z,1749675576.672 [DAT](INFO): DAT read: Tx time:20:59:38.4583
2025-06-11T20:59:36.672Z,1749675576.672 [DAT](INFO): Ping request sent.
2025-06-11T20:59:36.672Z,1749675576.672 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:36.673Z,1749675576.673 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:36.674Z,1749675576.674 [DAT](INFO): direction in FSK: [0.973049,0.042484,-0.226651]
2025-06-11T20:59:36.674Z,1749675576.674 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:36.674Z,1749675576.674 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:36.683Z,1749675576.683 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:36.683Z,1749675576.683 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:36.873Z,1749675576.873 [DAT](INFO): DAT read: TxSync time:20:59:38.4575
2025-06-11T20:59:36.992Z,1749675576.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 65.400002 m,
deltaT: 3.528537 s,
deltaX: -1.900002 m,
approachRate: -0.538467 m/s,
rangeRepo size: 4
2025-06-11T20:59:36.994Z,1749675576.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 64.841209 m,
bearing: 321.660700 deg,
lat: 36.906380 deg,
lon: -122.115582 deg,
deltaT: 3.528537 s,
deltaX: -1.884689 m,
approachRate: -0.534128 m/s,
posRepo size: 4
2025-06-11T20:59:36.995Z,1749675576.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T20:59:36.998Z,1749675576.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.841209 m,
nav range: 63.485813 m,
bearing: 322.328111 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004090 deg/s,
cmd heading: 318.073413 deg,
new cmd heading: 318.078194 deg.
2025-06-11T20:59:36.998Z,1749675576.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551512 target range: 64.841209 and range: 65.40 m.
2025-06-11T20:59:37.405Z,1749675577.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:37.407Z,1749675577.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T20:59:37.410Z,1749675577.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.841209 m,
nav range: 63.290085 m,
bearing: 322.330949 deg,
approach rate: -0.470502 m/s,
LOS rate: 0.006844 deg/s,
cmd heading: 318.078194 deg,
new cmd heading: 318.086735 deg.
2025-06-11T20:59:37.411Z,1749675577.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551661 target range: 64.841209 and range: 65.40 m.
2025-06-11T20:59:37.629Z,1749675577.629 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:37.629Z,1749675577.629 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:37.629Z,1749675577.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:37.790Z,1749675577.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T20:59:37.793Z,1749675577.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.841209 m,
nav range: 63.111286 m,
bearing: 322.333559 deg,
approach rate: -0.467454 m/s,
LOS rate: 0.006843 deg/s,
cmd heading: 318.086745 deg,
new cmd heading: 318.094598 deg.
2025-06-11T20:59:37.794Z,1749675577.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551798 target range: 64.841209 and range: 65.40 m.
2025-06-11T20:59:37.881Z,1749675577.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208935
2025-06-11T20:59:38.133Z,1749675578.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460399
2025-06-11T20:59:38.196Z,1749675578.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T20:59:38.217Z,1749675578.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.841209 m,
nav range: 62.921806 m,
bearing: 322.336361 deg,
approach rate: -0.466025 m/s,
LOS rate: 0.006913 deg/s,
cmd heading: 318.094586 deg,
new cmd heading: 318.103019 deg.
2025-06-11T20:59:38.224Z,1749675578.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551945 target range: 64.841209 and range: 65.40 m.
2025-06-11T20:59:38.385Z,1749675578.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712356
2025-06-11T20:59:38.621Z,1749675578.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T20:59:38.623Z,1749675578.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.841209 m,
nav range: 62.720829 m,
bearing: 322.337733 deg,
approach rate: -0.473498 m/s,
LOS rate: 0.003241 deg/s,
cmd heading: 318.103029 deg,
new cmd heading: 318.107156 deg.
2025-06-11T20:59:38.625Z,1749675578.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552017 target range: 64.841209 and range: 65.40 m.
2025-06-11T20:59:38.637Z,1749675578.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964461
2025-06-11T20:59:38.889Z,1749675578.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216445
2025-06-11T20:59:38.999Z,1749675578.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T20:59:39.001Z,1749675579.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.841209 m,
nav range: 62.542072 m,
bearing: 322.338674 deg,
approach rate: -0.473153 m/s,
LOS rate: 0.002498 deg/s,
cmd heading: 318.107154 deg,
new cmd heading: 318.109986 deg.
2025-06-11T20:59:39.002Z,1749675579.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552067 target range: 64.841209 and range: 65.40 m.
2025-06-11T20:59:39.141Z,1749675579.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468496
2025-06-11T20:59:39.393Z,1749675579.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720577
2025-06-11T20:59:39.411Z,1749675579.411 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA, 0.78, 80.11
2025-06-11T20:59:39.445Z,1749675579.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:39.447Z,1749675579.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T20:59:39.453Z,1749675579.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.841209 m,
nav range: 62.339844 m,
bearing: 322.339745 deg,
approach rate: -0.451300 m/s,
LOS rate: 0.002398 deg/s,
cmd heading: 318.109995 deg,
new cmd heading: 318.113220 deg.
2025-06-11T20:59:39.454Z,1749675579.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552123 target range: 64.841209 and range: 65.40 m.
2025-06-11T20:59:39.645Z,1749675579.645 [DAT](INFO): DAT read: Rx Time:20:59:40.9475
2025-06-11T20:59:39.645Z,1749675579.645 [DAT](INFO): Rx dataTimestamp_ set to:1749675579.645092
2025-06-11T20:59:39.646Z,1749675579.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973536
2025-06-11T20:59:39.881Z,1749675579.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T20:59:39.884Z,1749675579.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.841209 m,
nav range: 62.124512 m,
bearing: 322.340446 deg,
approach rate: -0.495326 m/s,
LOS rate: 0.001617 deg/s,
cmd heading: 318.113219 deg,
new cmd heading: 318.115328 deg.
2025-06-11T20:59:39.885Z,1749675579.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552160 target range: 64.841209 and range: 65.40 m.
2025-06-11T20:59:39.897Z,1749675579.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224358
2025-06-11T20:59:40.156Z,1749675580.156 [DAT](INFO): DAT read: 20:59:40.9475 LVL= 23152, 22449, 18562, 31683, AGC= 63, IDX= 419, 0.50, 1.961, 0.417, 1.800, 1.333, PHS= 0.717,-0.869, 0.464, RAW= 141.5, -4.3, CAL= 146.9, -13.6, ROT= 3.1, 13.6
2025-06-11T20:59:40.157Z,1749675580.157 [DAT](INFO): got valid direction response:
20:59:40.9475 LVL= 23152, 22449, 18562, 31683, AGC= 63, IDX= 419, 0.50, 1.961, 0.417, 1.800, 1.333, PHS= 0.717,-0.869, 0.464, RAW= 141.5, -4.3, CAL= 146.9, -13.6, ROT= 3.1, 13.6
2025-06-11T20:59:40.159Z,1749675580.159 [DAT](INFO): DAT read: Bearing 3.1, 13.6 (Local)
2025-06-11T20:59:40.159Z,1749675580.159 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.1, 13.6 (Local)
2025-06-11T20:59:40.162Z,1749675580.162 [DAT](INFO): DAT read: Range 10 to 50 : 63.8 m (Round-trip 85.1 ms) speed 0.4 m/s
2025-06-11T20:59:40.163Z,1749675580.163 [DAT](INFO): DAT read: user:658>
2025-06-11T20:59:40.165Z,1749675580.165 [DAT](INFO): DAT read: Tx time:20:59:42.0583
2025-06-11T20:59:40.165Z,1749675580.165 [DAT](INFO): Ping request sent.
2025-06-11T20:59:40.165Z,1749675580.165 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:40.166Z,1749675580.166 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:40.167Z,1749675580.167 [DAT](INFO): direction in FSK: [0.970539,0.052562,-0.235142]
2025-06-11T20:59:40.167Z,1749675580.167 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:40.167Z,1749675580.167 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:40.195Z,1749675580.195 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:40.200Z,1749675580.200 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:40.402Z,1749675580.402 [DAT](INFO): DAT read: TxSync time:20:59:42.0575
2025-06-11T20:59:40.582Z,1749675580.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.799999 m,
deltaT: 3.525791 s,
deltaX: -1.600002 m,
approachRate: -0.453800 m/s,
rangeRepo size: 4
2025-06-11T20:59:40.584Z,1749675580.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.254463 m,
bearing: 322.593881 deg,
lat: 36.906381 deg,
lon: -122.115580 deg,
deltaT: 3.525791 s,
deltaX: -1.586746 m,
approachRate: -0.450040 m/s,
posRepo size: 4
2025-06-11T20:59:40.585Z,1749675580.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.25 m.
2025-06-11T20:59:40.587Z,1749675580.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.254463 m,
nav range: 61.758350 m,
bearing: 322.519645 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.001617 deg/s,
cmd heading: 318.115323 deg,
new cmd heading: 318.118719 deg.
2025-06-11T20:59:40.589Z,1749675580.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552219 target range: 63.254463 and range: 63.80 m.
2025-06-11T20:59:40.912Z,1749675580.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.25 m.
2025-06-11T20:59:40.919Z,1749675580.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.254463 m,
nav range: 61.605045 m,
bearing: 322.521011 deg,
approach rate: -0.494250 m/s,
LOS rate: 0.004416 deg/s,
cmd heading: 318.118711 deg,
new cmd heading: 318.122820 deg.
2025-06-11T20:59:40.921Z,1749675580.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552290 target range: 63.254463 and range: 63.80 m.
2025-06-11T20:59:41.400Z,1749675581.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.25 m.
2025-06-11T20:59:41.403Z,1749675581.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.254463 m,
nav range: 61.358749 m,
bearing: 322.523120 deg,
approach rate: -0.484101 m/s,
LOS rate: 0.004161 deg/s,
cmd heading: 318.122809 deg,
new cmd heading: 318.129161 deg.
2025-06-11T20:59:41.409Z,1749675581.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552401 target range: 63.254463 and range: 63.80 m.
2025-06-11T20:59:41.694Z,1749675581.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:41.697Z,1749675581.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.25 m.
2025-06-11T20:59:41.699Z,1749675581.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.254463 m,
nav range: 61.203102 m,
bearing: 322.524371 deg,
approach rate: -0.526818 m/s,
LOS rate: 0.004247 deg/s,
cmd heading: 318.129147 deg,
new cmd heading: 318.132911 deg.
2025-06-11T20:59:41.700Z,1749675581.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552467 target range: 63.254463 and range: 63.80 m.
2025-06-11T20:59:41.915Z,1749675581.915 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:41.915Z,1749675581.915 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:41.915Z,1749675581.915 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:42.128Z,1749675582.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.25 m.
2025-06-11T20:59:42.131Z,1749675582.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.254463 m,
nav range: 60.986572 m,
bearing: 322.526123 deg,
approach rate: -0.500946 m/s,
LOS rate: 0.004067 deg/s,
cmd heading: 318.132918 deg,
new cmd heading: 318.138191 deg.
2025-06-11T20:59:42.132Z,1749675582.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552559 target range: 63.254463 and range: 63.80 m.
2025-06-11T20:59:42.174Z,1749675582.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008421
2025-06-11T20:59:42.425Z,1749675582.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259285
2025-06-11T20:59:42.532Z,1749675582.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.25 m.
2025-06-11T20:59:42.535Z,1749675582.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.254463 m,
nav range: 60.782837 m,
bearing: 322.524490 deg,
approach rate: -0.504072 m/s,
LOS rate: -0.004053 deg/s,
cmd heading: 318.138190 deg,
new cmd heading: 318.133276 deg.
2025-06-11T20:59:42.536Z,1749675582.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552473 target range: 63.254463 and range: 63.80 m.
2025-06-11T20:59:42.677Z,1749675582.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511471
2025-06-11T20:59:42.902Z,1749675582.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.25 m.
2025-06-11T20:59:42.905Z,1749675582.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.254463 m,
nav range: 60.595573 m,
bearing: 322.523035 deg,
approach rate: -0.506782 m/s,
LOS rate: -0.003950 deg/s,
cmd heading: 318.133273 deg,
new cmd heading: 318.128894 deg.
2025-06-11T20:59:42.906Z,1749675582.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552397 target range: 63.254463 and range: 63.80 m.
2025-06-11T20:59:42.929Z,1749675582.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764037
2025-06-11T20:59:43.181Z,1749675583.181 [DAT](INFO): DAT read: Rx Time:20:59:44.5454
2025-06-11T20:59:43.182Z,1749675583.182 [DAT](INFO): Rx dataTimestamp_ set to:1749675583.181285
2025-06-11T20:59:43.182Z,1749675583.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016705
2025-06-11T20:59:43.396Z,1749675583.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.25 m.
2025-06-11T20:59:43.398Z,1749675583.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.254463 m,
nav range: 60.349941 m,
bearing: 322.515842 deg,
approach rate: -0.501442 m/s,
LOS rate: -0.014743 deg/s,
cmd heading: 318.128901 deg,
new cmd heading: 318.107236 deg.
2025-06-11T20:59:43.399Z,1749675583.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552019 target range: 63.254463 and range: 63.80 m.
2025-06-11T20:59:43.433Z,1749675583.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267617
2025-06-11T20:59:43.705Z,1749675583.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538842
2025-06-11T20:59:43.771Z,1749675583.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:43.774Z,1749675583.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.25 m.
2025-06-11T20:59:43.777Z,1749675583.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.254463 m,
nav range: 60.143738 m,
bearing: 322.510004 deg,
approach rate: -0.539756 m/s,
LOS rate: -0.015334 deg/s,
cmd heading: 318.107236 deg,
new cmd heading: 318.089661 deg.
2025-06-11T20:59:43.778Z,1749675583.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551712 target range: 63.254463 and range: 63.80 m.
2025-06-11T20:59:43.946Z,1749675583.946 [DAT](INFO): DAT read: 20:59:44.5454 LVL= 23824, 25041, 17650, 29875, AGC= 63, IDX= 412, 0.21, 1.599, 0.125, 1.481, 0.998, PHS= 0.689,-0.826, 0.480, RAW= 142.7, -4.9, CAL= 148.2, -14.1, ROT= 1.8, 14.1
2025-06-11T20:59:43.949Z,1749675583.949 [DAT](INFO): got valid direction response:
20:59:44.5454 LVL= 23824, 25041, 17650, 29875, AGC= 63, IDX= 412, 0.21, 1.599, 0.125, 1.481, 0.998, PHS= 0.689,-0.826, 0.480, RAW= 142.7, -4.9, CAL= 148.2, -14.1, ROT= 1.8, 14.1
2025-06-11T20:59:43.956Z,1749675583.956 [DAT](INFO): DAT read: Bearing 1.8, 14.1 (Local)
2025-06-11T20:59:43.958Z,1749675583.958 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.8, 14.1 (Local)
2025-06-11T20:59:43.962Z,1749675583.962 [DAT](INFO): DAT read: Range 10 to 50 : 62.1 m (Round-trip 82.9 ms) speed 0.4 m/s
2025-06-11T20:59:43.963Z,1749675583.963 [DAT](INFO): DAT read: user:659>
2025-06-11T20:59:43.965Z,1749675583.965 [DAT](INFO): DAT read: Tx time:20:59:45.6583
2025-06-11T20:59:43.965Z,1749675583.965 [DAT](INFO): Ping request sent.
2025-06-11T20:59:43.965Z,1749675583.965 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:43.966Z,1749675583.966 [DAT](INFO): DAT read: TxSync time:20:59:45.6576
2025-06-11T20:59:43.967Z,1749675583.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:43.969Z,1749675583.969 [DAT](INFO): direction in FSK: [0.969393,0.030464,-0.243615]
2025-06-11T20:59:43.970Z,1749675583.970 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:43.970Z,1749675583.970 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:43.975Z,1749675583.975 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:43.975Z,1749675583.975 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:44.159Z,1749675584.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 62.099998 m,
deltaT: 3.788269 s,
deltaX: -1.700001 m,
approachRate: -0.448754 m/s,
rangeRepo size: 4
2025-06-11T20:59:44.166Z,1749675584.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 61.570816 m,
bearing: 321.222936 deg,
lat: 36.906380 deg,
lon: -122.115584 deg,
deltaT: 3.788269 s,
deltaX: -1.683647 m,
approachRate: -0.444437 m/s,
posRepo size: 4
2025-06-11T20:59:44.166Z,1749675584.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.57 m.
2025-06-11T20:59:44.173Z,1749675584.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.570816 m,
nav range: 60.079845 m,
bearing: 322.202942 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.015334 deg/s,
cmd heading: 318.089669 deg,
new cmd heading: 318.071950 deg.
2025-06-11T20:59:44.174Z,1749675584.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551403 target range: 61.570816 and range: 62.10 m.
2025-06-11T20:59:44.566Z,1749675584.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.57 m.
2025-06-11T20:59:44.569Z,1749675584.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.570816 m,
nav range: 59.855721 m,
bearing: 322.195874 deg,
approach rate: -0.549826 m/s,
LOS rate: -0.017404 deg/s,
cmd heading: 318.071938 deg,
new cmd heading: 318.050655 deg.
2025-06-11T20:59:44.570Z,1749675584.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551031 target range: 61.570816 and range: 62.10 m.
2025-06-11T20:59:44.949Z,1749675584.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.57 m.
2025-06-11T20:59:44.952Z,1749675584.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.570816 m,
nav range: 59.658615 m,
bearing: 322.190237 deg,
approach rate: -0.515133 m/s,
LOS rate: -0.014780 deg/s,
cmd heading: 318.050655 deg,
new cmd heading: 318.033689 deg.
2025-06-11T20:59:44.953Z,1749675584.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.550735 target range: 61.570816 and range: 62.10 m.
2025-06-11T20:59:45.427Z,1749675585.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.57 m.
2025-06-11T20:59:45.430Z,1749675585.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.570816 m,
nav range: 59.407608 m,
bearing: 322.176755 deg,
approach rate: -0.525418 m/s,
LOS rate: -0.028342 deg/s,
cmd heading: 318.033689 deg,
new cmd heading: 317.993070 deg.
2025-06-11T20:59:45.431Z,1749675585.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.550026 target range: 61.570816 and range: 62.10 m.
2025-06-11T20:59:45.744Z,1749675585.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.57 m.
2025-06-11T20:59:45.747Z,1749675585.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.570816 m,
nav range: 59.242691 m,
bearing: 322.168001 deg,
approach rate: -0.520419 m/s,
LOS rate: -0.027701 deg/s,
cmd heading: 317.993063 deg,
new cmd heading: 317.966728 deg.
2025-06-11T20:59:45.747Z,1749675585.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.549566 target range: 61.570816 and range: 62.10 m.
2025-06-11T20:59:46.142Z,1749675586.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:46.144Z,1749675586.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.57 m.
2025-06-11T20:59:46.147Z,1749675586.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.570816 m,
nav range: 59.034069 m,
bearing: 322.156879 deg,
approach rate: -0.521402 m/s,
LOS rate: -0.027895 deg/s,
cmd heading: 317.966725 deg,
new cmd heading: 317.933242 deg.
2025-06-11T20:59:46.148Z,1749675586.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548982 target range: 61.570816 and range: 62.10 m.
2025-06-11T20:59:46.205Z,1749675586.205 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:46.205Z,1749675586.205 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:46.205Z,1749675586.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:46.457Z,1749675586.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491531
2025-06-11T20:59:46.577Z,1749675586.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.57 m.
2025-06-11T20:59:46.579Z,1749675586.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.570816 m,
nav range: 58.814434 m,
bearing: 322.144670 deg,
approach rate: -0.507443 m/s,
LOS rate: -0.028312 deg/s,
cmd heading: 317.933230 deg,
new cmd heading: 317.896467 deg.
2025-06-11T20:59:46.580Z,1749675586.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548340 target range: 61.570816 and range: 62.10 m.
2025-06-11T20:59:46.709Z,1749675586.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743359
2025-06-11T20:59:46.961Z,1749675586.961 [DAT](INFO): DAT read: Rx Time:20:59:48.1427
2025-06-11T20:59:46.961Z,1749675586.961 [DAT](INFO): Rx dataTimestamp_ set to:1749675586.961148
2025-06-11T20:59:46.962Z,1749675586.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996621
2025-06-11T20:59:46.963Z,1749675586.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.57 m.
2025-06-11T20:59:46.966Z,1749675586.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.570816 m,
nav range: 58.618988 m,
bearing: 322.133711 deg,
approach rate: -0.509785 m/s,
LOS rate: -0.028680 deg/s,
cmd heading: 317.896456 deg,
new cmd heading: 317.863470 deg.
2025-06-11T20:59:46.967Z,1749675586.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.547764 target range: 61.570816 and range: 62.10 m.
2025-06-11T20:59:47.213Z,1749675587.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248066
2025-06-11T20:59:47.442Z,1749675587.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.57 m.
2025-06-11T20:59:47.445Z,1749675587.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.570816 m,
nav range: 58.376644 m,
bearing: 322.116584 deg,
approach rate: -0.502516 m/s,
LOS rate: -0.035663 deg/s,
cmd heading: 317.863480 deg,
new cmd heading: 317.811884 deg.
2025-06-11T20:59:47.446Z,1749675587.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546864 target range: 61.570816 and range: 62.10 m.
2025-06-11T20:59:47.489Z,1749675587.489 [DAT](INFO): DAT read: 20:59:48.1427 LVL= 20208, 32753, 18610, 32755, AGC= 67, IDX= 418,-0.26, 0.402,-1.053, 0.244,-0.201, PHS= 0.690,-0.806, 0.441, RAW= 141.1, -4.7, CAL= 146.6, -14.1, ROT= 3.4, 14.1
2025-06-11T20:59:47.490Z,1749675587.490 [DAT](INFO): got valid direction response:
20:59:48.1427 LVL= 20208, 32753, 18610, 32755, AGC= 67, IDX= 418,-0.26, 0.402,-1.053, 0.244,-0.201, PHS= 0.690,-0.806, 0.441, RAW= 141.1, -4.7, CAL= 146.6, -14.1, ROT= 3.4, 14.1
2025-06-11T20:59:47.492Z,1749675587.492 [DAT](INFO): DAT read: Bearing 3.4, 14.1 (Local)
2025-06-11T20:59:47.492Z,1749675587.492 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.4, 14.1 (Local)
2025-06-11T20:59:47.494Z,1749675587.494 [DAT](INFO): DAT read: Range 10 to 50 : 60.1 m (Round-trip 80.2 ms) speed 0.5 m/s
2025-06-11T20:59:47.500Z,1749675587.500 [DAT](INFO): DAT read: user:660>
2025-06-11T20:59:47.511Z,1749675587.511 [DAT](INFO): DAT read: Tx time:20:59:49.2583
2025-06-11T20:59:47.516Z,1749675587.516 [DAT](INFO): Ping request sent.
2025-06-11T20:59:47.516Z,1749675587.516 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:47.516Z,1749675587.516 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:47.517Z,1749675587.517 [DAT](INFO): direction in FSK: [0.968165,0.057520,-0.243615]
2025-06-11T20:59:47.518Z,1749675587.518 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:47.518Z,1749675587.518 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:47.537Z,1749675587.537 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:47.537Z,1749675587.537 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:47.717Z,1749675587.717 [DAT](INFO): DAT read: TxSync time:20:59:49.2576
2025-06-11T20:59:47.782Z,1749675587.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 60.099998 m,
deltaT: 3.527954 s,
deltaX: -2.000000 m,
approachRate: -0.566901 m/s,
rangeRepo size: 4
2025-06-11T20:59:47.789Z,1749675587.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.584835 m,
bearing: 322.574447 deg,
lat: 36.906380 deg,
lon: -122.115584 deg,
deltaT: 3.527954 s,
deltaX: -1.985981 m,
approachRate: -0.562927 m/s,
posRepo size: 4
2025-06-11T20:59:47.790Z,1749675587.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.58 m.
2025-06-11T20:59:47.797Z,1749675587.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.584835 m,
nav range: 58.212055 m,
bearing: 322.104642 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035663 deg/s,
cmd heading: 317.811871 deg,
new cmd heading: 317.775572 deg.
2025-06-11T20:59:47.798Z,1749675587.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546230 target range: 59.584835 and range: 60.10 m.
2025-06-11T20:59:48.178Z,1749675588.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:48.181Z,1749675588.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.58 m.
2025-06-11T20:59:48.183Z,1749675588.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.584835 m,
nav range: 58.012341 m,
bearing: 322.090252 deg,
approach rate: -0.500513 m/s,
LOS rate: -0.036189 deg/s,
cmd heading: 317.775562 deg,
new cmd heading: 317.732242 deg.
2025-06-11T20:59:48.185Z,1749675588.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545474 target range: 59.584835 and range: 60.10 m.
2025-06-11T20:59:48.221Z,1749675588.221 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:48.221Z,1749675588.221 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:48.221Z,1749675588.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:48.473Z,1749675588.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.956607
2025-06-11T20:59:48.611Z,1749675588.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.58 m.
2025-06-11T20:59:48.614Z,1749675588.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.584835 m,
nav range: 57.790131 m,
bearing: 322.074206 deg,
approach rate: -0.516122 m/s,
LOS rate: -0.037412 deg/s,
cmd heading: 317.732231 deg,
new cmd heading: 317.683909 deg.
2025-06-11T20:59:48.615Z,1749675588.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544630 target range: 59.584835 and range: 60.10 m.
2025-06-11T20:59:48.725Z,1749675588.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208773
2025-06-11T20:59:48.977Z,1749675588.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460485
2025-06-11T20:59:48.994Z,1749675588.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.58 m.
2025-06-11T20:59:48.997Z,1749675588.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.584835 m,
nav range: 57.598301 m,
bearing: 322.060254 deg,
approach rate: -0.500696 m/s,
LOS rate: -0.036537 deg/s,
cmd heading: 317.683901 deg,
new cmd heading: 317.641906 deg.
2025-06-11T20:59:48.998Z,1749675588.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.543897 target range: 59.584835 and range: 60.10 m.
2025-06-11T20:59:49.229Z,1749675589.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712779
2025-06-11T20:59:49.435Z,1749675589.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.58 m.
2025-06-11T20:59:49.438Z,1749675589.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.584835 m,
nav range: 57.377838 m,
bearing: 322.043375 deg,
approach rate: -0.500377 m/s,
LOS rate: -0.038457 deg/s,
cmd heading: 317.641909 deg,
new cmd heading: 317.591077 deg.
2025-06-11T20:59:49.439Z,1749675589.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.543010 target range: 59.584835 and range: 60.10 m.
2025-06-11T20:59:49.482Z,1749675589.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965674
2025-06-11T20:59:49.733Z,1749675589.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216604
2025-06-11T20:59:49.821Z,1749675589.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.58 m.
2025-06-11T20:59:49.823Z,1749675589.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.584835 m,
nav range: 57.186455 m,
bearing: 322.031737 deg,
approach rate: -0.495966 m/s,
LOS rate: -0.030260 deg/s,
cmd heading: 317.591065 deg,
new cmd heading: 317.556034 deg.
2025-06-11T20:59:49.825Z,1749675589.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542398 target range: 59.584835 and range: 60.10 m.
2025-06-11T20:59:49.985Z,1749675589.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468935
2025-06-11T20:59:50.185Z,1749675590.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:50.187Z,1749675590.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.58 m.
2025-06-11T20:59:50.190Z,1749675590.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.584835 m,
nav range: 57.003571 m,
bearing: 322.020360 deg,
approach rate: -0.499475 m/s,
LOS rate: -0.031172 deg/s,
cmd heading: 317.556040 deg,
new cmd heading: 317.521799 deg.
2025-06-11T20:59:50.191Z,1749675590.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541801 target range: 59.584835 and range: 60.10 m.
2025-06-11T20:59:50.238Z,1749675590.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721508
2025-06-11T20:59:50.489Z,1749675590.489 [DAT](INFO): DAT read: Rx Time:20:59:51.7401
2025-06-11T20:59:50.489Z,1749675590.489 [DAT](INFO): Rx dataTimestamp_ set to:1749675590.489205
2025-06-11T20:59:50.490Z,1749675590.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973950
2025-06-11T20:59:50.609Z,1749675590.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.58 m.
2025-06-11T20:59:50.612Z,1749675590.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.584835 m,
nav range: 56.797474 m,
bearing: 322.008906 deg,
approach rate: -0.487996 m/s,
LOS rate: -0.027218 deg/s,
cmd heading: 317.521807 deg,
new cmd heading: 317.487321 deg.
2025-06-11T20:59:50.613Z,1749675590.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541199 target range: 59.584835 and range: 60.10 m.
2025-06-11T20:59:50.741Z,1749675590.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224741
2025-06-11T20:59:50.999Z,1749675590.999 [DAT](INFO): DAT read: 20:59:51.7401 LVL= 22736, 32305, 20690, 32755, AGC= 67, IDX= 407, 0.09,-1.111,-2.607,-1.237,-1.752, PHS= 0.729,-0.807, 0.513, RAW= 142.5, -6.1, CAL= 148.4, -15.3, ROT= 1.6, 15.3
2025-06-11T20:59:51.000Z,1749675591.000 [DAT](INFO): got valid direction response:
20:59:51.7401 LVL= 22736, 32305, 20690, 32755, AGC= 67, IDX= 407, 0.09,-1.111,-2.607,-1.237,-1.752, PHS= 0.729,-0.807, 0.513, RAW= 142.5, -6.1, CAL= 148.4, -15.3, ROT= 1.6, 15.3
2025-06-11T20:59:51.001Z,1749675591.001 [DAT](INFO): DAT read: Bearing 1.6, 15.3 (Local)
2025-06-11T20:59:51.001Z,1749675591.001 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.6, 15.3 (Local)
2025-06-11T20:59:51.003Z,1749675591.003 [DAT](INFO): DAT read: Range 10 to 50 : 58.2 m (Round-trip 77.6 ms) speed 0.4 m/s
2025-06-11T20:59:51.004Z,1749675591.004 [DAT](INFO): DAT read: user:661>
2025-06-11T20:59:51.005Z,1749675591.005 [DAT](INFO): DAT read: Tx time:20:59:52.8583
2025-06-11T20:59:51.005Z,1749675591.005 [DAT](INFO): Ping request sent.
2025-06-11T20:59:51.005Z,1749675591.005 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:51.005Z,1749675591.005 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:51.006Z,1749675591.006 [DAT](INFO): direction in FSK: [0.964181,0.026932,-0.263873]
2025-06-11T20:59:51.006Z,1749675591.006 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:51.007Z,1749675591.007 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:51.010Z,1749675591.010 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:51.010Z,1749675591.010 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:51.029Z,1749675591.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.200001 m,
deltaT: 3.527873 s,
deltaX: -1.899998 m,
approachRate: -0.538567 m/s,
rangeRepo size: 4
2025-06-11T20:59:51.031Z,1749675591.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.701721 m,
bearing: 320.940797 deg,
lat: 36.906375 deg,
lon: -122.115588 deg,
deltaT: 3.527873 s,
deltaX: -1.883114 m,
approachRate: -0.533782 m/s,
posRepo size: 4
2025-06-11T20:59:51.068Z,1749675591.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.70 m.
2025-06-11T20:59:51.069Z,1749675591.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-11T20:59:51.071Z,1749675591.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.701721 m,
nav range: 56.321224 m,
bearing: 321.373148 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.027218 deg/s,
cmd heading: 317.487328 deg,
new cmd heading: 317.453160 deg.
2025-06-11T20:59:51.081Z,1749675591.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540603 target range: 57.701721 and range: 58.20 m.
2025-06-11T20:59:51.119Z,1749675591.119 [DockingStepper](INFO): Changing to mode: 2
2025-06-11T20:59:51.119Z,1749675591.119 [DockingStepper](INFO): Armed mode.
2025-06-11T20:59:51.180Z,1749675591.180 [DockingStepper](INFO): Commanding negative:54494
2025-06-11T20:59:51.245Z,1749675591.245 [DAT](INFO): DAT read: TxSync time:20:59:52.8576
2025-06-11T20:59:51.582Z,1749675591.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.70 m.
2025-06-11T20:59:51.582Z,1749675591.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-11T20:59:51.589Z,1749675591.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.701721 m,
nav range: 56.055382 m,
bearing: 321.359316 deg,
approach rate: -0.480031 m/s,
LOS rate: -0.025095 deg/s,
cmd heading: 317.453150 deg,
new cmd heading: 317.411457 deg.
2025-06-11T20:59:51.590Z,1749675591.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539875 target range: 57.701721 and range: 58.20 m.
2025-06-11T20:59:51.895Z,1749675591.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.70 m.
2025-06-11T20:59:51.895Z,1749675591.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-11T20:59:51.902Z,1749675591.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.701721 m,
nav range: 55.907410 m,
bearing: 321.352055 deg,
approach rate: -0.472314 m/s,
LOS rate: -0.023237 deg/s,
cmd heading: 317.411458 deg,
new cmd heading: 317.389618 deg.
2025-06-11T20:59:51.903Z,1749675591.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539494 target range: 57.701721 and range: 58.20 m.
2025-06-11T20:59:52.277Z,1749675592.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:52.279Z,1749675592.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.70 m.
2025-06-11T20:59:52.280Z,1749675592.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-11T20:59:52.283Z,1749675592.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.701721 m,
nav range: 55.713226 m,
bearing: 321.342919 deg,
approach rate: -0.504788 m/s,
LOS rate: -0.023832 deg/s,
cmd heading: 317.389629 deg,
new cmd heading: 317.362126 deg.
2025-06-11T20:59:52.284Z,1749675592.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539014 target range: 57.701721 and range: 58.20 m.
2025-06-11T20:59:52.505Z,1749675592.505 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:52.505Z,1749675592.505 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:52.506Z,1749675592.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:52.706Z,1749675592.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.70 m.
2025-06-11T20:59:52.706Z,1749675592.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-11T20:59:52.709Z,1749675592.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.701721 m,
nav range: 55.510708 m,
bearing: 321.343913 deg,
approach rate: -0.475054 m/s,
LOS rate: 0.002341 deg/s,
cmd heading: 317.362117 deg,
new cmd heading: 317.365111 deg.
2025-06-11T20:59:52.710Z,1749675592.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539066 target range: 57.701721 and range: 58.20 m.
2025-06-11T20:59:52.758Z,1749675592.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752408
2025-06-11T20:59:53.010Z,1749675593.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004979
2025-06-11T20:59:53.155Z,1749675593.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.70 m.
2025-06-11T20:59:53.156Z,1749675593.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-11T20:59:53.159Z,1749675593.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.701721 m,
nav range: 55.297054 m,
bearing: 321.344711 deg,
approach rate: -0.475355 m/s,
LOS rate: 0.001781 deg/s,
cmd heading: 317.365122 deg,
new cmd heading: 317.367523 deg.
2025-06-11T20:59:53.160Z,1749675593.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539108 target range: 57.701721 and range: 58.20 m.
2025-06-11T20:59:53.261Z,1749675593.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255894
2025-06-11T20:59:53.513Z,1749675593.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507828
2025-06-11T20:59:53.542Z,1749675593.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.70 m.
2025-06-11T20:59:53.542Z,1749675593.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-11T20:59:53.546Z,1749675593.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.701721 m,
nav range: 55.107502 m,
bearing: 321.349102 deg,
approach rate: -0.490108 m/s,
LOS rate: 0.011394 deg/s,
cmd heading: 317.367527 deg,
new cmd heading: 317.380747 deg.
2025-06-11T20:59:53.547Z,1749675593.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539339 target range: 57.701721 and range: 58.20 m.
2025-06-11T20:59:53.766Z,1749675593.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761237
2025-06-11T20:59:53.995Z,1749675593.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.70 m.
2025-06-11T20:59:53.996Z,1749675593.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-11T20:59:53.999Z,1749675593.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.701721 m,
nav range: 54.888821 m,
bearing: 321.354207 deg,
approach rate: -0.482524 m/s,
LOS rate: 0.011308 deg/s,
cmd heading: 317.380750 deg,
new cmd heading: 317.396124 deg.
2025-06-11T20:59:53.000Z,1749675594.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539608 target range: 57.701721 and range: 58.20 m.
2025-06-11T20:59:54.018Z,1749675594.018 [DAT](INFO): DAT read: Rx Time:20:59:55.3379
2025-06-11T20:59:54.019Z,1749675594.019 [DAT](INFO): Rx dataTimestamp_ set to:1749675594.018620
2025-06-11T20:59:54.019Z,1749675594.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014496
2025-06-11T20:59:54.269Z,1749675594.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263829
2025-06-11T20:59:54.339Z,1749675594.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:54.345Z,1749675594.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.70 m.
2025-06-11T20:59:54.345Z,1749675594.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-11T20:59:54.352Z,1749675594.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.701721 m,
nav range: 54.715954 m,
bearing: 321.357650 deg,
approach rate: -0.494309 m/s,
LOS rate: 0.009876 deg/s,
cmd heading: 317.396131 deg,
new cmd heading: 317.406493 deg.
2025-06-11T20:59:54.353Z,1749675594.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539788 target range: 57.701721 and range: 58.20 m.
2025-06-11T20:59:54.530Z,1749675594.530 [DAT](INFO): DAT read: 20:59:55.3379 LVL= 18928, 25185, 21746, 29683, AGC= 60, IDX= 416,-0.45, 1.937, 0.456, 1.753, 1.282, PHS= 0.743,-0.780, 0.468, RAW= 140.2, -6.2, CAL= 146.1, -15.8, ROT= 3.9, 15.8
2025-06-11T20:59:54.531Z,1749675594.531 [DAT](INFO): got valid direction response:
20:59:55.3379 LVL= 18928, 25185, 21746, 29683, AGC= 60, IDX= 416,-0.45, 1.937, 0.456, 1.753, 1.282, PHS= 0.743,-0.780, 0.468, RAW= 140.2, -6.2, CAL= 146.1, -15.8, ROT= 3.9, 15.8
2025-06-11T20:59:54.534Z,1749675594.534 [DAT](INFO): DAT read: Bearing 3.9, 15.8 (Local)
2025-06-11T20:59:54.535Z,1749675594.535 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.9, 15.8 (Local)
2025-06-11T20:59:54.536Z,1749675594.536 [DAT](INFO): DAT read: Range 10 to 50 : 56.4 m (Round-trip 75.3 ms) speed 0.4 m/s
2025-06-11T20:59:54.537Z,1749675594.537 [DAT](INFO): DAT read: user:662>
2025-06-11T20:59:54.538Z,1749675594.538 [DAT](INFO): DAT read: Tx time:20:59:56.4584
2025-06-11T20:59:54.538Z,1749675594.538 [DAT](INFO): Ping request sent.
2025-06-11T20:59:54.538Z,1749675594.538 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:54.538Z,1749675594.538 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:54.539Z,1749675594.539 [DAT](INFO): direction in FSK: [0.959990,0.065446,-0.272280]
2025-06-11T20:59:54.540Z,1749675594.540 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:54.540Z,1749675594.540 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:54.543Z,1749675594.543 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:54.543Z,1749675594.543 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:54.773Z,1749675594.773 [DAT](INFO): DAT read: TxSync time:20:59:56.4577
2025-06-11T20:59:54.784Z,1749675594.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.400002 m,
deltaT: 3.527910 s,
deltaX: -1.799999 m,
approachRate: -0.510217 m/s,
rangeRepo size: 4
2025-06-11T20:59:54.786Z,1749675594.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.918346 m,
bearing: 323.158937 deg,
lat: 36.906381 deg,
lon: -122.115580 deg,
deltaT: 3.527910 s,
deltaX: -1.783375 m,
approachRate: -0.505505 m/s,
posRepo size: 4
2025-06-11T20:59:54.787Z,1749675594.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m.
2025-06-11T20:59:54.787Z,1749675594.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-06-11T20:59:54.794Z,1749675594.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.918346 m,
nav range: 54.616673 m,
bearing: 322.398723 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009876 deg/s,
cmd heading: 317.406486 deg,
new cmd heading: 317.419358 deg.
2025-06-11T20:59:54.795Z,1749675594.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540013 target range: 55.918346 and range: 56.40 m.
2025-06-11T20:59:55.113Z,1749675595.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m.
2025-06-11T20:59:55.114Z,1749675595.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-06-11T20:59:55.117Z,1749675595.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.918346 m,
nav range: 54.446831 m,
bearing: 322.406997 deg,
approach rate: -0.508400 m/s,
LOS rate: 0.024845 deg/s,
cmd heading: 317.419354 deg,
new cmd heading: 317.444254 deg.
2025-06-11T20:59:55.118Z,1749675595.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540447 target range: 55.918346 and range: 56.40 m.
2025-06-11T20:59:55.442Z,1749675595.442 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T20:59:55.567Z,1749675595.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m.
2025-06-11T20:59:55.568Z,1749675595.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-06-11T20:59:55.571Z,1749675595.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.918346 m,
nav range: 54.222626 m,
bearing: 322.417163 deg,
approach rate: -0.493793 m/s,
LOS rate: 0.022483 deg/s,
cmd heading: 317.444243 deg,
new cmd heading: 317.474868 deg.
2025-06-11T20:59:55.572Z,1749675595.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540982 target range: 55.918346 and range: 56.40 m.
2025-06-11T20:59:55.941Z,1749675595.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m.
2025-06-11T20:59:55.941Z,1749675595.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-06-11T20:59:55.949Z,1749675595.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.918346 m,
nav range: 54.052402 m,
bearing: 322.424817 deg,
approach rate: -0.461800 m/s,
LOS rate: 0.020829 deg/s,
cmd heading: 317.474870 deg,
new cmd heading: 317.497903 deg.
2025-06-11T20:59:55.950Z,1749675595.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541384 target range: 55.918346 and range: 56.40 m.
2025-06-11T20:59:56.318Z,1749675596.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m.
2025-06-11T20:59:56.318Z,1749675596.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-06-11T20:59:56.341Z,1749675596.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.918346 m,
nav range: 53.852200 m,
bearing: 322.433587 deg,
approach rate: -0.524842 m/s,
LOS rate: 0.023077 deg/s,
cmd heading: 317.497901 deg,
new cmd heading: 317.524309 deg.
2025-06-11T20:59:56.342Z,1749675596.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541845 target range: 55.918346 and range: 56.40 m.
2025-06-11T20:59:56.449Z,1749675596.449 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T20:59:56.745Z,1749675596.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:56.747Z,1749675596.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m.
2025-06-11T20:59:56.747Z,1749675596.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-06-11T20:59:56.750Z,1749675596.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.918346 m,
nav range: 53.640171 m,
bearing: 322.438773 deg,
approach rate: -0.493865 m/s,
LOS rate: 0.012128 deg/s,
cmd heading: 317.524320 deg,
new cmd heading: 317.539941 deg.
2025-06-11T20:59:56.751Z,1749675596.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542118 target range: 55.918346 and range: 56.40 m.
2025-06-11T20:59:56.790Z,1749675596.790 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:56.790Z,1749675596.790 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:56.790Z,1749675596.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:57.041Z,1749675597.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502683
2025-06-11T20:59:57.152Z,1749675597.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m.
2025-06-11T20:59:57.153Z,1749675597.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-06-11T20:59:57.153Z,1749675597.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.40 m.
2025-06-11T20:59:57.154Z,1749675597.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-11T20:59:57.159Z,1749675597.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.918346 m,
nav range: 53.442940 m,
bearing: 322.443521 deg,
approach rate: -0.487510 m/s,
LOS rate: 0.011778 deg/s,
cmd heading: 317.539948 deg,
new cmd heading: 317.554243 deg.
2025-06-11T20:59:57.161Z,1749675597.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542367 target range: 55.918346 and range: 56.40 m.
2025-06-11T20:59:57.293Z,1749675597.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754628
2025-06-11T20:59:57.545Z,1749675597.545 [DAT](INFO): DAT read: Rx Time:20:59:58.9357
2025-06-11T20:59:57.545Z,1749675597.545 [DAT](INFO): Rx dataTimestamp_ set to:1749675597.545104
2025-06-11T20:59:57.546Z,1749675597.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007835
2025-06-11T20:59:57.604Z,1749675597.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m.
2025-06-11T20:59:57.607Z,1749675597.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.918346 m,
nav range: 53.214790 m,
bearing: 322.442513 deg,
approach rate: -0.503789 m/s,
LOS rate: -0.002235 deg/s,
cmd heading: 317.554237 deg,
new cmd heading: 317.551200 deg.
2025-06-11T20:59:57.608Z,1749675597.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542314 target range: 55.918346 and range: 56.40 m.
2025-06-11T20:59:57.797Z,1749675597.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258953
2025-06-11T20:59:57.963Z,1749675597.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m.
2025-06-11T20:59:57.970Z,1749675597.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 55.918346 m,
nav range: 53.046387 m,
bearing: 322.441466 deg,
approach rate: -0.469660 m/s,
LOS rate: -0.002930 deg/s,
cmd heading: 317.551204 deg,
new cmd heading: 317.548052 deg.
2025-06-11T20:59:57.971Z,1749675597.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542259 target range: 55.918346 and range: 56.40 m.
2025-06-11T20:59:58.050Z,1749675598.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511875
2025-06-11T20:59:58.307Z,1749675598.307 [DAT](INFO): DAT read: 20:59:58.9357 LVL= 20896, 24753, 19506, 29891, AGC= 62, IDX= 424, 0.44, 1.661, 0.244, 1.542, 1.027, PHS= 0.722,-0.736, 0.512, RAW= 142.3, -7.3, CAL= 148.6, -16.7, ROT= 1.4, 16.7
2025-06-11T20:59:58.312Z,1749675598.312 [DAT](INFO): got valid direction response:
20:59:58.9357 LVL= 20896, 24753, 19506, 29891, AGC= 62, IDX= 424, 0.44, 1.661, 0.244, 1.542, 1.027, PHS= 0.722,-0.736, 0.512, RAW= 142.3, -7.3, CAL= 148.6, -16.7, ROT= 1.4, 16.7
2025-06-11T20:59:58.313Z,1749675598.313 [DAT](INFO): DAT read: Bearing 1.4, 16.7 (Local)
2025-06-11T20:59:58.313Z,1749675598.313 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.4, 16.7 (Local)
2025-06-11T20:59:58.315Z,1749675598.315 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (Round-trip 73.1 ms) speed 0.4 m/s
2025-06-11T20:59:58.315Z,1749675598.315 [DAT](INFO): DAT read: user:663>
2025-06-11T20:59:58.316Z,1749675598.316 [DAT](INFO): DAT read: Tx time:21:00:00.0584
2025-06-11T20:59:58.316Z,1749675598.316 [DAT](INFO): Ping request sent.
2025-06-11T20:59:58.317Z,1749675598.317 [DAT](INFO): transmitted an acoustic signal
2025-06-11T20:59:58.317Z,1749675598.317 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T20:59:58.318Z,1749675598.318 [DAT](INFO): direction in FSK: [0.957537,0.023402,-0.287361]
2025-06-11T20:59:58.318Z,1749675598.318 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:58.318Z,1749675598.318 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:58.331Z,1749675598.331 [DAT](INFO): publishing transmit ping time
2025-06-11T20:59:58.332Z,1749675598.332 [DAT](INFO): publishing direction and range info
2025-06-11T20:59:58.445Z,1749675598.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.799999 m,
deltaT: 3.779873 s,
deltaX: -1.600002 m,
approachRate: -0.423295 m/s,
rangeRepo size: 4
2025-06-11T20:59:58.447Z,1749675598.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.332024 m,
bearing: 321.187772 deg,
lat: 36.906375 deg,
lon: -122.115588 deg,
deltaT: 3.779873 s,
deltaX: -1.586323 m,
approachRate: -0.419676 m/s,
posRepo size: 4
2025-06-11T20:59:58.460Z,1749675598.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T20:59:58.463Z,1749675598.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.332024 m,
nav range: 52.667648 m,
bearing: 321.317102 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.002930 deg/s,
cmd heading: 317.548062 deg,
new cmd heading: 317.543868 deg.
2025-06-11T20:59:58.463Z,1749675598.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542186 target range: 54.332024 and range: 54.80 m.
2025-06-11T20:59:58.558Z,1749675598.558 [DAT](INFO): DAT read: TxSync time:21:00:00.0577
2025-06-11T20:59:58.823Z,1749675598.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T20:59:58.825Z,1749675598.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T20:59:58.828Z,1749675598.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.332024 m,
nav range: 52.467201 m,
bearing: 321.306602 deg,
approach rate: -0.520578 m/s,
LOS rate: -0.027373 deg/s,
cmd heading: 317.543855 deg,
new cmd heading: 317.512235 deg.
2025-06-11T20:59:58.829Z,1749675598.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541634 target range: 54.332024 and range: 54.80 m.
2025-06-11T20:59:59.057Z,1749675599.057 [DAT](INFO): ****** received valid address query ******
2025-06-11T20:59:59.057Z,1749675599.057 [DAT](INFO): ****** received valid ping request ******
2025-06-11T20:59:59.057Z,1749675599.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T20:59:59.239Z,1749675599.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T20:59:59.242Z,1749675599.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.332024 m,
nav range: 52.267979 m,
bearing: 321.295807 deg,
approach rate: -0.481650 m/s,
LOS rate: -0.026199 deg/s,
cmd heading: 317.512245 deg,
new cmd heading: 317.479734 deg.
2025-06-11T20:59:59.243Z,1749675599.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541067 target range: 54.332024 and range: 54.80 m.
2025-06-11T20:59:59.310Z,1749675599.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993050
2025-06-11T20:59:59.564Z,1749675599.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246303
2025-06-11T20:59:59.649Z,1749675599.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T20:59:59.668Z,1749675599.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.332024 m,
nav range: 52.053772 m,
bearing: 321.276410 deg,
approach rate: -0.521576 m/s,
LOS rate: -0.047424 deg/s,
cmd heading: 317.479733 deg,
new cmd heading: 317.421303 deg.
2025-06-11T20:59:59.669Z,1749675599.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540047 target range: 54.332024 and range: 54.80 m.
2025-06-11T20:59:59.813Z,1749675599.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496342
2025-06-11T21:00:00.065Z,1749675600.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748279
2025-06-11T21:00:00.075Z,1749675600.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T21:00:00.078Z,1749675600.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.332024 m,
nav range: 51.840069 m,
bearing: 321.256327 deg,
approach rate: -0.502015 m/s,
LOS rate: -0.047371 deg/s,
cmd heading: 317.421294 deg,
new cmd heading: 317.360797 deg.
2025-06-11T21:00:00.079Z,1749675600.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538991 target range: 54.332024 and range: 54.80 m.
2025-06-11T21:00:00.317Z,1749675600.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000106
2025-06-11T21:00:00.494Z,1749675600.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T21:00:00.497Z,1749675600.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.332024 m,
nav range: 51.638016 m,
bearing: 321.236546 deg,
approach rate: -0.482636 m/s,
LOS rate: -0.047435 deg/s,
cmd heading: 317.360806 deg,
new cmd heading: 317.301230 deg.
2025-06-11T21:00:00.498Z,1749675600.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537951 target range: 54.332024 and range: 54.80 m.
2025-06-11T21:00:00.573Z,1749675600.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256147
2025-06-11T21:00:00.821Z,1749675600.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504523
2025-06-11T21:00:00.915Z,1749675600.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:00.918Z,1749675600.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T21:00:00.925Z,1749675600.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.332024 m,
nav range: 51.420200 m,
bearing: 321.211648 deg,
approach rate: -0.513877 m/s,
LOS rate: -0.058988 deg/s,
cmd heading: 317.301219 deg,
new cmd heading: 317.226209 deg.
2025-06-11T21:00:00.926Z,1749675600.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536642 target range: 54.332024 and range: 54.80 m.
2025-06-11T21:00:01.073Z,1749675601.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756107
2025-06-11T21:00:01.322Z,1749675601.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T21:00:01.325Z,1749675601.325 [DAT](INFO): DAT read: Rx Time:21:00:02.5333
2025-06-11T21:00:01.326Z,1749675601.326 [DAT](INFO): Rx dataTimestamp_ set to:1749675601.325224
2025-06-11T21:00:01.326Z,1749675601.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009435
2025-06-11T21:00:01.329Z,1749675601.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.332024 m,
nav range: 51.228390 m,
bearing: 321.189547 deg,
approach rate: -0.473913 m/s,
LOS rate: -0.054811 deg/s,
cmd heading: 317.226196 deg,
new cmd heading: 317.159644 deg.
2025-06-11T21:00:01.330Z,1749675601.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.535480 target range: 54.332024 and range: 54.80 m.
2025-06-11T21:00:01.579Z,1749675601.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262241
2025-06-11T21:00:01.766Z,1749675601.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T21:00:01.769Z,1749675601.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.332024 m,
nav range: 51.001415 m,
bearing: 321.154060 deg,
approach rate: -0.511180 m/s,
LOS rate: -0.080276 deg/s,
cmd heading: 317.159643 deg,
new cmd heading: 317.052711 deg.
2025-06-11T21:00:01.770Z,1749675601.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533614 target range: 54.332024 and range: 54.80 m.
2025-06-11T21:00:01.840Z,1749675601.840 [DAT](INFO): DAT read: 21:00:02.5333 LVL= 20944, 24817, 18898, 30819, AGC= 63, IDX= 416, 0.33,-1.634,-3.019,-1.693,-2.187, PHS= 0.640,-0.785, 0.490, RAW= 144.5, -5.2, CAL= 149.9, -14.2, ROT= 0.1, 14.2
2025-06-11T21:00:01.841Z,1749675601.841 [DAT](INFO): got valid direction response:
21:00:02.5333 LVL= 20944, 24817, 18898, 30819, AGC= 63, IDX= 416, 0.33,-1.634,-3.019,-1.693,-2.187, PHS= 0.640,-0.785, 0.490, RAW= 144.5, -5.2, CAL= 149.9, -14.2, ROT= 0.1, 14.2
2025-06-11T21:00:01.843Z,1749675601.843 [DAT](INFO): DAT read: Bearing 0.1, 14.2 (Local)
2025-06-11T21:00:01.843Z,1749675601.843 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.1, 14.2 (Local)
2025-06-11T21:00:01.846Z,1749675601.846 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (Round-trip 70.8 ms) speed 0.4 m/s
2025-06-11T21:00:01.847Z,1749675601.847 [DAT](INFO): DAT read: user:664>
2025-06-11T21:00:01.853Z,1749675601.853 [DAT](INFO): DAT read: Tx time:21:00:03.6084
2025-06-11T21:00:01.853Z,1749675601.853 [DAT](INFO): Ping request sent.
2025-06-11T21:00:01.854Z,1749675601.854 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:01.854Z,1749675601.854 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:01.855Z,1749675601.855 [DAT](INFO): direction in FSK: [0.969444,0.001692,-0.245307]
2025-06-11T21:00:01.855Z,1749675601.855 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:01.855Z,1749675601.855 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:01.867Z,1749675601.867 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:01.867Z,1749675601.867 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:02.085Z,1749675602.085 [DAT](INFO): DAT read: TxSync time:21:00:03.6077
2025-06-11T21:00:02.130Z,1749675602.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 53.099998 m,
deltaT: 3.533300 s,
deltaX: -1.700001 m,
approachRate: -0.481137 m/s,
rangeRepo size: 4
2025-06-11T21:00:02.133Z,1749675602.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.645729 m,
bearing: 320.520948 deg,
lat: 36.906376 deg,
lon: -122.115588 deg,
deltaT: 3.533300 s,
deltaX: -1.686295 m,
approachRate: -0.477258 m/s,
posRepo size: 4
2025-06-11T21:00:02.133Z,1749675602.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.65 m.
2025-06-11T21:00:02.152Z,1749675602.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.645729 m,
nav range: 50.924595 m,
bearing: 321.216639 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.080276 deg/s,
cmd heading: 317.052709 deg,
new cmd heading: 316.965203 deg.
2025-06-11T21:00:02.153Z,1749675602.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532086 target range: 52.645729 and range: 53.10 m.
2025-06-11T21:00:02.514Z,1749675602.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.65 m.
2025-06-11T21:00:02.537Z,1749675602.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.645729 m,
nav range: 50.734051 m,
bearing: 321.186961 deg,
approach rate: -0.495839 m/s,
LOS rate: -0.077518 deg/s,
cmd heading: 316.965201 deg,
new cmd heading: 316.875834 deg.
2025-06-11T21:00:02.538Z,1749675602.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530527 target range: 52.645729 and range: 53.10 m.
2025-06-11T21:00:02.976Z,1749675602.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:02.978Z,1749675602.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.65 m.
2025-06-11T21:00:02.985Z,1749675602.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.645729 m,
nav range: 50.519524 m,
bearing: 321.149637 deg,
approach rate: -0.461951 m/s,
LOS rate: -0.080713 deg/s,
cmd heading: 316.875835 deg,
new cmd heading: 316.763387 deg.
2025-06-11T21:00:02.986Z,1749675602.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528564 target range: 52.645729 and range: 53.10 m.
2025-06-11T21:00:03.093Z,1749675603.093 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:03.093Z,1749675603.093 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:03.093Z,1749675603.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:00:03.337Z,1749675603.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.65 m.
2025-06-11T21:00:03.345Z,1749675603.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491292
2025-06-11T21:00:03.346Z,1749675603.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.645729 m,
nav range: 50.343922 m,
bearing: 321.118717 deg,
approach rate: -0.489475 m/s,
LOS rate: -0.086488 deg/s,
cmd heading: 316.763383 deg,
new cmd heading: 316.670299 deg.
2025-06-11T21:00:03.347Z,1749675603.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526939 target range: 52.645729 and range: 53.10 m.
2025-06-11T21:00:03.602Z,1749675603.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748226
2025-06-11T21:00:03.746Z,1749675603.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.65 m.
2025-06-11T21:00:03.749Z,1749675603.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.645729 m,
nav range: 50.143742 m,
bearing: 321.080749 deg,
approach rate: -0.489895 m/s,
LOS rate: -0.093290 deg/s,
cmd heading: 316.670301 deg,
new cmd heading: 316.555941 deg.
2025-06-11T21:00:03.750Z,1749675603.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524943 target range: 52.645729 and range: 53.10 m.
2025-06-11T21:00:03.850Z,1749675603.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996072
2025-06-11T21:00:04.101Z,1749675604.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247228
2025-06-11T21:00:04.132Z,1749675604.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.65 m.
2025-06-11T21:00:04.135Z,1749675604.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.645729 m,
nav range: 49.961582 m,
bearing: 321.046039 deg,
approach rate: -0.471714 m/s,
LOS rate: -0.090211 deg/s,
cmd heading: 316.555936 deg,
new cmd heading: 316.451427 deg.
2025-06-11T21:00:04.136Z,1749675604.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523119 target range: 52.645729 and range: 53.10 m.
2025-06-11T21:00:04.353Z,1749675604.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499249
2025-06-11T21:00:04.535Z,1749675604.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.65 m.
2025-06-11T21:00:04.538Z,1749675604.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.645729 m,
nav range: 49.771324 m,
bearing: 321.009706 deg,
approach rate: -0.471517 m/s,
LOS rate: -0.090386 deg/s,
cmd heading: 316.451434 deg,
new cmd heading: 316.342021 deg.
2025-06-11T21:00:04.539Z,1749675604.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521210 target range: 52.645729 and range: 53.10 m.
2025-06-11T21:00:04.609Z,1749675604.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754505
2025-06-11T21:00:04.857Z,1749675604.857 [DAT](INFO): DAT read: Rx Time:21:00:06.0811
2025-06-11T21:00:04.857Z,1749675604.857 [DAT](INFO): Rx dataTimestamp_ set to:1749675604.857024
2025-06-11T21:00:04.858Z,1749675604.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004271
2025-06-11T21:00:04.965Z,1749675604.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.65 m.
2025-06-11T21:00:04.967Z,1749675604.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 52.645729 m,
nav range: 49.571407 m,
bearing: 320.969897 deg,
approach rate: -0.465690 m/s,
LOS rate: -0.093107 deg/s,
cmd heading: 316.342015 deg,
new cmd heading: 316.222104 deg.
2025-06-11T21:00:04.985Z,1749675604.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519117 target range: 52.645729 and range: 53.10 m.
2025-06-11T21:00:05.109Z,1749675605.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255449
2025-06-11T21:00:05.367Z,1749675605.367 [DAT](INFO): DAT read: 21:00:06.0811 LVL= 23056, 28257, 20018, 31459, AGC= 66, IDX= 424, 0.49, 2.593, 1.202, 2.567, 2.011, PHS= 0.670,-0.762, 0.553, RAW= 145.8, -6.7, CAL= 151.5, -15.6, ROT= 358.5, 15.6
2025-06-11T21:00:05.368Z,1749675605.368 [DAT](INFO): got valid direction response:
21:00:06.0811 LVL= 23056, 28257, 20018, 31459, AGC= 66, IDX= 424, 0.49, 2.593, 1.202, 2.567, 2.011, PHS= 0.670,-0.762, 0.553, RAW= 145.8, -6.7, CAL= 151.5, -15.6, ROT= 358.5, 15.6
2025-06-11T21:00:05.369Z,1749675605.369 [DAT](INFO): DAT read: Bearing 358.5, 15.6 (Local)
2025-06-11T21:00:05.369Z,1749675605.369 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.5, 15.6 (Local)
2025-06-11T21:00:05.371Z,1749675605.371 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m (Round-trip 68.4 ms) speed 0.4 m/s
2025-06-11T21:00:05.372Z,1749675605.372 [DAT](INFO): DAT read: user:665>
2025-06-11T21:00:05.372Z,1749675605.372 [DAT](INFO): DAT read: Tx time:21:00:07.1585
2025-06-11T21:00:05.373Z,1749675605.373 [DAT](INFO): Ping request sent.
2025-06-11T21:00:05.373Z,1749675605.373 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:05.373Z,1749675605.373 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:05.374Z,1749675605.374 [DAT](INFO): direction in FSK: [0.962833,-0.025213,-0.268920]
2025-06-11T21:00:05.374Z,1749675605.374 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:05.375Z,1749675605.375 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:05.394Z,1749675605.394 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:05.394Z,1749675605.394 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:05.431Z,1749675605.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.299999 m,
deltaT: 3.526829 s,
deltaX: -1.799999 m,
approachRate: -0.510373 m/s,
rangeRepo size: 4
2025-06-11T21:00:05.446Z,1749675605.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.861050 m,
bearing: 318.608382 deg,
lat: 36.906373 deg,
lon: -122.115589 deg,
deltaT: 3.526829 s,
deltaX: -1.784679 m,
approachRate: -0.506029 m/s,
posRepo size: 4
2025-06-11T21:00:05.447Z,1749675605.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:00:05.458Z,1749675605.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.861050 m,
nav range: 49.245171 m,
bearing: 320.563549 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.093107 deg/s,
cmd heading: 316.222104 deg,
new cmd heading: 316.092048 deg.
2025-06-11T21:00:05.458Z,1749675605.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516847 target range: 50.861050 and range: 51.30 m.
2025-06-11T21:00:05.617Z,1749675605.617 [DAT](INFO): DAT read: TxSync time:21:00:07.1578
2025-06-11T21:00:05.833Z,1749675605.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:05.835Z,1749675605.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:00:05.842Z,1749675605.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.861050 m,
nav range: 49.024281 m,
bearing: 320.524357 deg,
approach rate: -0.545904 m/s,
LOS rate: -0.097295 deg/s,
cmd heading: 316.092057 deg,
new cmd heading: 315.973951 deg.
2025-06-11T21:00:05.843Z,1749675605.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514786 target range: 50.861050 and range: 51.30 m.
2025-06-11T21:00:05.865Z,1749675605.865 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:05.865Z,1749675605.865 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:05.865Z,1749675605.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:00:06.117Z,1749675606.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743913
2025-06-11T21:00:06.199Z,1749675606.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:00:06.202Z,1749675606.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.861050 m,
nav range: 48.853409 m,
bearing: 320.494400 deg,
approach rate: -0.469534 m/s,
LOS rate: -0.082606 deg/s,
cmd heading: 315.973949 deg,
new cmd heading: 315.883763 deg.
2025-06-11T21:00:06.203Z,1749675606.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513212 target range: 50.861050 and range: 51.30 m.
2025-06-11T21:00:06.369Z,1749675606.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995824
2025-06-11T21:00:06.623Z,1749675606.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249908
2025-06-11T21:00:06.702Z,1749675606.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:00:06.725Z,1749675606.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.861050 m,
nav range: 48.622120 m,
bearing: 320.454173 deg,
approach rate: -0.459570 m/s,
LOS rate: -0.080311 deg/s,
cmd heading: 315.883764 deg,
new cmd heading: 315.762509 deg.
2025-06-11T21:00:06.726Z,1749675606.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511096 target range: 50.861050 and range: 51.30 m.
2025-06-11T21:00:06.873Z,1749675606.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500033
2025-06-11T21:00:07.037Z,1749675607.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:00:07.039Z,1749675607.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.861050 m,
nav range: 48.478352 m,
bearing: 320.432288 deg,
approach rate: -0.429739 m/s,
LOS rate: -0.065610 deg/s,
cmd heading: 315.762514 deg,
new cmd heading: 315.696665 deg.
2025-06-11T21:00:07.041Z,1749675607.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509946 target range: 50.861050 and range: 51.30 m.
2025-06-11T21:00:07.125Z,1749675607.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752018
2025-06-11T21:00:07.377Z,1749675607.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003910
2025-06-11T21:00:07.527Z,1749675607.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:00:07.534Z,1749675607.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.861050 m,
nav range: 48.249104 m,
bearing: 320.397356 deg,
approach rate: -0.467062 m/s,
LOS rate: -0.071507 deg/s,
cmd heading: 315.696671 deg,
new cmd heading: 315.591378 deg.
2025-06-11T21:00:07.535Z,1749675607.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508109 target range: 50.861050 and range: 51.30 m.
2025-06-11T21:00:07.641Z,1749675607.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267485
2025-06-11T21:00:07.889Z,1749675607.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515978
2025-06-11T21:00:07.978Z,1749675607.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:07.984Z,1749675607.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:00:07.987Z,1749675607.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.861050 m,
nav range: 48.036781 m,
bearing: 320.370538 deg,
approach rate: -0.469320 m/s,
LOS rate: -0.059541 deg/s,
cmd heading: 315.591377 deg,
new cmd heading: 315.510567 deg.
2025-06-11T21:00:07.992Z,1749675607.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506698 target range: 50.861050 and range: 51.30 m.
2025-06-11T21:00:08.141Z,1749675608.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767919
2025-06-11T21:00:08.324Z,1749675608.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:00:08.327Z,1749675608.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.861050 m,
nav range: 47.883465 m,
bearing: 320.350963 deg,
approach rate: -0.444977 m/s,
LOS rate: -0.056995 deg/s,
cmd heading: 315.510562 deg,
new cmd heading: 315.451649 deg.
2025-06-11T21:00:08.328Z,1749675608.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505670 target range: 50.861050 and range: 51.30 m.
2025-06-11T21:00:08.393Z,1749675608.393 [DAT](INFO): DAT read: Rx Time:21:00:09.6290
2025-06-11T21:00:08.393Z,1749675608.393 [DAT](INFO): Rx dataTimestamp_ set to:1749675608.393088
2025-06-11T21:00:08.394Z,1749675608.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021072
2025-06-11T21:00:08.645Z,1749675608.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271887
2025-06-11T21:00:08.846Z,1749675608.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:00:08.849Z,1749675608.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.861050 m,
nav range: 47.632256 m,
bearing: 320.329077 deg,
approach rate: -0.481629 m/s,
LOS rate: -0.042181 deg/s,
cmd heading: 315.451658 deg,
new cmd heading: 315.385655 deg.
2025-06-11T21:00:08.850Z,1749675608.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504518 target range: 50.861050 and range: 51.30 m.
2025-06-11T21:00:08.906Z,1749675608.906 [DAT](INFO): DAT read: 21:00:09.6290 LVL= 18592, 23921, 20002, 28915, AGC= 62, IDX= 418, 0.10,-2.208, 2.659,-2.257,-2.789, PHS= 0.670,-0.788, 0.529, RAW= 145.0, -6.0, CAL= 150.6, -14.9, ROT= 359.4, 14.9
2025-06-11T21:00:08.908Z,1749675608.908 [DAT](INFO): got valid direction response:
21:00:09.6290 LVL= 18592, 23921, 20002, 28915, AGC= 62, IDX= 418, 0.10,-2.208, 2.659,-2.257,-2.789, PHS= 0.670,-0.788, 0.529, RAW= 145.0, -6.0, CAL= 150.6, -14.9, ROT= 359.4, 14.9
2025-06-11T21:00:08.909Z,1749675608.909 [DAT](INFO): DAT read: Bearing 359.4, 14.9 (Local)
2025-06-11T21:00:08.910Z,1749675608.910 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.4, 14.9 (Local)
2025-06-11T21:00:08.925Z,1749675608.925 [DAT](INFO): DAT read: Range 10 to 50 : 49.7 m (Round-trip 66.3 ms) speed 0.4 m/s
2025-06-11T21:00:08.926Z,1749675608.926 [DAT](INFO): DAT read: user:666>
2025-06-11T21:00:08.927Z,1749675608.927 [DAT](INFO): DAT read: Tx time:21:00:10.7085
2025-06-11T21:00:08.932Z,1749675608.932 [DAT](INFO): Ping request sent.
2025-06-11T21:00:08.932Z,1749675608.932 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:08.933Z,1749675608.933 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:08.934Z,1749675608.934 [DAT](INFO): direction in FSK: [0.966323,-0.010120,-0.257133]
2025-06-11T21:00:08.935Z,1749675608.935 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:08.935Z,1749675608.935 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:08.949Z,1749675608.949 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:08.949Z,1749675608.949 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:09.149Z,1749675609.149 [DAT](INFO): DAT read: TxSync time:21:00:10.7078
2025-06-11T21:00:09.172Z,1749675609.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.700001 m,
deltaT: 3.536416 s,
deltaX: -1.599998 m,
approachRate: -0.452435 m/s,
rangeRepo size: 4
2025-06-11T21:00:09.174Z,1749675609.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.274799 m,
bearing: 318.747196 deg,
lat: 36.906373 deg,
lon: -122.115597 deg,
deltaT: 3.536416 s,
deltaX: -1.586250 m,
approachRate: -0.448547 m/s,
posRepo size: 4
2025-06-11T21:00:09.175Z,1749675609.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.27 m.
2025-06-11T21:00:09.182Z,1749675609.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.274799 m,
nav range: 47.908714 m,
bearing: 319.720822 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.042181 deg/s,
cmd heading: 315.385651 deg,
new cmd heading: 315.345506 deg.
2025-06-11T21:00:09.183Z,1749675609.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503818 target range: 49.274799 and range: 49.70 m.
2025-06-11T21:00:09.520Z,1749675609.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.27 m.
2025-06-11T21:00:09.523Z,1749675609.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.274799 m,
nav range: 47.735996 m,
bearing: 319.704354 deg,
approach rate: -0.484570 m/s,
LOS rate: -0.046369 deg/s,
cmd heading: 315.345517 deg,
new cmd heading: 315.295935 deg.
2025-06-11T21:00:09.540Z,1749675609.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502952 target range: 49.274799 and range: 49.70 m.
2025-06-11T21:00:09.975Z,1749675609.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.27 m.
2025-06-11T21:00:09.982Z,1749675609.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.274799 m,
nav range: 47.533642 m,
bearing: 319.689969 deg,
approach rate: -0.444318 m/s,
LOS rate: -0.031720 deg/s,
cmd heading: 315.295930 deg,
new cmd heading: 315.252591 deg.
2025-06-11T21:00:09.983Z,1749675609.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502196 target range: 49.274799 and range: 49.70 m.
2025-06-11T21:00:10.350Z,1749675610.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:10.369Z,1749675610.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.27 m.
2025-06-11T21:00:10.376Z,1749675610.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.274799 m,
nav range: 47.364769 m,
bearing: 319.678326 deg,
approach rate: -0.428535 m/s,
LOS rate: -0.029650 deg/s,
cmd heading: 315.252599 deg,
new cmd heading: 315.217546 deg.
2025-06-11T21:00:10.377Z,1749675610.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501584 target range: 49.274799 and range: 49.70 m.
2025-06-11T21:00:10.409Z,1749675610.409 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:10.409Z,1749675610.409 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:10.409Z,1749675610.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:00:10.664Z,1749675610.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735676
2025-06-11T21:00:10.803Z,1749675610.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.27 m.
2025-06-11T21:00:10.806Z,1749675610.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.274799 m,
nav range: 47.146931 m,
bearing: 319.668696 deg,
approach rate: -0.502202 m/s,
LOS rate: -0.022304 deg/s,
cmd heading: 315.217547 deg,
new cmd heading: 315.188522 deg.
2025-06-11T21:00:10.807Z,1749675610.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501078 target range: 49.274799 and range: 49.70 m.
2025-06-11T21:00:10.914Z,1749675610.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985952
2025-06-11T21:00:11.136Z,1749675611.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.27 m.
2025-06-11T21:00:11.139Z,1749675611.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.274799 m,
nav range: 46.994492 m,
bearing: 319.661953 deg,
approach rate: -0.457048 m/s,
LOS rate: -0.020283 deg/s,
cmd heading: 315.188532 deg,
new cmd heading: 315.168237 deg.
2025-06-11T21:00:11.140Z,1749675611.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500723 target range: 49.274799 and range: 49.70 m.
2025-06-11T21:00:11.165Z,1749675611.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237328
2025-06-11T21:00:11.417Z,1749675611.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489224
2025-06-11T21:00:11.539Z,1749675611.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.27 m.
2025-06-11T21:00:11.542Z,1749675611.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.274799 m,
nav range: 46.810867 m,
bearing: 319.653752 deg,
approach rate: -0.456662 m/s,
LOS rate: -0.020475 deg/s,
cmd heading: 315.168233 deg,
new cmd heading: 315.143533 deg.
2025-06-11T21:00:11.542Z,1749675611.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500292 target range: 49.274799 and range: 49.70 m.
2025-06-11T21:00:11.669Z,1749675611.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741597
2025-06-11T21:00:11.924Z,1749675611.924 [DAT](INFO): DAT read: Rx Time:21:00:13.1767
2025-06-11T21:00:11.925Z,1749675611.925 [DAT](INFO): Rx dataTimestamp_ set to:1749675611.924677
2025-06-11T21:00:11.926Z,1749675611.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998281
2025-06-11T21:00:12.019Z,1749675612.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.27 m.
2025-06-11T21:00:12.025Z,1749675612.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.274799 m,
nav range: 46.597698 m,
bearing: 319.646659 deg,
approach rate: -0.444158 m/s,
LOS rate: -0.014846 deg/s,
cmd heading: 315.143535 deg,
new cmd heading: 315.122160 deg.
2025-06-11T21:00:12.026Z,1749675612.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499919 target range: 49.274799 and range: 49.70 m.
2025-06-11T21:00:12.177Z,1749675612.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249313
2025-06-11T21:00:12.392Z,1749675612.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:12.394Z,1749675612.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.27 m.
2025-06-11T21:00:12.397Z,1749675612.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.274799 m,
nav range: 46.427185 m,
bearing: 319.641760 deg,
approach rate: -0.453950 m/s,
LOS rate: -0.013092 deg/s,
cmd heading: 315.122170 deg,
new cmd heading: 315.107417 deg.
2025-06-11T21:00:12.398Z,1749675612.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499662 target range: 49.274799 and range: 49.70 m.
2025-06-11T21:00:12.435Z,1749675612.435 [DAT](INFO): DAT read: 21:00:13.1767 LVL= 22000, 25489, 18930, 28787, AGC= 61, IDX= 412,-0.40,-0.698,-2.146,-0.784,-1.259, PHS= 0.649,-0.841, 0.472, RAW= 143.8, -4.0, CAL= 148.9, -13.1, ROT= 1.1, 13.1
2025-06-11T21:00:12.437Z,1749675612.437 [DAT](INFO): got valid direction response:
21:00:13.1767 LVL= 22000, 25489, 18930, 28787, AGC= 61, IDX= 412,-0.40,-0.698,-2.146,-0.784,-1.259, PHS= 0.649,-0.841, 0.472, RAW= 143.8, -4.0, CAL= 148.9, -13.1, ROT= 1.1, 13.1
2025-06-11T21:00:12.438Z,1749675612.438 [DAT](INFO): DAT read: Bearing 1.1, 13.1 (Local)
2025-06-11T21:00:12.438Z,1749675612.438 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.1, 13.1 (Local)
2025-06-11T21:00:12.439Z,1749675612.439 [DAT](INFO): DAT read: Range 10 to 50 : 48.0 m (Round-trip 64.0 ms) speed 0.4 m/s
2025-06-11T21:00:12.441Z,1749675612.441 [DAT](INFO): DAT read: user:667>
2025-06-11T21:00:12.442Z,1749675612.442 [DAT](INFO): DAT read: Tx time:21:00:14.2585
2025-06-11T21:00:12.442Z,1749675612.442 [DAT](INFO): Ping request sent.
2025-06-11T21:00:12.442Z,1749675612.442 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:12.442Z,1749675612.442 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:12.443Z,1749675612.443 [DAT](INFO): direction in FSK: [0.973796,0.018698,-0.226651]
2025-06-11T21:00:12.443Z,1749675612.443 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:12.444Z,1749675612.444 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:12.447Z,1749675612.447 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:12.447Z,1749675612.447 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:12.681Z,1749675612.681 [DAT](INFO): DAT read: TxSync time:21:00:14.2578
2025-06-11T21:00:12.913Z,1749675612.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.000000 m,
deltaT: 3.531551 s,
deltaX: -1.700001 m,
approachRate: -0.481375 m/s,
rangeRepo size: 4
2025-06-11T21:00:12.921Z,1749675612.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.589451 m,
bearing: 319.366613 deg,
lat: 36.906373 deg,
lon: -122.115601 deg,
deltaT: 3.531551 s,
deltaX: -1.685349 m,
approachRate: -0.477226 m/s,
posRepo size: 4
2025-06-11T21:00:12.922Z,1749675612.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.59 m.
2025-06-11T21:00:12.938Z,1749675612.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.589451 m,
nav range: 46.436478 m,
bearing: 319.308010 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013092 deg/s,
cmd heading: 315.107417 deg,
new cmd heading: 315.087252 deg.
2025-06-11T21:00:12.959Z,1749675612.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499310 target range: 47.589451 and range: 48.00 m.
2025-06-11T21:00:13.177Z,1749675613.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.59 m.
2025-06-11T21:00:13.179Z,1749675613.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.589451 m,
nav range: 46.305981 m,
bearing: 319.301856 deg,
approach rate: -0.484861 m/s,
LOS rate: -0.022930 deg/s,
cmd heading: 315.087254 deg,
new cmd heading: 315.068740 deg.
2025-06-11T21:00:13.202Z,1749675613.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498987 target range: 47.589451 and range: 48.00 m.
2025-06-11T21:00:13.574Z,1749675613.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.59 m.
2025-06-11T21:00:13.578Z,1749675613.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.589451 m,
nav range: 46.130737 m,
bearing: 319.294153 deg,
approach rate: -0.441141 m/s,
LOS rate: -0.019463 deg/s,
cmd heading: 315.068731 deg,
new cmd heading: 315.045536 deg.
2025-06-11T21:00:13.579Z,1749675613.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498582 target range: 47.589451 and range: 48.00 m.
2025-06-11T21:00:14.007Z,1749675614.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.59 m.
2025-06-11T21:00:14.010Z,1749675614.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.589451 m,
nav range: 45.936691 m,
bearing: 319.285648 deg,
approach rate: -0.448263 m/s,
LOS rate: -0.019730 deg/s,
cmd heading: 315.045535 deg,
new cmd heading: 315.019913 deg.
2025-06-11T21:00:14.011Z,1749675614.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498135 target range: 47.589451 and range: 48.00 m.
2025-06-11T21:00:14.386Z,1749675614.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.59 m.
2025-06-11T21:00:14.389Z,1749675614.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.589451 m,
nav range: 45.773823 m,
bearing: 319.279475 deg,
approach rate: -0.429074 m/s,
LOS rate: -0.016320 deg/s,
cmd heading: 315.019909 deg,
new cmd heading: 315.001324 deg.
2025-06-11T21:00:14.390Z,1749675614.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497810 target range: 47.589451 and range: 48.00 m.
2025-06-11T21:00:14.846Z,1749675614.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:14.848Z,1749675614.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.59 m.
2025-06-11T21:00:14.851Z,1749675614.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.589451 m,
nav range: 45.560619 m,
bearing: 319.266561 deg,
approach rate: -0.462349 m/s,
LOS rate: -0.028138 deg/s,
cmd heading: 315.001330 deg,
new cmd heading: 314.962404 deg.
2025-06-11T21:00:14.851Z,1749675614.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497131 target range: 47.589451 and range: 48.00 m.
2025-06-11T21:00:14.953Z,1749675614.953 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:14.953Z,1749675614.953 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:14.954Z,1749675614.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:00:15.186Z,1749675615.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.59 m.
2025-06-11T21:00:15.193Z,1749675615.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.589451 m,
nav range: 45.412189 m,
bearing: 319.257813 deg,
approach rate: -0.438990 m/s,
LOS rate: -0.025957 deg/s,
cmd heading: 314.962398 deg,
new cmd heading: 314.936069 deg.
2025-06-11T21:00:15.195Z,1749675615.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496671 target range: 47.589451 and range: 48.00 m.
2025-06-11T21:00:15.206Z,1749675615.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763503
2025-06-11T21:00:15.457Z,1749675615.457 [DAT](INFO): DAT read: Rx Time:21:00:16.7248
2025-06-11T21:00:15.457Z,1749675615.457 [DAT](INFO): Rx dataTimestamp_ set to:1749675615.456997
2025-06-11T21:00:15.458Z,1749675615.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015861
2025-06-11T21:00:15.594Z,1749675615.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.59 m.
2025-06-11T21:00:15.597Z,1749675615.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.589451 m,
nav range: 45.226444 m,
bearing: 319.247013 deg,
approach rate: -0.454403 m/s,
LOS rate: -0.026528 deg/s,
cmd heading: 314.936061 deg,
new cmd heading: 314.903530 deg.
2025-06-11T21:00:15.598Z,1749675615.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496103 target range: 47.589451 and range: 48.00 m.
2025-06-11T21:00:15.709Z,1749675615.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266850
2025-06-11T21:00:15.968Z,1749675615.968 [DAT](INFO): DAT read: 21:00:16.7248 LVL= 20208, 23153, 17826, 26547, AGC= 60, IDX= 423,-0.19,-2.413, 2.398,-2.561,-3.021, PHS= 0.696,-0.817, 0.458, RAW= 141.6, -4.8, CAL= 147.1, -14.2, ROT= 2.9, 14.2
2025-06-11T21:00:15.969Z,1749675615.969 [DAT](INFO): got valid direction response:
21:00:16.7248 LVL= 20208, 23153, 17826, 26547, AGC= 60, IDX= 423,-0.19,-2.413, 2.398,-2.561,-3.021, PHS= 0.696,-0.817, 0.458, RAW= 141.6, -4.8, CAL= 147.1, -14.2, ROT= 2.9, 14.2
2025-06-11T21:00:15.970Z,1749675615.970 [DAT](INFO): DAT read: Bearing 2.9, 14.2 (Local)
2025-06-11T21:00:15.971Z,1749675615.971 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.9, 14.2 (Local)
2025-06-11T21:00:15.972Z,1749675615.972 [DAT](INFO): DAT read: Range 10 to 50 : 46.5 m (Round-trip 62.0 ms) speed 0.4 m/s
2025-06-11T21:00:15.973Z,1749675615.973 [DAT](INFO): DAT read: user:668>
2025-06-11T21:00:15.974Z,1749675615.974 [DAT](INFO): DAT read: Tx time:21:00:17.8086
2025-06-11T21:00:15.974Z,1749675615.974 [DAT](INFO): Ping request sent.
2025-06-11T21:00:15.974Z,1749675615.974 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:15.975Z,1749675615.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:15.976Z,1749675615.976 [DAT](INFO): direction in FSK: [0.968204,0.049047,-0.245307]
2025-06-11T21:00:15.976Z,1749675615.976 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:15.976Z,1749675615.976 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:15.979Z,1749675615.979 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:15.979Z,1749675615.979 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:16.098Z,1749675616.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.500000 m,
deltaT: 3.533607 s,
deltaX: -1.500000 m,
approachRate: -0.424495 m/s,
rangeRepo size: 4
2025-06-11T21:00:16.113Z,1749675616.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.102291 m,
bearing: 320.535702 deg,
lat: 36.906373 deg,
lon: -122.115601 deg,
deltaT: 3.533607 s,
deltaX: -1.487160 m,
approachRate: -0.420862 m/s,
posRepo size: 4
2025-06-11T21:00:16.113Z,1749675616.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:00:16.120Z,1749675616.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.102291 m,
nav range: 45.059978 m,
bearing: 319.292546 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.026528 deg/s,
cmd heading: 314.903522 deg,
new cmd heading: 314.863502 deg.
2025-06-11T21:00:16.121Z,1749675616.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495405 target range: 46.102291 and range: 46.50 m.
2025-06-11T21:00:16.214Z,1749675616.214 [DAT](INFO): DAT read: TxSync time:21:00:17.8079
2025-06-11T21:00:16.425Z,1749675616.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:00:16.432Z,1749675616.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.102291 m,
nav range: 44.901123 m,
bearing: 319.282041 deg,
approach rate: -0.484808 m/s,
LOS rate: -0.032172 deg/s,
cmd heading: 314.863497 deg,
new cmd heading: 314.831872 deg.
2025-06-11T21:00:16.433Z,1749675616.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494853 target range: 46.102291 and range: 46.50 m.
2025-06-11T21:00:16.893Z,1749675616.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:16.895Z,1749675616.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:00:16.902Z,1749675616.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.102291 m,
nav range: 44.692307 m,
bearing: 319.261599 deg,
approach rate: -0.443980 m/s,
LOS rate: -0.043668 deg/s,
cmd heading: 314.831860 deg,
new cmd heading: 314.770245 deg.
2025-06-11T21:00:16.903Z,1749675616.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493777 target range: 46.102291 and range: 46.50 m.
2025-06-11T21:00:16.969Z,1749675616.969 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:16.970Z,1749675616.970 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:16.970Z,1749675616.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:00:17.221Z,1749675617.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246810
2025-06-11T21:00:17.225Z,1749675617.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:00:17.227Z,1749675617.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.102291 m,
nav range: 44.533684 m,
bearing: 319.246020 deg,
approach rate: -0.481827 m/s,
LOS rate: -0.047490 deg/s,
cmd heading: 314.770251 deg,
new cmd heading: 314.723348 deg.
2025-06-11T21:00:17.229Z,1749675617.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492959 target range: 46.102291 and range: 46.50 m.
2025-06-11T21:00:17.473Z,1749675617.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498461
2025-06-11T21:00:17.622Z,1749675617.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:00:17.625Z,1749675617.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.102291 m,
nav range: 44.351562 m,
bearing: 319.227817 deg,
approach rate: -0.458521 m/s,
LOS rate: -0.046016 deg/s,
cmd heading: 314.723342 deg,
new cmd heading: 314.668510 deg.
2025-06-11T21:00:17.626Z,1749675617.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492002 target range: 46.102291 and range: 46.50 m.
2025-06-11T21:00:17.725Z,1749675617.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750561
2025-06-11T21:00:17.977Z,1749675617.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002485
2025-06-11T21:00:18.229Z,1749675618.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254583
2025-06-11T21:00:18.235Z,1749675618.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:00:18.238Z,1749675618.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.102291 m,
nav range: 44.067902 m,
bearing: 319.189652 deg,
approach rate: -0.462461 m/s,
LOS rate: -0.062623 deg/s,
cmd heading: 314.668509 deg,
new cmd heading: 314.553276 deg.
2025-06-11T21:00:18.239Z,1749675618.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489990 target range: 46.102291 and range: 46.50 m.
2025-06-11T21:00:18.481Z,1749675618.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506533
2025-06-11T21:00:18.533Z,1749675618.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:00:18.535Z,1749675618.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.102291 m,
nav range: 43.933247 m,
bearing: 319.171046 deg,
approach rate: -0.466055 m/s,
LOS rate: -0.064597 deg/s,
cmd heading: 314.553270 deg,
new cmd heading: 314.497279 deg.
2025-06-11T21:00:18.537Z,1749675618.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489013 target range: 46.102291 and range: 46.50 m.
2025-06-11T21:00:18.733Z,1749675618.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758808
2025-06-11T21:00:18.964Z,1749675618.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:18.966Z,1749675618.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:00:18.973Z,1749675618.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.102291 m,
nav range: 43.739925 m,
bearing: 319.139633 deg,
approach rate: -0.437447 m/s,
LOS rate: -0.071396 deg/s,
cmd heading: 314.497290 deg,
new cmd heading: 314.402634 deg.
2025-06-11T21:00:18.977Z,1749675618.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487361 target range: 46.102291 and range: 46.50 m.
2025-06-11T21:00:18.985Z,1749675618.985 [DAT](INFO): DAT read: Rx Time:21:00:20.2725
2025-06-11T21:00:18.985Z,1749675618.985 [DAT](INFO): Rx dataTimestamp_ set to:1749675618.985171
2025-06-11T21:00:18.986Z,1749675618.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011695
2025-06-11T21:00:19.237Z,1749675619.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262440
2025-06-11T21:00:19.336Z,1749675619.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:00:19.339Z,1749675619.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.102291 m,
nav range: 43.572212 m,
bearing: 319.112113 deg,
approach rate: -0.457790 m/s,
LOS rate: -0.075406 deg/s,
cmd heading: 314.402623 deg,
new cmd heading: 314.319748 deg.
2025-06-11T21:00:19.341Z,1749675619.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485915 target range: 46.102291 and range: 46.50 m.
2025-06-11T21:00:19.495Z,1749675619.495 [DAT](INFO): DAT read: 21:00:20.2725 LVL= 20688, 26913, 18770, 31475, AGC= 63, IDX= 416,-0.20,-0.190,-1.565,-0.357,-0.753, PHS= 0.651,-0.765, 0.393, RAW= 140.2, -4.3, CAL= 145.6, -13.8, ROT= 4.4, 13.8
2025-06-11T21:00:19.496Z,1749675619.496 [DAT](INFO): got valid direction response:
21:00:20.2725 LVL= 20688, 26913, 18770, 31475, AGC= 63, IDX= 416,-0.20,-0.190,-1.565,-0.357,-0.753, PHS= 0.651,-0.765, 0.393, RAW= 140.2, -4.3, CAL= 145.6, -13.8, ROT= 4.4, 13.8
2025-06-11T21:00:19.497Z,1749675619.497 [DAT](INFO): DAT read: Bearing 4.4, 13.8 (Local)
2025-06-11T21:00:19.497Z,1749675619.497 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.4, 13.8 (Local)
2025-06-11T21:00:19.499Z,1749675619.499 [DAT](INFO): DAT read: Range 10 to 50 : 44.7 m (Round-trip 59.7 ms) speed 0.4 m/s
2025-06-11T21:00:19.500Z,1749675619.500 [DAT](INFO): DAT read: user:669>
2025-06-11T21:00:19.501Z,1749675619.501 [DAT](INFO): DAT read: Tx time:21:00:21.3586
2025-06-11T21:00:19.501Z,1749675619.501 [DAT](INFO): Ping request sent.
2025-06-11T21:00:19.501Z,1749675619.501 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:19.501Z,1749675619.501 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:19.502Z,1749675619.502 [DAT](INFO): direction in FSK: [0.968272,0.074504,-0.238533]
2025-06-11T21:00:19.502Z,1749675619.502 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:19.503Z,1749675619.503 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:19.506Z,1749675619.506 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:19.506Z,1749675619.506 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:19.741Z,1749675619.741 [DAT](INFO): DAT read: TxSync time:21:00:21.3579
2025-06-11T21:00:19.895Z,1749675619.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.700001 m,
deltaT: 3.526384 s,
deltaX: -1.799999 m,
approachRate: -0.510438 m/s,
rangeRepo size: 4
2025-06-11T21:00:19.897Z,1749675619.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.317688 m,
bearing: 322.074191 deg,
lat: 36.906373 deg,
lon: -122.115601 deg,
deltaT: 3.526384 s,
deltaX: -1.784603 m,
approachRate: -0.506072 m/s,
posRepo size: 4
2025-06-11T21:00:19.898Z,1749675619.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.32 m.
2025-06-11T21:00:19.901Z,1749675619.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.317688 m,
nav range: 43.325443 m,
bearing: 319.071287 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.075406 deg/s,
cmd heading: 314.319759 deg,
new cmd heading: 314.192613 deg.
2025-06-11T21:00:19.902Z,1749675619.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483696 target range: 44.317688 and range: 44.70 m.
2025-06-11T21:00:20.252Z,1749675620.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.32 m.
2025-06-11T21:00:20.255Z,1749675620.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.317688 m,
nav range: 43.155167 m,
bearing: 319.037871 deg,
approach rate: -0.481712 m/s,
LOS rate: -0.094906 deg/s,
cmd heading: 314.192609 deg,
new cmd heading: 314.091966 deg.
2025-06-11T21:00:20.268Z,1749675620.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481939 target range: 44.317688 and range: 44.70 m.
2025-06-11T21:00:20.616Z,1749675620.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.32 m.
2025-06-11T21:00:20.619Z,1749675620.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.317688 m,
nav range: 42.975441 m,
bearing: 319.002311 deg,
approach rate: -0.487640 m/s,
LOS rate: -0.096886 deg/s,
cmd heading: 314.091959 deg,
new cmd heading: 313.984834 deg.
2025-06-11T21:00:20.620Z,1749675620.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480069 target range: 44.317688 and range: 44.70 m.
2025-06-11T21:00:21.105Z,1749675621.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:21.107Z,1749675621.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.32 m.
2025-06-11T21:00:21.110Z,1749675621.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.317688 m,
nav range: 42.758675 m,
bearing: 318.962731 deg,
approach rate: -0.441584 m/s,
LOS rate: -0.081038 deg/s,
cmd heading: 313.984834 deg,
new cmd heading: 313.865493 deg.
2025-06-11T21:00:21.111Z,1749675621.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477986 target range: 44.317688 and range: 44.70 m.
2025-06-11T21:00:21.253Z,1749675621.253 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:21.253Z,1749675621.253 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:21.253Z,1749675621.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:00:21.420Z,1749675621.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.32 m.
2025-06-11T21:00:21.426Z,1749675621.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.317688 m,
nav range: 42.618149 m,
bearing: 318.936967 deg,
approach rate: -0.455750 m/s,
LOS rate: -0.083833 deg/s,
cmd heading: 313.865497 deg,
new cmd heading: 313.787950 deg.
2025-06-11T21:00:21.427Z,1749675621.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476633 target range: 44.317688 and range: 44.70 m.
2025-06-11T21:00:21.506Z,1749675621.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004846
2025-06-11T21:00:21.757Z,1749675621.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255829
2025-06-11T21:00:21.860Z,1749675621.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.32 m.
2025-06-11T21:00:21.878Z,1749675621.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.317688 m,
nav range: 42.424709 m,
bearing: 318.901362 deg,
approach rate: -0.447822 m/s,
LOS rate: -0.082804 deg/s,
cmd heading: 313.787961 deg,
new cmd heading: 313.680658 deg.
2025-06-11T21:00:21.886Z,1749675621.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474760 target range: 44.317688 and range: 44.70 m.
2025-06-11T21:00:22.009Z,1749675622.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507954
2025-06-11T21:00:22.261Z,1749675622.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759717
2025-06-11T21:00:22.261Z,1749675622.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.32 m.
2025-06-11T21:00:22.268Z,1749675622.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.317688 m,
nav range: 42.237103 m,
bearing: 318.870827 deg,
approach rate: -0.473665 m/s,
LOS rate: -0.077435 deg/s,
cmd heading: 313.680645 deg,
new cmd heading: 313.588635 deg.
2025-06-11T21:00:22.269Z,1749675622.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473154 target range: 44.317688 and range: 44.70 m.
2025-06-11T21:00:22.514Z,1749675622.514 [DAT](INFO): DAT read: Rx Time:21:00:23.8203
2025-06-11T21:00:22.514Z,1749675622.514 [DAT](INFO): Rx dataTimestamp_ set to:1749675622.513766
2025-06-11T21:00:22.515Z,1749675622.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013682
2025-06-11T21:00:22.628Z,1749675622.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.32 m.
2025-06-11T21:00:22.638Z,1749675622.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 44.317688 m,
nav range: 42.067776 m,
bearing: 318.843465 deg,
approach rate: -0.460195 m/s,
LOS rate: -0.074665 deg/s,
cmd heading: 313.588629 deg,
new cmd heading: 313.506211 deg.
2025-06-11T21:00:22.639Z,1749675622.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471715 target range: 44.317688 and range: 44.70 m.
2025-06-11T21:00:22.765Z,1749675622.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264306
2025-06-11T21:00:23.024Z,1749675623.024 [DAT](INFO): DAT read: 21:00:23.8203 LVL= 29792, 32753, 22898, 32755, AGC= 64, IDX= 424, 0.47, 1.522, 0.059, 1.296, 0.944, PHS= 0.666,-0.838, 0.350, RAW= 138.5, -2.6, CAL= 143.7, -12.0, ROT= 6.3, 12.0
2025-06-11T21:00:23.030Z,1749675623.030 [DAT](INFO): got valid direction response:
21:00:23.8203 LVL= 29792, 32753, 22898, 32755, AGC= 64, IDX= 424, 0.47, 1.522, 0.059, 1.296, 0.944, PHS= 0.666,-0.838, 0.350, RAW= 138.5, -2.6, CAL= 143.7, -12.0, ROT= 6.3, 12.0
2025-06-11T21:00:23.031Z,1749675623.031 [DAT](INFO): DAT read: Bearing 6.3, 12.0 (Local)
2025-06-11T21:00:23.031Z,1749675623.031 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.3, 12.0 (Local)
2025-06-11T21:00:23.033Z,1749675623.033 [DAT](INFO): DAT read: Range 10 to 50 : 43.1 m (Round-trip 57.5 ms) speed 0.4 m/s
2025-06-11T21:00:23.035Z,1749675623.035 [DAT](INFO): DAT read: user:670>
2025-06-11T21:00:23.060Z,1749675623.060 [DAT](INFO): DAT read: Tx time:21:00:24.9086
2025-06-11T21:00:23.060Z,1749675623.060 [DAT](INFO): Ping request sent.
2025-06-11T21:00:23.060Z,1749675623.060 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:23.061Z,1749675623.061 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:23.062Z,1749675623.062 [DAT](INFO): direction in FSK: [0.972241,0.107336,-0.207912]
2025-06-11T21:00:23.062Z,1749675623.062 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:23.062Z,1749675623.062 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:23.090Z,1749675623.090 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:23.090Z,1749675623.090 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:23.217Z,1749675623.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.099998 m,
deltaT: 3.528007 s,
deltaX: -1.600002 m,
approachRate: -0.453514 m/s,
rangeRepo size: 4
2025-06-11T21:00:23.219Z,1749675623.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.731327 m,
bearing: 323.114101 deg,
lat: 36.906378 deg,
lon: -122.115591 deg,
deltaT: 3.528007 s,
deltaX: -1.586361 m,
approachRate: -0.449648 m/s,
posRepo size: 4
2025-06-11T21:00:23.224Z,1749675623.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-06-11T21:00:23.227Z,1749675623.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.731327 m,
nav range: 41.583378 m,
bearing: 320.148666 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.074665 deg/s,
cmd heading: 313.506202 deg,
new cmd heading: 313.372599 deg.
2025-06-11T21:00:23.252Z,1749675623.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469384 target range: 42.731327 and range: 43.10 m.
2025-06-11T21:00:23.269Z,1749675623.269 [DAT](INFO): DAT read: TxSync time:21:00:24.9079
2025-06-11T21:00:23.593Z,1749675623.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:23.608Z,1749675623.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-06-11T21:00:23.610Z,1749675623.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.731327 m,
nav range: 41.412769 m,
bearing: 320.132382 deg,
approach rate: -0.440305 m/s,
LOS rate: -0.042200 deg/s,
cmd heading: 313.372603 deg,
new cmd heading: 313.323549 deg.
2025-06-11T21:00:23.611Z,1749675623.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468527 target range: 42.731327 and range: 43.10 m.
2025-06-11T21:00:23.772Z,1749675623.772 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:23.773Z,1749675623.773 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:23.773Z,1749675623.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:00:23.985Z,1749675623.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-06-11T21:00:23.987Z,1749675623.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.731327 m,
nav range: 41.227882 m,
bearing: 320.129136 deg,
approach rate: -0.475221 m/s,
LOS rate: -0.008381 deg/s,
cmd heading: 313.323535 deg,
new cmd heading: 313.313753 deg.
2025-06-11T21:00:23.989Z,1749675623.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468357 target range: 42.731327 and range: 43.10 m.
2025-06-11T21:00:24.025Z,1749675624.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.964480
2025-06-11T21:00:24.277Z,1749675624.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216269
2025-06-11T21:00:24.352Z,1749675624.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-06-11T21:00:24.355Z,1749675624.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.731327 m,
nav range: 41.062359 m,
bearing: 320.126973 deg,
approach rate: -0.451034 m/s,
LOS rate: -0.005917 deg/s,
cmd heading: 313.313755 deg,
new cmd heading: 313.307240 deg.
2025-06-11T21:00:24.355Z,1749675624.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468243 target range: 42.731327 and range: 43.10 m.
2025-06-11T21:00:24.529Z,1749675624.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468258
2025-06-11T21:00:24.748Z,1749675624.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-06-11T21:00:24.751Z,1749675624.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.731327 m,
nav range: 40.883499 m,
bearing: 320.124932 deg,
approach rate: -0.451142 m/s,
LOS rate: -0.005169 deg/s,
cmd heading: 313.307252 deg,
new cmd heading: 313.301104 deg.
2025-06-11T21:00:24.752Z,1749675624.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468136 target range: 42.731327 and range: 43.10 m.
2025-06-11T21:00:24.781Z,1749675624.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720242
2025-06-11T21:00:25.033Z,1749675625.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972291
2025-06-11T21:00:25.174Z,1749675625.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-06-11T21:00:25.177Z,1749675625.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.731327 m,
nav range: 40.691280 m,
bearing: 320.136083 deg,
approach rate: -0.451794 m/s,
LOS rate: 0.026332 deg/s,
cmd heading: 313.301105 deg,
new cmd heading: 313.334714 deg.
2025-06-11T21:00:25.177Z,1749675625.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468722 target range: 42.731327 and range: 43.10 m.
2025-06-11T21:00:25.285Z,1749675625.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224310
2025-06-11T21:00:25.537Z,1749675625.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476175
2025-06-11T21:00:25.555Z,1749675625.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-06-11T21:00:25.562Z,1749675625.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.731327 m,
nav range: 40.518810 m,
bearing: 320.146461 deg,
approach rate: -0.452378 m/s,
LOS rate: 0.027336 deg/s,
cmd heading: 313.334710 deg,
new cmd heading: 313.365976 deg.
2025-06-11T21:00:25.563Z,1749675625.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469268 target range: 42.731327 and range: 43.10 m.
2025-06-11T21:00:25.792Z,1749675625.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731008
2025-06-11T21:00:26.022Z,1749675626.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:26.024Z,1749675626.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-06-11T21:00:26.027Z,1749675626.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.731327 m,
nav range: 40.308685 m,
bearing: 320.167067 deg,
approach rate: -0.447422 m/s,
LOS rate: 0.044106 deg/s,
cmd heading: 313.365965 deg,
new cmd heading: 313.428106 deg.
2025-06-11T21:00:26.028Z,1749675626.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470352 target range: 42.731327 and range: 43.10 m.
2025-06-11T21:00:26.041Z,1749675626.041 [DAT](INFO): DAT read: Rx Time:21:00:27.3681
2025-06-11T21:00:26.041Z,1749675626.041 [DAT](INFO): Rx dataTimestamp_ set to:1749675626.041091
2025-06-11T21:00:26.042Z,1749675626.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981423
2025-06-11T21:00:26.293Z,1749675626.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232205
2025-06-11T21:00:26.386Z,1749675626.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.73 m.
2025-06-11T21:00:26.389Z,1749675626.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.731327 m,
nav range: 40.154701 m,
bearing: 320.182597 deg,
approach rate: -0.425602 m/s,
LOS rate: 0.043090 deg/s,
cmd heading: 313.428092 deg,
new cmd heading: 313.474862 deg.
2025-06-11T21:00:26.390Z,1749675626.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471169 target range: 42.731327 and range: 43.10 m.
2025-06-11T21:00:26.559Z,1749675626.559 [DAT](INFO): DAT read: 21:00:27.3681 LVL= 25712, 27233, 20050, 32755, AGC= 58, IDX= 419,-0.08,-1.143,-2.629,-1.435,-1.762, PHS= 0.707,-0.820, 0.324, RAW= 136.0, -3.1, CAL= 141.4, -12.8, ROT= 8.6, 12.8
2025-06-11T21:00:26.581Z,1749675626.581 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:00:26.582Z,1749675626.582 [DAT](INFO): got valid direction response:
21:00:27.3681 LVL= 25712, 27233, 20050, 32755, AGC= 58, IDX= 419,-0.08,-1.143,-2.629,-1.435,-1.762, PHS= 0.707,-0.820, 0.324, RAW= 136.0, -3.1, CAL= 141.4, -12.8, ROT= 8.6, 12.8
2025-06-11T21:00:26.583Z,1749675626.583 [DAT](INFO): DAT read: Bearing 8.6, 12.8 (Local)
2025-06-11T21:00:26.583Z,1749675626.583 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.6, 12.8 (Local)
2025-06-11T21:00:26.589Z,1749675626.589 [DAT](INFO): DAT read: Range 10 to 50 : 41.4 m (Round-trip 55.3 ms) speed 0.4 m/s
2025-06-11T21:00:26.590Z,1749675626.590 [DAT](INFO): DAT read: user:671>
2025-06-11T21:00:26.591Z,1749675626.591 [DAT](INFO): DAT read: Tx time:21:00:28.4586
2025-06-11T21:00:26.591Z,1749675626.591 [DAT](INFO): Ping request sent.
2025-06-11T21:00:26.591Z,1749675626.591 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:26.597Z,1749675626.597 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:26.598Z,1749675626.598 [DAT](INFO): direction in FSK: [0.964185,0.145819,-0.221548]
2025-06-11T21:00:26.599Z,1749675626.599 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:26.599Z,1749675626.599 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:26.603Z,1749675626.603 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:26.603Z,1749675626.603 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:26.797Z,1749675626.797 [DAT](INFO): DAT read: TxSync time:21:00:28.4579
2025-06-11T21:00:26.804Z,1749675626.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.400002 m,
deltaT: 3.529920 s,
deltaX: -1.699997 m,
approachRate: -0.481596 m/s,
rangeRepo size: 4
2025-06-11T21:00:26.806Z,1749675626.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.045517 m,
bearing: 324.431031 deg,
lat: 36.906386 deg,
lon: -122.115580 deg,
deltaT: 3.529920 s,
deltaX: -1.685810 m,
approachRate: -0.477577 m/s,
posRepo size: 4
2025-06-11T21:00:26.807Z,1749675626.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:26.814Z,1749675626.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 40.054363 m,
bearing: 322.046830 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.043090 deg/s,
cmd heading: 313.474865 deg,
new cmd heading: 313.528238 deg.
2025-06-11T21:00:26.815Z,1749675626.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472100 target range: 41.045517 and range: 41.40 m.
2025-06-11T21:00:27.198Z,1749675627.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:27.201Z,1749675627.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 39.863262 m,
bearing: 322.080378 deg,
approach rate: -0.479420 m/s,
LOS rate: 0.084568 deg/s,
cmd heading: 313.528250 deg,
new cmd heading: 313.629379 deg.
2025-06-11T21:00:27.202Z,1749675627.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473866 target range: 41.045517 and range: 41.40 m.
2025-06-11T21:00:27.577Z,1749675627.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:27.579Z,1749675627.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 39.689217 m,
bearing: 322.111423 deg,
approach rate: -0.459353 m/s,
LOS rate: 0.082293 deg/s,
cmd heading: 313.629391 deg,
new cmd heading: 313.722932 deg.
2025-06-11T21:00:27.580Z,1749675627.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475498 target range: 41.045517 and range: 41.40 m.
2025-06-11T21:00:27.585Z,1749675627.585 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:00:28.029Z,1749675628.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:28.031Z,1749675628.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:28.034Z,1749675628.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 39.483479 m,
bearing: 322.144881 deg,
approach rate: -0.452411 m/s,
LOS rate: 0.073957 deg/s,
cmd heading: 313.722938 deg,
new cmd heading: 313.823835 deg.
2025-06-11T21:00:28.035Z,1749675628.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477259 target range: 41.045517 and range: 41.40 m.
2025-06-11T21:00:28.065Z,1749675628.065 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:28.065Z,1749675628.065 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:28.065Z,1749675628.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:00:28.317Z,1749675628.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725282
2025-06-11T21:00:28.387Z,1749675628.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:28.390Z,1749675628.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 39.322453 m,
bearing: 322.171061 deg,
approach rate: -0.452978 m/s,
LOS rate: 0.073947 deg/s,
cmd heading: 313.823833 deg,
new cmd heading: 313.902694 deg.
2025-06-11T21:00:28.391Z,1749675628.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478635 target range: 41.045517 and range: 41.40 m.
2025-06-11T21:00:28.569Z,1749675628.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977431
2025-06-11T21:00:28.785Z,1749675628.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:28.787Z,1749675628.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 39.142410 m,
bearing: 322.200111 deg,
approach rate: -0.452406 m/s,
LOS rate: 0.073333 deg/s,
cmd heading: 313.902681 deg,
new cmd heading: 313.990233 deg.
2025-06-11T21:00:28.789Z,1749675628.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480164 target range: 41.045517 and range: 41.40 m.
2025-06-11T21:00:28.824Z,1749675628.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232404
2025-06-11T21:00:29.073Z,1749675629.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481276
2025-06-11T21:00:29.218Z,1749675629.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:29.221Z,1749675629.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 38.944839 m,
bearing: 322.222063 deg,
approach rate: -0.456006 m/s,
LOS rate: 0.050922 deg/s,
cmd heading: 313.990244 deg,
new cmd heading: 314.056432 deg.
2025-06-11T21:00:29.222Z,1749675629.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481319 target range: 41.045517 and range: 41.40 m.
2025-06-11T21:00:29.325Z,1749675629.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733533
2025-06-11T21:00:29.577Z,1749675629.577 [DAT](INFO): DAT read: Rx Time:21:00:30.9162
2025-06-11T21:00:29.577Z,1749675629.577 [DAT](INFO): Rx dataTimestamp_ set to:1749675629.577180
2025-06-11T21:00:29.578Z,1749675629.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986569
2025-06-11T21:00:29.621Z,1749675629.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:29.623Z,1749675629.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 38.761124 m,
bearing: 322.242677 deg,
approach rate: -0.456377 m/s,
LOS rate: 0.051452 deg/s,
cmd heading: 314.056442 deg,
new cmd heading: 314.118578 deg.
2025-06-11T21:00:29.625Z,1749675629.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482403 target range: 41.045517 and range: 41.40 m.
2025-06-11T21:00:29.829Z,1749675629.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237946
2025-06-11T21:00:30.112Z,1749675630.112 [DAT](INFO): DAT read: 21:00:30.9162 LVL= 22752, 25537, 19442, 29267, AGC= 58, IDX= 413, 0.32,-0.844,-2.356,-1.148,-1.465, PHS= 0.709,-0.844, 0.314, RAW= 135.8, -2.6, CAL= 141.2, -12.2, ROT= 8.8, 12.2
2025-06-11T21:00:30.114Z,1749675630.114 [DAT](INFO): got valid direction response:
21:00:30.9162 LVL= 22752, 25537, 19442, 29267, AGC= 58, IDX= 413, 0.32,-0.844,-2.356,-1.148,-1.465, PHS= 0.709,-0.844, 0.314, RAW= 135.8, -2.6, CAL= 141.2, -12.2, ROT= 8.8, 12.2
2025-06-11T21:00:30.115Z,1749675630.115 [DAT](INFO): DAT read: Bearing 8.8, 12.2 (Local)
2025-06-11T21:00:30.115Z,1749675630.115 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.8, 12.2 (Local)
2025-06-11T21:00:30.125Z,1749675630.125 [DAT](INFO): DAT read: Range 10 to 50 : 39.9 m (Round-trip 53.3 ms) speed 0.4 m/s
2025-06-11T21:00:30.125Z,1749675630.125 [DAT](INFO): DAT read: user:672>
2025-06-11T21:00:30.126Z,1749675630.126 [DAT](INFO): DAT read: Tx time:21:00:32.0087
2025-06-11T21:00:30.126Z,1749675630.126 [DAT](INFO): Ping request sent.
2025-06-11T21:00:30.127Z,1749675630.127 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:30.135Z,1749675630.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:30.136Z,1749675630.136 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:30.137Z,1749675630.137 [DAT](INFO): direction in FSK: [0.965910,0.149531,-0.211325]
2025-06-11T21:00:30.138Z,1749675630.138 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:30.138Z,1749675630.138 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:30.141Z,1749675630.141 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:30.142Z,1749675630.142 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:30.150Z,1749675630.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.900002 m,
deltaT: 3.536037 s,
deltaX: -1.500000 m,
approachRate: -0.424204 m/s,
rangeRepo size: 4
2025-06-11T21:00:30.151Z,1749675630.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:30.157Z,1749675630.157 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:30.157Z,1749675630.157 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:30.157Z,1749675630.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:00:30.165Z,1749675630.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 38.537399 m,
bearing: 322.260698 deg,
approach rate: -0.422952 m/s,
LOS rate: 0.034267 deg/s,
cmd heading: 314.118569 deg,
new cmd heading: 314.172947 deg.
2025-06-11T21:00:30.166Z,1749675630.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483352 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:30.333Z,1749675630.333 [DAT](INFO): DAT read: TxSync time:21:00:32.0080
2025-06-11T21:00:30.334Z,1749675630.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.207235
2025-06-11T21:00:30.481Z,1749675630.481 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-11T21:00:30.482Z,1749675630.482 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:00:30.482Z,1749675630.482 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-11T21:00:30.483Z,1749675630.483 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.900002 m (mode 2.000000 count ).
2025-06-11T21:00:30.483Z,1749675630.483 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-11T21:00:30.483Z,1749675630.483 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-11T21:00:30.499Z,1749675630.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:30.510Z,1749675630.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 38.377865 m,
bearing: 322.273608 deg,
approach rate: -0.457034 m/s,
LOS rate: 0.037137 deg/s,
cmd heading: 314.172938 deg,
new cmd heading: 314.211827 deg.
2025-06-11T21:00:30.511Z,1749675630.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484031 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:30.586Z,1749675630.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.459636
2025-06-11T21:00:30.837Z,1749675630.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.710018
2025-06-11T21:00:30.856Z,1749675630.856 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-11T21:00:30.856Z,1749675630.856 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-11T21:00:30.858Z,1749675630.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:30.861Z,1749675630.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 38.206226 m,
bearing: 322.287783 deg,
approach rate: -0.477090 m/s,
LOS rate: 0.039579 deg/s,
cmd heading: 314.211815 deg,
new cmd heading: 314.254532 deg.
2025-06-11T21:00:30.862Z,1749675630.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484776 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:31.089Z,1749675631.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.962195
2025-06-11T21:00:31.297Z,1749675631.297 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-11T21:00:31.298Z,1749675631.298 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-11T21:00:31.304Z,1749675631.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:31.307Z,1749675631.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 38.019283 m,
bearing: 322.287241 deg,
approach rate: -0.423608 m/s,
LOS rate: -0.001234 deg/s,
cmd heading: 314.254545 deg,
new cmd heading: 314.252911 deg.
2025-06-11T21:00:31.328Z,1749675631.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484748 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:31.341Z,1749675631.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214210
2025-06-11T21:00:31.593Z,1749675631.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466107
2025-06-11T21:00:31.674Z,1749675631.674 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-11T21:00:31.674Z,1749675631.674 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:00:31.674Z,1749675631.674 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-11T21:00:31.674Z,1749675631.674 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:00:31.677Z,1749675631.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:31.680Z,1749675631.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 37.842567 m,
bearing: 322.286702 deg,
approach rate: -0.468570 m/s,
LOS rate: -0.001437 deg/s,
cmd heading: 314.252906 deg,
new cmd heading: 314.251280 deg.
2025-06-11T21:00:31.681Z,1749675631.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484719 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:31.845Z,1749675631.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718251
2025-06-11T21:00:32.098Z,1749675632.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971197
2025-06-11T21:00:32.159Z,1749675632.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:32.162Z,1749675632.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:32.165Z,1749675632.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 37.628330 m,
bearing: 322.272210 deg,
approach rate: -0.441855 m/s,
LOS rate: -0.030058 deg/s,
cmd heading: 314.251266 deg,
new cmd heading: 314.207545 deg.
2025-06-11T21:00:32.166Z,1749675632.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483956 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:32.349Z,1749675632.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222133
2025-06-11T21:00:32.512Z,1749675632.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:32.515Z,1749675632.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 37.473026 m,
bearing: 322.261285 deg,
approach rate: -0.442768 m/s,
LOS rate: -0.031278 deg/s,
cmd heading: 314.207553 deg,
new cmd heading: 314.174640 deg.
2025-06-11T21:00:32.516Z,1749675632.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483382 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:32.601Z,1749675632.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474260
2025-06-11T21:00:32.853Z,1749675632.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726061
2025-06-11T21:00:32.978Z,1749675632.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:32.981Z,1749675632.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 37.267319 m,
bearing: 322.246673 deg,
approach rate: -0.442215 m/s,
LOS rate: -0.031584 deg/s,
cmd heading: 314.174632 deg,
new cmd heading: 314.130555 deg.
2025-06-11T21:00:32.982Z,1749675632.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482613 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:33.105Z,1749675633.105 [DAT](INFO): DAT read: Rx Time:21:00:34.4638
2025-06-11T21:00:33.106Z,1749675633.106 [DAT](INFO): Rx dataTimestamp_ set to:1749675633.105285
2025-06-11T21:00:33.106Z,1749675633.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979487
2025-06-11T21:00:33.357Z,1749675633.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230195
2025-06-11T21:00:33.449Z,1749675633.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:33.452Z,1749675633.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 37.060978 m,
bearing: 322.221462 deg,
approach rate: -0.437671 m/s,
LOS rate: -0.053772 deg/s,
cmd heading: 314.130563 deg,
new cmd heading: 314.054510 deg.
2025-06-11T21:00:33.453Z,1749675633.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481285 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:33.612Z,1749675633.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484999
2025-06-11T21:00:33.785Z,1749675633.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.05 m.
2025-06-11T21:00:33.792Z,1749675633.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.045517 m,
nav range: 36.907207 m,
bearing: 322.202170 deg,
approach rate: -0.457049 m/s,
LOS rate: -0.057583 deg/s,
cmd heading: 314.054502 deg,
new cmd heading: 313.996383 deg.
2025-06-11T21:00:33.793Z,1749675633.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480271 target range: 41.045517 and range: 39.90 m.
2025-06-11T21:00:33.869Z,1749675633.869 [DAT](INFO): DAT read: 21:00:34.4638 LVL= 25744, 32753, 22002, 32755, AGC= 63, IDX= 422,-0.42, 1.064,-0.353, 0.774, 0.476, PHS= 0.676,-0.782, 0.295, RAW= 135.4, -2.9, CAL= 140.8, -12.6, ROT= 9.2, 12.6
2025-06-11T21:00:33.870Z,1749675633.870 [DAT](INFO): got valid direction response:
21:00:34.4638 LVL= 25744, 32753, 22002, 32755, AGC= 63, IDX= 422,-0.42, 1.064,-0.353, 0.774, 0.476, PHS= 0.676,-0.782, 0.295, RAW= 135.4, -2.9, CAL= 140.8, -12.6, ROT= 9.2, 12.6
2025-06-11T21:00:33.871Z,1749675633.871 [DAT](INFO): DAT read: Bearing 9.2, 12.6 (Local)
2025-06-11T21:00:33.872Z,1749675633.872 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.2, 12.6 (Local)
2025-06-11T21:00:33.874Z,1749675633.874 [DAT](INFO): DAT read: Range 10 to 50 : 38.1 m (Round-trip 50.9 ms) speed 0.4 m/s
2025-06-11T21:00:33.874Z,1749675633.874 [DAT](INFO): DAT read: user:673>
2025-06-11T21:00:33.875Z,1749675633.875 [DAT](INFO): DAT read: Tx time:21:00:35.5587
2025-06-11T21:00:33.875Z,1749675633.875 [DAT](INFO): Ping request sent.
2025-06-11T21:00:33.875Z,1749675633.875 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:33.876Z,1749675633.876 [DAT](INFO): DAT read: TxSync time:21:00:35.5580
2025-06-11T21:00:33.877Z,1749675633.877 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:33.878Z,1749675633.878 [DAT](INFO): direction in FSK: [0.963363,0.156031,-0.218143]
2025-06-11T21:00:33.878Z,1749675633.878 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:33.878Z,1749675633.878 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:33.887Z,1749675633.887 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:33.887Z,1749675633.887 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:34.260Z,1749675634.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.099998 m,
deltaT: 3.778641 s,
deltaX: -1.800003 m,
approachRate: -0.476363 m/s,
rangeRepo size: 4
2025-06-11T21:00:34.262Z,1749675634.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.774250 m,
bearing: 325.785257 deg,
lat: 36.906395 deg,
lon: -122.115567 deg,
deltaT: 7.314678 s,
deltaX: -3.271267 m,
approachRate: -0.447220 m/s,
posRepo size: 4
2025-06-11T21:00:34.263Z,1749675634.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:00:34.286Z,1749675634.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.774250 m,
nav range: 36.862347 m,
bearing: 324.623264 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.057583 deg/s,
cmd heading: 313.996391 deg,
new cmd heading: 313.914563 deg.
2025-06-11T21:00:34.287Z,1749675634.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478843 target range: 37.774250 and range: 38.10 m.
2025-06-11T21:00:34.627Z,1749675634.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:34.641Z,1749675634.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:00:34.643Z,1749675634.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.774250 m,
nav range: 36.693565 m,
bearing: 324.618927 deg,
approach rate: -0.442597 m/s,
LOS rate: -0.011425 deg/s,
cmd heading: 313.914565 deg,
new cmd heading: 313.901495 deg.
2025-06-11T21:00:34.648Z,1749675634.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478615 target range: 37.774250 and range: 38.10 m.
2025-06-11T21:00:34.870Z,1749675634.870 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:00:34.870Z,1749675634.870 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:00:34.871Z,1749675634.871 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:00:35.019Z,1749675635.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:00:35.027Z,1749675635.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.774250 m,
nav range: 36.512257 m,
bearing: 324.614331 deg,
approach rate: -0.478484 m/s,
LOS rate: -0.012191 deg/s,
cmd heading: 313.901506 deg,
new cmd heading: 313.887648 deg.
2025-06-11T21:00:35.045Z,1749675635.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478373 target range: 37.774250 and range: 38.10 m.
2025-06-11T21:00:35.123Z,1749675635.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247637
2025-06-11T21:00:35.374Z,1749675635.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498241
2025-06-11T21:00:35.458Z,1749675635.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:00:35.461Z,1749675635.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.774250 m,
nav range: 36.309135 m,
bearing: 324.611685 deg,
approach rate: -0.462825 m/s,
LOS rate: -0.006063 deg/s,
cmd heading: 313.887654 deg,
new cmd heading: 313.879672 deg.
2025-06-11T21:00:35.462Z,1749675635.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478234 target range: 37.774250 and range: 38.10 m.
2025-06-11T21:00:35.625Z,1749675635.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749237
2025-06-11T21:00:35.797Z,1749675635.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:00:35.804Z,1749675635.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.774250 m,
nav range: 36.156044 m,
bearing: 324.609480 deg,
approach rate: -0.452232 m/s,
LOS rate: -0.006541 deg/s,
cmd heading: 313.879677 deg,
new cmd heading: 313.873034 deg.
2025-06-11T21:00:35.805Z,1749675635.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478118 target range: 37.774250 and range: 38.10 m.
2025-06-11T21:00:35.877Z,1749675635.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001279
2025-06-11T21:00:36.129Z,1749675636.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253210
2025-06-11T21:00:36.226Z,1749675636.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:00:36.229Z,1749675636.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.774250 m,
nav range: 35.954414 m,
bearing: 324.615790 deg,
approach rate: -0.470008 m/s,
LOS rate: 0.014790 deg/s,
cmd heading: 313.873038 deg,
new cmd heading: 313.892072 deg.
2025-06-11T21:00:36.230Z,1749675636.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478450 target range: 37.774250 and range: 38.10 m.
2025-06-11T21:00:36.381Z,1749675636.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505241
2025-06-11T21:00:36.605Z,1749675636.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:00:36.611Z,1749675636.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.774250 m,
nav range: 35.780468 m,
bearing: 324.620268 deg,
approach rate: -0.458643 m/s,
LOS rate: 0.011866 deg/s,
cmd heading: 313.892080 deg,
new cmd heading: 313.905581 deg.
2025-06-11T21:00:36.614Z,1749675636.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478686 target range: 37.774250 and range: 38.10 m.
2025-06-11T21:00:36.634Z,1749675636.634 [DAT](INFO): DAT read: Rx Time:21:00:38.0117
2025-06-11T21:00:36.635Z,1749675636.635 [DAT](INFO): Rx dataTimestamp_ set to:1749675636.634211
2025-06-11T21:00:36.636Z,1749675636.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760102
2025-06-11T21:00:36.885Z,1749675636.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009206
2025-06-11T21:00:36.999Z,1749675636.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:37.002Z,1749675637.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:00:37.005Z,1749675637.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.774250 m,
nav range: 35.597439 m,
bearing: 324.624886 deg,
approach rate: -0.461648 m/s,
LOS rate: 0.011707 deg/s,
cmd heading: 313.905577 deg,
new cmd heading: 313.919501 deg.
2025-06-11T21:00:37.006Z,1749675637.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478929 target range: 37.774250 and range: 38.10 m.
2025-06-11T21:00:37.144Z,1749675637.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268532
2025-06-11T21:00:37.399Z,1749675637.399 [DAT](INFO): DAT read: 21:00:38.0117 LVL= 20512, 26641, 21106, 32323, AGC= 62, IDX= 416,-0.20, 0.164,-1.236,-0.085,-0.396, PHS= 0.649,-0.792, 0.308, RAW= 136.9, -2.5, CAL= 142.2, -12.0, ROT= 7.8, 12.0
2025-06-11T21:00:37.400Z,1749675637.400 [DAT](INFO): got valid direction response:
21:00:38.0117 LVL= 20512, 26641, 21106, 32323, AGC= 62, IDX= 416,-0.20, 0.164,-1.236,-0.085,-0.396, PHS= 0.649,-0.792, 0.308, RAW= 136.9, -2.5, CAL= 142.2, -12.0, ROT= 7.8, 12.0
2025-06-11T21:00:37.401Z,1749675637.401 [DAT](INFO): DAT read: Bearing 7.8, 12.0 (Local)
2025-06-11T21:00:37.402Z,1749675637.402 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.8, 12.0 (Local)
2025-06-11T21:00:37.403Z,1749675637.403 [DAT](INFO): DAT read: Range 10 to 50 : 36.6 m (Round-trip 48.8 ms) speed 0.4 m/s
2025-06-11T21:00:37.404Z,1749675637.404 [DAT](INFO): DAT read: user:674>
2025-06-11T21:00:37.405Z,1749675637.405 [DAT](INFO): DAT read: Tx time:21:00:39.1087
2025-06-11T21:00:37.405Z,1749675637.405 [DAT](INFO): Ping request sent.
2025-06-11T21:00:37.405Z,1749675637.405 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:37.406Z,1749675637.406 [DAT](INFO): DAT read: TxSync time:21:00:39.1080
2025-06-11T21:00:37.406Z,1749675637.406 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:00:37.407Z,1749675637.407 [DAT](INFO): direction in FSK: [0.969098,0.132750,-0.207912]
2025-06-11T21:00:37.408Z,1749675637.408 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:37.409Z,1749675637.409 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:37.412Z,1749675637.412 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:37.412Z,1749675637.412 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:37.415Z,1749675637.415 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.009916
2025-06-11T21:00:37.554Z,1749675637.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.599998 m,
deltaT: 3.531306 s,
deltaX: -1.500000 m,
approachRate: -0.424772 m/s,
rangeRepo size: 4
2025-06-11T21:00:37.560Z,1749675637.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.287163 m,
bearing: 324.427514 deg,
lat: 36.906396 deg,
lon: -122.115567 deg,
deltaT: 3.531306 s,
deltaX: -1.487087 m,
approachRate: -0.421115 m/s,
posRepo size: 4
2025-06-11T21:00:37.561Z,1749675637.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.29 m.
2025-06-11T21:00:37.563Z,1749675637.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.287163 m,
nav range: 35.383179 m,
bearing: 324.678746 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.011707 deg/s,
cmd heading: 313.919510 deg,
new cmd heading: 313.938880 deg.
2025-06-11T21:00:37.569Z,1749675637.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479267 target range: 36.287163 and range: 36.60 m.
2025-06-11T21:00:37.650Z,1749675637.650 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.244328
2025-06-11T21:00:37.848Z,1749675637.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.29 m.
2025-06-11T21:00:37.851Z,1749675637.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.287163 m,
nav range: 35.236595 m,
bearing: 324.689391 deg,
approach rate: -0.496565 m/s,
LOS rate: 0.036210 deg/s,
cmd heading: 313.938881 deg,
new cmd heading: 313.970948 deg.
2025-06-11T21:00:37.852Z,1749675637.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479827 target range: 36.287163 and range: 36.60 m.
2025-06-11T21:00:37.902Z,1749675637.902 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.496754
2025-06-11T21:00:38.153Z,1749675638.153 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.747442
2025-06-11T21:00:38.286Z,1749675638.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.29 m.
2025-06-11T21:00:38.293Z,1749675638.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.287163 m,
nav range: 35.044624 m,
bearing: 324.719286 deg,
approach rate: -0.438825 m/s,
LOS rate: 0.068711 deg/s,
cmd heading: 313.970955 deg,
new cmd heading: 314.061131 deg.
2025-06-11T21:00:38.294Z,1749675638.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481401 target range: 36.287163 and range: 36.60 m.
2025-06-11T21:00:38.405Z,1749675638.405 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.999514
2025-06-11T21:00:38.657Z,1749675638.657 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.251693
2025-06-11T21:00:38.657Z,1749675638.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.29 m.
2025-06-11T21:00:38.660Z,1749675638.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.287163 m,
nav range: 34.865685 m,
bearing: 324.747544 deg,
approach rate: -0.483735 m/s,
LOS rate: 0.076784 deg/s,
cmd heading: 314.061141 deg,
new cmd heading: 314.146351 deg.
2025-06-11T21:00:38.661Z,1749675638.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482888 target range: 36.287163 and range: 36.60 m.
2025-06-11T21:00:38.909Z,1749675638.909 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.503787
2025-06-11T21:00:39.059Z,1749675639.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:39.065Z,1749675639.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.29 m.
2025-06-11T21:00:39.088Z,1749675639.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.287163 m,
nav range: 34.681728 m,
bearing: 324.776554 deg,
approach rate: -0.449339 m/s,
LOS rate: 0.071236 deg/s,
cmd heading: 314.146355 deg,
new cmd heading: 314.233845 deg.
2025-06-11T21:00:39.089Z,1749675639.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484415 target range: 36.287163 and range: 36.60 m.
2025-06-11T21:00:39.163Z,1749675639.163 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.757459
2025-06-11T21:00:39.414Z,1749675639.414 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.008931
2025-06-11T21:00:39.526Z,1749675639.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.29 m.
2025-06-11T21:00:39.533Z,1749675639.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.287163 m,
nav range: 34.480701 m,
bearing: 324.814354 deg,
approach rate: -0.436175 m/s,
LOS rate: 0.082495 deg/s,
cmd heading: 314.233836 deg,
new cmd heading: 314.347898 deg.
2025-06-11T21:00:39.534Z,1749675639.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486406 target range: 36.287163 and range: 36.60 m.
2025-06-11T21:00:39.665Z,1749675639.665 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.259491
2025-06-11T21:00:39.892Z,1749675639.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.29 m.
2025-06-11T21:00:39.895Z,1749675639.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.287163 m,
nav range: 34.307957 m,
bearing: 324.847192 deg,
approach rate: -0.472196 m/s,
LOS rate: 0.090214 deg/s,
cmd heading: 314.347900 deg,
new cmd heading: 314.446910 deg.
2025-06-11T21:00:39.896Z,1749675639.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488134 target range: 36.287163 and range: 36.60 m.
2025-06-11T21:00:39.917Z,1749675639.917 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.512056
2025-06-11T21:00:40.169Z,1749675640.169 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.764191
2025-06-11T21:00:40.300Z,1749675640.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.29 m.
2025-06-11T21:00:40.303Z,1749675640.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.287163 m,
nav range: 34.130287 m,
bearing: 324.892609 deg,
approach rate: -0.435639 m/s,
LOS rate: 0.111941 deg/s,
cmd heading: 314.446910 deg,
new cmd heading: 314.583871 deg.
2025-06-11T21:00:40.304Z,1749675640.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490524 target range: 36.287163 and range: 36.60 m.
2025-06-11T21:00:40.421Z,1749675640.421 [DAT](INFO): DAT read: Rx Time:21:00:41.5596
2025-06-11T21:00:40.422Z,1749675640.422 [DAT](INFO): Rx dataTimestamp_ set to:1749675640.421234
2025-06-11T21:00:40.422Z,1749675640.422 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.016838
2025-06-11T21:00:40.673Z,1749675640.673 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.267379
2025-06-11T21:00:40.763Z,1749675640.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.29 m.
2025-06-11T21:00:40.770Z,1749675640.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.287163 m,
nav range: 33.932213 m,
bearing: 324.943662 deg,
approach rate: -0.427662 m/s,
LOS rate: 0.110870 deg/s,
cmd heading: 314.583869 deg,
new cmd heading: 314.737920 deg.
2025-06-11T21:00:40.771Z,1749675640.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493213 target range: 36.287163 and range: 36.60 m.
2025-06-11T21:00:40.938Z,1749675640.938 [DAT](INFO): DAT read: 21:00:41.5596 LVL= 24096, 28705, 21090, 32035, AGC= 57, IDX= 426, 0.00,-0.855,-2.262,-1.100,-1.360, PHS= 0.593,-0.855, 0.257, RAW= 137.2, 0.1, CAL= 142.1, -8.8, ROT= 7.9, 8.8
2025-06-11T21:00:40.939Z,1749675640.939 [DAT](INFO): got valid direction response:
21:00:41.5596 LVL= 24096, 28705, 21090, 32035, AGC= 57, IDX= 426, 0.00,-0.855,-2.262,-1.100,-1.360, PHS= 0.593,-0.855, 0.257, RAW= 137.2, 0.1, CAL= 142.1, -8.8, ROT= 7.9, 8.8
2025-06-11T21:00:40.957Z,1749675640.957 [DAT](INFO): DAT read: Bearing 7.9, 8.8 (Local)
2025-06-11T21:00:40.957Z,1749675640.957 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.9, 8.8 (Local)
2025-06-11T21:00:40.959Z,1749675640.959 [DAT](INFO): DAT read: Range 10 to 50 : 34.9 m (Round-trip 46.6 ms) speed 0.4 m/s
2025-06-11T21:00:40.964Z,1749675640.964 [DAT](INFO): DAT read: user:675>
2025-06-11T21:00:40.965Z,1749675640.965 [DAT](INFO): DAT read: Tx time:21:00:42.6588
2025-06-11T21:00:40.965Z,1749675640.965 [DAT](INFO): Ping request sent.
2025-06-11T21:00:40.965Z,1749675640.965 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:40.966Z,1749675640.966 [DAT](INFO): DAT read: TxSync time:21:00:42.6581
2025-06-11T21:00:40.966Z,1749675640.966 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-11T21:00:40.967Z,1749675640.967 [DAT](INFO): direction in FSK: [0.978850,0.135827,-0.152986]
2025-06-11T21:00:40.972Z,1749675640.972 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:40.973Z,1749675640.973 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:40.982Z,1749675640.982 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:40.983Z,1749675640.983 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:40.995Z,1749675640.995 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.029969
2025-06-11T21:00:41.195Z,1749675641.195 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.214255
2025-06-11T21:00:41.210Z,1749675641.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.900002 m,
deltaT: 3.532551 s,
deltaX: -1.699997 m,
approachRate: -0.481238 m/s,
rangeRepo size: 4
2025-06-11T21:00:41.216Z,1749675641.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.601830 m,
bearing: 324.406212 deg,
lat: 36.906396 deg,
lon: -122.115567 deg,
deltaT: 3.532551 s,
deltaX: -1.685333 m,
approachRate: -0.477087 m/s,
posRepo size: 4
2025-06-11T21:00:41.217Z,1749675641.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:00:41.219Z,1749675641.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601830 m,
nav range: 33.847851 m,
bearing: 325.077672 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.110870 deg/s,
cmd heading: 314.737931 deg,
new cmd heading: 314.886422 deg.
2025-06-11T21:00:41.225Z,1749675641.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495805 target range: 34.601830 and range: 34.90 m.
2025-06-11T21:00:41.429Z,1749675641.429 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.464209
2025-06-11T21:00:41.536Z,1749675641.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:41.538Z,1749675641.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:00:41.557Z,1749675641.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601830 m,
nav range: 33.667927 m,
bearing: 325.121845 deg,
approach rate: -0.547506 m/s,
LOS rate: 0.135138 deg/s,
cmd heading: 314.886419 deg,
new cmd heading: 315.019648 deg.
2025-06-11T21:00:41.558Z,1749675641.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498130 target range: 34.601830 and range: 34.90 m.
2025-06-11T21:00:41.681Z,1749675641.681 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.715745
2025-06-11T21:00:41.901Z,1749675641.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:00:41.903Z,1749675641.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601830 m,
nav range: 33.506245 m,
bearing: 325.162862 deg,
approach rate: -0.445760 m/s,
LOS rate: 0.113628 deg/s,
cmd heading: 315.019635 deg,
new cmd heading: 315.143278 deg.
2025-06-11T21:00:41.905Z,1749675641.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500288 target range: 34.601830 and range: 34.90 m.
2025-06-11T21:00:41.934Z,1749675641.934 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.968051
2025-06-11T21:00:42.188Z,1749675642.188 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.222090
2025-06-11T21:00:42.344Z,1749675642.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:00:42.347Z,1749675642.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601830 m,
nav range: 33.314034 m,
bearing: 325.216929 deg,
approach rate: -0.433479 m/s,
LOS rate: 0.122639 deg/s,
cmd heading: 315.143289 deg,
new cmd heading: 315.306428 deg.
2025-06-11T21:00:42.348Z,1749675642.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503135 target range: 34.601830 and range: 34.90 m.
2025-06-11T21:00:42.437Z,1749675642.437 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.471913
2025-06-11T21:00:42.689Z,1749675642.689 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.723467
2025-06-11T21:00:42.737Z,1749675642.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:00:42.740Z,1749675642.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601830 m,
nav range: 33.143764 m,
bearing: 325.265356 deg,
approach rate: -0.433068 m/s,
LOS rate: 0.123804 deg/s,
cmd heading: 315.306421 deg,
new cmd heading: 315.452448 deg.
2025-06-11T21:00:42.741Z,1749675642.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505684 target range: 34.601830 and range: 34.90 m.
2025-06-11T21:00:42.944Z,1749675642.944 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.978916
2025-06-11T21:00:43.195Z,1749675643.195 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.229790
2025-06-11T21:00:43.266Z,1749675643.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:00:43.270Z,1749675643.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601830 m,
nav range: 32.911461 m,
bearing: 325.334029 deg,
approach rate: -0.439370 m/s,
LOS rate: 0.130802 deg/s,
cmd heading: 315.452451 deg,
new cmd heading: 315.659922 deg.
2025-06-11T21:00:43.271Z,1749675643.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509305 target range: 34.601830 and range: 34.90 m.
2025-06-11T21:00:43.448Z,1749675643.448 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.482379
2025-06-11T21:00:43.546Z,1749675643.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:43.553Z,1749675643.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:00:43.556Z,1749675643.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601830 m,
nav range: 32.789757 m,
bearing: 325.370111 deg,
approach rate: -0.423560 m/s,
LOS rate: 0.126038 deg/s,
cmd heading: 315.659925 deg,
new cmd heading: 315.768570 deg.
2025-06-11T21:00:43.557Z,1749675643.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511201 target range: 34.601830 and range: 34.90 m.
2025-06-11T21:00:43.697Z,1749675643.697 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.731611
2025-06-11T21:00:43.949Z,1749675643.949 [DAT](INFO): DAT read: Rx Time:21:00:45.1076
2025-06-11T21:00:43.950Z,1749675643.950 [DAT](INFO): Rx dataTimestamp_ set to:1749675643.949255
2025-06-11T21:00:43.950Z,1749675643.950 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.984941
2025-06-11T21:00:43.993Z,1749675643.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:00:43.995Z,1749675643.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601830 m,
nav range: 32.604668 m,
bearing: 325.425189 deg,
approach rate: -0.425802 m/s,
LOS rate: 0.127429 deg/s,
cmd heading: 315.768579 deg,
new cmd heading: 315.934752 deg.
2025-06-11T21:00:44.005Z,1749675644.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514102 target range: 34.601830 and range: 34.90 m.
2025-06-11T21:00:44.204Z,1749675644.204 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.238139
2025-06-11T21:00:44.381Z,1749675644.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:00:44.384Z,1749675644.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601830 m,
nav range: 32.415203 m,
bearing: 325.466023 deg,
approach rate: -0.481759 m/s,
LOS rate: 0.104436 deg/s,
cmd heading: 315.934744 deg,
new cmd heading: 316.057960 deg.
2025-06-11T21:00:44.385Z,1749675644.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516252 target range: 34.601830 and range: 34.90 m.
2025-06-11T21:00:44.463Z,1749675644.463 [DAT](INFO): DAT read: 21:00:45.1076 LVL= 25248, 30433, 23346, 30547, AGC= 59, IDX= 421,-0.00, 0.748,-0.701, 0.462, 0.261, PHS= 0.575,-0.915, 0.198, RAW= 135.9, 2.1, CAL= 140.9, -6.1, ROT= 9.1, 6.1
2025-06-11T21:00:44.464Z,1749675644.464 [DAT](INFO): got valid direction response:
21:00:45.1076 LVL= 25248, 30433, 23346, 30547, AGC= 59, IDX= 421,-0.00, 0.748,-0.701, 0.462, 0.261, PHS= 0.575,-0.915, 0.198, RAW= 135.9, 2.1, CAL= 140.9, -6.1, ROT= 9.1, 6.1
2025-06-11T21:00:44.466Z,1749675644.466 [DAT](INFO): DAT read: Bearing 9.1, 6.1 (Local)
2025-06-11T21:00:44.466Z,1749675644.466 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.1, 6.1 (Local)
2025-06-11T21:00:44.482Z,1749675644.482 [DAT](INFO): DAT read: Range 10 to 50 : 33.4 m (Round-trip 44.6 ms) speed 0.4 m/s
2025-06-11T21:00:44.483Z,1749675644.483 [DAT](INFO): DAT read: user:676>
2025-06-11T21:00:44.485Z,1749675644.485 [DAT](INFO): DAT read: Tx time:21:00:46.2088
2025-06-11T21:00:44.486Z,1749675644.486 [DAT](INFO): Ping request sent.
2025-06-11T21:00:44.486Z,1749675644.486 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:44.487Z,1749675644.487 [DAT](INFO): DAT read: TxSync time:21:00:46.2081
2025-06-11T21:00:44.489Z,1749675644.489 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-11T21:00:44.490Z,1749675644.490 [DAT](INFO): direction in FSK: [0.981823,0.157263,-0.106264]
2025-06-11T21:00:44.491Z,1749675644.491 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:44.491Z,1749675644.491 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:44.515Z,1749675644.515 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:44.515Z,1749675644.515 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:44.528Z,1749675644.528 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.041961
2025-06-11T21:00:44.705Z,1749675644.705 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.219587
2025-06-11T21:00:44.786Z,1749675644.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.400002 m,
deltaT: 3.528322 s,
deltaX: -1.500000 m,
approachRate: -0.425131 m/s,
rangeRepo size: 4
2025-06-11T21:00:44.789Z,1749675644.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.114536 m,
bearing: 325.406156 deg,
lat: 36.906398 deg,
lon: -122.115569 deg,
deltaT: 3.528322 s,
deltaX: -1.487293 m,
approachRate: -0.421530 m/s,
posRepo size: 4
2025-06-11T21:00:44.789Z,1749675644.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m.
2025-06-11T21:00:44.792Z,1749675644.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.114536 m,
nav range: 32.484280 m,
bearing: 325.401988 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.104436 deg/s,
cmd heading: 316.057961 deg,
new cmd heading: 316.184689 deg.
2025-06-11T21:00:44.793Z,1749675644.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518464 target range: 33.114536 and range: 33.40 m.
2025-06-11T21:00:44.957Z,1749675644.957 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.471217
2025-06-11T21:00:45.177Z,1749675645.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m.
2025-06-11T21:00:45.180Z,1749675645.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.114536 m,
nav range: 32.312965 m,
bearing: 325.438060 deg,
approach rate: -0.437593 m/s,
LOS rate: 0.092628 deg/s,
cmd heading: 316.184702 deg,
new cmd heading: 316.293490 deg.
2025-06-11T21:00:45.181Z,1749675645.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520363 target range: 33.114536 and range: 33.40 m.
2025-06-11T21:00:45.211Z,1749675645.211 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.725056
2025-06-11T21:00:45.461Z,1749675645.461 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.975097
2025-06-11T21:00:45.601Z,1749675645.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:45.603Z,1749675645.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m.
2025-06-11T21:00:45.610Z,1749675645.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.114536 m,
nav range: 32.115276 m,
bearing: 325.468991 deg,
approach rate: -0.464024 m/s,
LOS rate: 0.073051 deg/s,
cmd heading: 316.293493 deg,
new cmd heading: 316.386859 deg.
2025-06-11T21:00:45.611Z,1749675645.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521992 target range: 33.114536 and range: 33.40 m.
2025-06-11T21:00:45.713Z,1749675645.713 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.227283
2025-06-11T21:00:45.965Z,1749675645.965 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.479149
2025-06-11T21:00:45.967Z,1749675645.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m.
2025-06-11T21:00:45.986Z,1749675645.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.114536 m,
nav range: 31.936594 m,
bearing: 325.496417 deg,
approach rate: -0.491454 m/s,
LOS rate: 0.075854 deg/s,
cmd heading: 316.386848 deg,
new cmd heading: 316.469585 deg.
2025-06-11T21:00:45.987Z,1749675645.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523436 target range: 33.114536 and range: 33.40 m.
2025-06-11T21:00:46.221Z,1749675646.221 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.734917
2025-06-11T21:00:46.454Z,1749675646.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m.
2025-06-11T21:00:46.457Z,1749675646.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.114536 m,
nav range: 31.708015 m,
bearing: 325.511066 deg,
approach rate: -0.469021 m/s,
LOS rate: 0.030275 deg/s,
cmd heading: 316.469575 deg,
new cmd heading: 316.513839 deg.
2025-06-11T21:00:46.458Z,1749675646.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524209 target range: 33.114536 and range: 33.40 m.
2025-06-11T21:00:46.469Z,1749675646.469 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.983141
2025-06-11T21:00:46.721Z,1749675646.721 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.234962
2025-06-11T21:00:46.871Z,1749675646.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m.
2025-06-11T21:00:46.874Z,1749675646.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.114536 m,
nav range: 31.512896 m,
bearing: 325.522492 deg,
approach rate: -0.467765 m/s,
LOS rate: 0.027561 deg/s,
cmd heading: 316.513835 deg,
new cmd heading: 316.548325 deg.
2025-06-11T21:00:46.875Z,1749675646.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524810 target range: 33.114536 and range: 33.40 m.
2025-06-11T21:00:46.973Z,1749675646.973 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.487212
2025-06-11T21:00:47.227Z,1749675647.227 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.741252
2025-06-11T21:00:47.261Z,1749675647.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m.
2025-06-11T21:00:47.279Z,1749675647.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.114536 m,
nav range: 31.349447 m,
bearing: 325.531362 deg,
approach rate: -0.426176 m/s,
LOS rate: 0.023249 deg/s,
cmd heading: 316.548314 deg,
new cmd heading: 316.575063 deg.
2025-06-11T21:00:47.287Z,1749675647.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525277 target range: 33.114536 and range: 33.40 m.
2025-06-11T21:00:47.477Z,1749675647.477 [DAT](INFO): DAT read: Rx Time:21:00:48.6555
2025-06-11T21:00:47.477Z,1749675647.477 [DAT](INFO): Rx dataTimestamp_ set to:1749675647.477040
2025-06-11T21:00:47.478Z,1749675647.478 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.992172
2025-06-11T21:00:47.650Z,1749675647.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:47.652Z,1749675647.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m.
2025-06-11T21:00:47.655Z,1749675647.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.114536 m,
nav range: 31.147799 m,
bearing: 325.516606 deg,
approach rate: -0.507707 m/s,
LOS rate: -0.037393 deg/s,
cmd heading: 316.575061 deg,
new cmd heading: 316.530506 deg.
2025-06-11T21:00:47.656Z,1749675647.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524499 target range: 33.114536 and range: 33.40 m.
2025-06-11T21:00:47.729Z,1749675647.729 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.243322
2025-06-11T21:00:47.987Z,1749675647.987 [DAT](INFO): DAT read: 21:00:48.6555 LVL= 24336, 32753, 19762, 32755, AGC= 61, IDX= 415, 0.30,-2.493, 2.396,-2.727,-2.924, PHS= 0.519,-0.917, 0.194, RAW= 137.5, 3.2, CAL= 142.1, -4.9, ROT= 7.9, 4.9
2025-06-11T21:00:47.988Z,1749675647.988 [DAT](INFO): got valid direction response:
21:00:48.6555 LVL= 24336, 32753, 19762, 32755, AGC= 61, IDX= 415, 0.30,-2.493, 2.396,-2.727,-2.924, PHS= 0.519,-0.917, 0.194, RAW= 137.5, 3.2, CAL= 142.1, -4.9, ROT= 7.9, 4.9
2025-06-11T21:00:47.989Z,1749675647.989 [DAT](INFO): DAT read: Bearing 7.9, 4.9 (Local)
2025-06-11T21:00:47.990Z,1749675647.990 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.9, 4.9 (Local)
2025-06-11T21:00:47.991Z,1749675647.991 [DAT](INFO): DAT read: Range 10 to 50 : 31.8 m (Round-trip 42.5 ms) speed 0.4 m/s
2025-06-11T21:00:47.992Z,1749675647.992 [DAT](INFO): DAT read: user:677>
2025-06-11T21:00:47.993Z,1749675647.993 [DAT](INFO): DAT read: Tx time:21:00:49.7588
2025-06-11T21:00:47.993Z,1749675647.993 [DAT](INFO): Ping request sent.
2025-06-11T21:00:47.993Z,1749675647.993 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:47.993Z,1749675647.993 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-11T21:00:47.994Z,1749675647.994 [DAT](INFO): direction in FSK: [0.986889,0.136942,-0.085417]
2025-06-11T21:00:47.995Z,1749675647.995 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:47.995Z,1749675647.995 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:48.002Z,1749675648.002 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:48.003Z,1749675648.003 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:48.006Z,1749675648.006 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.012649
2025-06-11T21:00:48.094Z,1749675648.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.799999 m,
deltaT: 3.527684 s,
deltaX: -1.600002 m,
approachRate: -0.453556 m/s,
rangeRepo size: 4
2025-06-11T21:00:48.100Z,1749675648.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.528280 m,
bearing: 325.413966 deg,
lat: 36.906400 deg,
lon: -122.115572 deg,
deltaT: 3.527684 s,
deltaX: -1.586256 m,
approachRate: -0.449659 m/s,
posRepo size: 4
2025-06-11T21:00:48.101Z,1749675648.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:00:48.108Z,1749675648.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.528280 m,
nav range: 31.258852 m,
bearing: 325.414556 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.037393 deg/s,
cmd heading: 316.530500 deg,
new cmd heading: 316.480961 deg.
2025-06-11T21:00:48.109Z,1749675648.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523635 target range: 31.528280 and range: 31.80 m.
2025-06-11T21:00:48.236Z,1749675648.236 [DAT](INFO): DAT read: TxSync time:21:00:49.7581
2025-06-11T21:00:48.239Z,1749675648.239 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.245109
2025-06-11T21:00:48.471Z,1749675648.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:00:48.478Z,1749675648.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.528280 m,
nav range: 31.066202 m,
bearing: 325.386296 deg,
approach rate: -0.510741 m/s,
LOS rate: -0.075386 deg/s,
cmd heading: 316.480968 deg,
new cmd heading: 316.395662 deg.
2025-06-11T21:00:48.479Z,1749675648.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522146 target range: 31.528280 and range: 31.80 m.
2025-06-11T21:00:48.485Z,1749675648.485 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.491720
2025-06-11T21:00:48.737Z,1749675648.737 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.743673
2025-06-11T21:00:48.793Z,1749675648.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:00:48.796Z,1749675648.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.528280 m,
nav range: 30.909727 m,
bearing: 325.363186 deg,
approach rate: -0.485462 m/s,
LOS rate: -0.072060 deg/s,
cmd heading: 316.395673 deg,
new cmd heading: 316.325993 deg.
2025-06-11T21:00:48.797Z,1749675648.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520930 target range: 31.528280 and range: 31.80 m.
2025-06-11T21:00:48.989Z,1749675648.989 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.995564
2025-06-11T21:00:49.206Z,1749675649.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:00:49.209Z,1749675649.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.528280 m,
nav range: 30.711273 m,
bearing: 325.332780 deg,
approach rate: -0.480647 m/s,
LOS rate: -0.074118 deg/s,
cmd heading: 316.326005 deg,
new cmd heading: 316.234197 deg.
2025-06-11T21:00:49.210Z,1749675649.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519328 target range: 31.528280 and range: 31.80 m.
2025-06-11T21:00:49.242Z,1749675649.242 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.248468
2025-06-11T21:00:49.493Z,1749675649.493 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.499567
2025-06-11T21:00:49.634Z,1749675649.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:00:49.637Z,1749675649.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.528280 m,
nav range: 30.506630 m,
bearing: 325.290412 deg,
approach rate: -0.478374 m/s,
LOS rate: -0.099703 deg/s,
cmd heading: 316.234207 deg,
new cmd heading: 316.106251 deg.
2025-06-11T21:00:49.638Z,1749675649.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517095 target range: 31.528280 and range: 31.80 m.
2025-06-11T21:00:49.745Z,1749675649.745 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.751729
2025-06-11T21:00:49.997Z,1749675649.997 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.003741
2025-06-11T21:00:50.009Z,1749675650.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:50.011Z,1749675650.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:00:50.014Z,1749675650.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.528280 m,
nav range: 30.326422 m,
bearing: 325.251375 deg,
approach rate: -0.477074 m/s,
LOS rate: -0.103961 deg/s,
cmd heading: 316.106264 deg,
new cmd heading: 315.988455 deg.
2025-06-11T21:00:50.015Z,1749675650.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515039 target range: 31.528280 and range: 31.80 m.
2025-06-11T21:00:50.251Z,1749675650.251 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.257625
2025-06-11T21:00:50.474Z,1749675650.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:00:50.481Z,1749675650.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.528280 m,
nav range: 30.118504 m,
bearing: 325.196323 deg,
approach rate: -0.449179 m/s,
LOS rate: -0.119753 deg/s,
cmd heading: 315.988457 deg,
new cmd heading: 315.822161 deg.
2025-06-11T21:00:50.482Z,1749675650.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512136 target range: 31.528280 and range: 31.80 m.
2025-06-11T21:00:50.501Z,1749675650.501 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.507715
2025-06-11T21:00:50.753Z,1749675650.753 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.759759
2025-06-11T21:00:50.829Z,1749675650.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:00:50.836Z,1749675650.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.528280 m,
nav range: 29.950096 m,
bearing: 325.150411 deg,
approach rate: -0.474414 m/s,
LOS rate: -0.130062 deg/s,
cmd heading: 315.822155 deg,
new cmd heading: 315.683647 deg.
2025-06-11T21:00:50.837Z,1749675650.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509719 target range: 31.528280 and range: 31.80 m.
2025-06-11T21:00:51.005Z,1749675651.005 [DAT](INFO): DAT read: Rx Time:21:00:52.2032
2025-06-11T21:00:51.005Z,1749675651.005 [DAT](INFO): Rx dataTimestamp_ set to:1749675651.005000
2025-06-11T21:00:51.006Z,1749675651.006 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.012658
2025-06-11T21:00:51.219Z,1749675651.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:00:51.222Z,1749675651.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.528280 m,
nav range: 29.760241 m,
bearing: 325.097257 deg,
approach rate: -0.487463 m/s,
LOS rate: -0.137347 deg/s,
cmd heading: 315.683639 deg,
new cmd heading: 315.523159 deg.
2025-06-11T21:00:51.223Z,1749675651.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506918 target range: 31.528280 and range: 31.80 m.
2025-06-11T21:00:51.258Z,1749675651.258 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.264305
2025-06-11T21:00:51.515Z,1749675651.515 [DAT](INFO): DAT read: 21:00:52.2032 LVL= 28768, 32753, 23954, 32755, AGC= 61, IDX= 423, 0.01, 0.228,-1.124, 0.123,-0.119, PHS= 0.435,-0.957, 0.240, RAW= 142.6, 4.4, CAL= 145.9, -4.0, ROT= 4.1, 4.0
2025-06-11T21:00:51.519Z,1749675651.519 [DAT](INFO): got valid direction response:
21:00:52.2032 LVL= 28768, 32753, 23954, 32755, AGC= 61, IDX= 423, 0.01, 0.228,-1.124, 0.123,-0.119, PHS= 0.435,-0.957, 0.240, RAW= 142.6, 4.4, CAL= 145.9, -4.0, ROT= 4.1, 4.0
2025-06-11T21:00:51.529Z,1749675651.529 [DAT](INFO): DAT read: Bearing 4.1, 4.0 (Local)
2025-06-11T21:00:51.530Z,1749675651.530 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.1, 4.0 (Local)
2025-06-11T21:00:51.531Z,1749675651.531 [DAT](INFO): DAT read: Range 10 to 50 : 30.0 m (Round-trip 40.1 ms) speed 0.4 m/s
2025-06-11T21:00:51.532Z,1749675651.532 [DAT](INFO): DAT read: user:678>
2025-06-11T21:00:51.533Z,1749675651.533 [DAT](INFO): DAT read: Tx time:21:00:53.3089
2025-06-11T21:00:51.533Z,1749675651.533 [DAT](INFO): Ping request sent.
2025-06-11T21:00:51.533Z,1749675651.533 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:51.534Z,1749675651.534 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-11T21:00:51.534Z,1749675651.534 [DAT](INFO): direction in FSK: [0.995011,0.071323,-0.069756]
2025-06-11T21:00:51.535Z,1749675651.535 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:51.535Z,1749675651.535 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:51.563Z,1749675651.563 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:51.563Z,1749675651.563 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:51.618Z,1749675651.618 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.084338
2025-06-11T21:00:51.711Z,1749675651.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.000000 m,
deltaT: 3.527504 s,
deltaX: -1.799999 m,
approachRate: -0.510276 m/s,
rangeRepo size: 4
2025-06-11T21:00:51.717Z,1749675651.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.743769 m,
bearing: 322.512211 deg,
lat: 36.906396 deg,
lon: -122.115572 deg,
deltaT: 3.527504 s,
deltaX: -1.784512 m,
approachRate: -0.505885 m/s,
posRepo size: 4
2025-06-11T21:00:51.718Z,1749675651.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:00:51.725Z,1749675651.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.743769 m,
nav range: 29.250025 m,
bearing: 324.524735 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.137347 deg/s,
cmd heading: 315.523157 deg,
new cmd heading: 315.320736 deg.
2025-06-11T21:00:51.726Z,1749675651.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503385 target range: 29.743769 and range: 30.00 m.
2025-06-11T21:00:51.761Z,1749675651.761 [DAT](INFO): DAT read: TxSync time:21:00:53.3082
2025-06-11T21:00:51.762Z,1749675651.762 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.228593
2025-06-11T21:00:52.013Z,1749675652.013 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.479471
2025-06-11T21:00:52.141Z,1749675652.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:52.143Z,1749675652.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:00:52.150Z,1749675652.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.743769 m,
nav range: 29.053076 m,
bearing: 324.481614 deg,
approach rate: -0.454648 m/s,
LOS rate: -0.100218 deg/s,
cmd heading: 315.320737 deg,
new cmd heading: 315.190498 deg.
2025-06-11T21:00:52.151Z,1749675652.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501112 target range: 29.743769 and range: 30.00 m.
2025-06-11T21:00:52.267Z,1749675652.267 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.733347
2025-06-11T21:00:52.517Z,1749675652.517 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.983573
2025-06-11T21:00:52.563Z,1749675652.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:00:52.566Z,1749675652.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.743769 m,
nav range: 28.857769 m,
bearing: 324.456901 deg,
approach rate: -0.464830 m/s,
LOS rate: -0.059216 deg/s,
cmd heading: 315.190499 deg,
new cmd heading: 315.115858 deg.
2025-06-11T21:00:52.567Z,1749675652.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499809 target range: 29.743769 and range: 30.00 m.
2025-06-11T21:00:52.770Z,1749675652.770 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.236685
2025-06-11T21:00:53.025Z,1749675653.025 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.491484
2025-06-11T21:00:53.036Z,1749675653.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:00:53.039Z,1749675653.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.743769 m,
nav range: 28.657780 m,
bearing: 324.431759 deg,
approach rate: -0.427055 m/s,
LOS rate: -0.054062 deg/s,
cmd heading: 315.115859 deg,
new cmd heading: 315.039907 deg.
2025-06-11T21:00:53.048Z,1749675653.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498484 target range: 29.743769 and range: 30.00 m.
2025-06-11T21:00:53.273Z,1749675653.273 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.739932
2025-06-11T21:00:53.501Z,1749675653.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:00:53.508Z,1749675653.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.743769 m,
nav range: 28.444544 m,
bearing: 324.438004 deg,
approach rate: -0.454077 m/s,
LOS rate: 0.013397 deg/s,
cmd heading: 315.039907 deg,
new cmd heading: 315.058782 deg.
2025-06-11T21:00:53.509Z,1749675653.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498813 target range: 29.743769 and range: 30.00 m.
2025-06-11T21:00:53.525Z,1749675653.525 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.991885
2025-06-11T21:00:53.778Z,1749675653.778 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.244725
2025-06-11T21:00:53.878Z,1749675653.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:00:53.881Z,1749675653.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.743769 m,
nav range: 28.274660 m,
bearing: 324.442656 deg,
approach rate: -0.451374 m/s,
LOS rate: 0.012434 deg/s,
cmd heading: 315.058786 deg,
new cmd heading: 315.072825 deg.
2025-06-11T21:00:53.882Z,1749675653.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499058 target range: 29.743769 and range: 30.00 m.
2025-06-11T21:00:54.029Z,1749675654.029 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.495506
2025-06-11T21:00:54.271Z,1749675654.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:54.274Z,1749675654.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:00:54.277Z,1749675654.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.743769 m,
nav range: 28.100002 m,
bearing: 324.447493 deg,
approach rate: -0.440647 m/s,
LOS rate: 0.012281 deg/s,
cmd heading: 315.072829 deg,
new cmd heading: 315.087433 deg.
2025-06-11T21:00:54.278Z,1749675654.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499313 target range: 29.743769 and range: 30.00 m.
2025-06-11T21:00:54.281Z,1749675654.281 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.747642
2025-06-11T21:00:54.533Z,1749675654.533 [DAT](INFO): DAT read: Rx Time:21:00:55.7509
2025-06-11T21:00:54.534Z,1749675654.534 [DAT](INFO): Rx dataTimestamp_ set to:1749675654.533429
2025-06-11T21:00:54.535Z,1749675654.535 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.001406
2025-06-11T21:00:54.709Z,1749675654.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:00:54.712Z,1749675654.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.743769 m,
nav range: 27.908772 m,
bearing: 324.489301 deg,
approach rate: -0.439749 m/s,
LOS rate: 0.096797 deg/s,
cmd heading: 315.087445 deg,
new cmd heading: 315.213726 deg.
2025-06-11T21:00:54.713Z,1749675654.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501517 target range: 29.743769 and range: 30.00 m.
2025-06-11T21:00:54.785Z,1749675654.785 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.251863
2025-06-11T21:00:55.043Z,1749675655.043 [DAT](INFO): DAT read: 21:00:55.7509 LVL= 23888, 24849, 18722, 32755, AGC= 59, IDX= 416,-0.19, 0.113,-1.278, 0.105,-0.210, PHS= 0.411,-1.021, 0.312, RAW= 146.5, 4.4, CAL= 149.0, -4.3, ROT= 1.0, 4.3
2025-06-11T21:00:55.044Z,1749675655.044 [DAT](INFO): got valid direction response:
21:00:55.7509 LVL= 23888, 24849, 18722, 32755, AGC= 59, IDX= 416,-0.19, 0.113,-1.278, 0.105,-0.210, PHS= 0.411,-1.021, 0.312, RAW= 146.5, 4.4, CAL= 149.0, -4.3, ROT= 1.0, 4.3
2025-06-11T21:00:55.045Z,1749675655.045 [DAT](INFO): DAT read: Bearing 1.0, 4.3 (Local)
2025-06-11T21:00:55.045Z,1749675655.045 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.0, 4.3 (Local)
2025-06-11T21:00:55.047Z,1749675655.047 [DAT](INFO): DAT read: Range 10 to 50 : 28.3 m (Round-trip 37.8 ms) speed 0.4 m/s
2025-06-11T21:00:55.047Z,1749675655.047 [DAT](INFO): DAT read: user:679>
2025-06-11T21:00:55.048Z,1749675655.048 [DAT](INFO): DAT read: Tx time:21:00:56.8589
2025-06-11T21:00:55.049Z,1749675655.049 [DAT](INFO): Ping request sent.
2025-06-11T21:00:55.049Z,1749675655.049 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:55.049Z,1749675655.049 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-11T21:00:55.050Z,1749675655.050 [DAT](INFO): direction in FSK: [0.997033,0.017403,-0.074979]
2025-06-11T21:00:55.050Z,1749675655.050 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:55.051Z,1749675655.051 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:55.054Z,1749675655.054 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:55.054Z,1749675655.054 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:55.058Z,1749675655.058 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.009339
2025-06-11T21:00:55.164Z,1749675655.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.299999 m,
deltaT: 3.528012 s,
deltaX: -1.700001 m,
approachRate: -0.481858 m/s,
rangeRepo size: 4
2025-06-11T21:00:55.166Z,1749675655.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.058355 m,
bearing: 319.025204 deg,
lat: 36.906396 deg,
lon: -122.115573 deg,
deltaT: 3.528012 s,
deltaX: -1.685413 m,
approachRate: -0.477723 m/s,
posRepo size: 4
2025-06-11T21:00:55.167Z,1749675655.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-06-11T21:00:55.174Z,1749675655.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.058355 m,
nav range: 27.742512 m,
bearing: 324.475825 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096797 deg/s,
cmd heading: 315.213722 deg,
new cmd heading: 315.343276 deg.
2025-06-11T21:00:55.175Z,1749675655.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503778 target range: 28.058355 and range: 28.30 m.
2025-06-11T21:00:55.290Z,1749675655.290 [DAT](INFO): DAT read: TxSync time:21:00:56.8582
2025-06-11T21:00:55.290Z,1749675655.290 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.241640
2025-06-11T21:00:55.541Z,1749675655.541 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492100
2025-06-11T21:00:55.563Z,1749675655.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-06-11T21:00:55.570Z,1749675655.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.058355 m,
nav range: 27.554964 m,
bearing: 324.532898 deg,
approach rate: -0.459484 m/s,
LOS rate: 0.140779 deg/s,
cmd heading: 315.343277 deg,
new cmd heading: 315.515662 deg.
2025-06-11T21:00:55.571Z,1749675655.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506787 target range: 28.058355 and range: 28.30 m.
2025-06-11T21:00:55.796Z,1749675655.796 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.747219
2025-06-11T21:00:55.885Z,1749675655.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-06-11T21:00:55.889Z,1749675655.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.058355 m,
nav range: 27.405312 m,
bearing: 324.579006 deg,
approach rate: -0.464738 m/s,
LOS rate: 0.143968 deg/s,
cmd heading: 315.515671 deg,
new cmd heading: 315.654750 deg.
2025-06-11T21:00:55.890Z,1749675655.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509215 target range: 28.058355 and range: 28.30 m.
2025-06-11T21:00:56.049Z,1749675656.049 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.000081
2025-06-11T21:00:56.274Z,1749675656.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:56.276Z,1749675656.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-06-11T21:00:56.279Z,1749675656.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.058355 m,
nav range: 27.230917 m,
bearing: 324.636908 deg,
approach rate: -0.446338 m/s,
LOS rate: 0.149141 deg/s,
cmd heading: 315.654761 deg,
new cmd heading: 315.829579 deg.
2025-06-11T21:00:56.280Z,1749675656.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512266 target range: 28.058355 and range: 28.30 m.
2025-06-11T21:00:56.301Z,1749675656.301 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.251937
2025-06-11T21:00:56.553Z,1749675656.553 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.504048
2025-06-11T21:00:56.709Z,1749675656.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-06-11T21:00:56.711Z,1749675656.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.058355 m,
nav range: 27.038609 m,
bearing: 324.711052 deg,
approach rate: -0.444627 m/s,
LOS rate: 0.172643 deg/s,
cmd heading: 315.829586 deg,
new cmd heading: 316.053598 deg.
2025-06-11T21:00:56.712Z,1749675656.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516176 target range: 28.058355 and range: 28.30 m.
2025-06-11T21:00:56.805Z,1749675656.805 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.756650
2025-06-11T21:00:57.057Z,1749675657.057 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.008096
2025-06-11T21:00:57.086Z,1749675657.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-06-11T21:00:57.089Z,1749675657.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.058355 m,
nav range: 26.870590 m,
bearing: 324.777138 deg,
approach rate: -0.445149 m/s,
LOS rate: 0.176185 deg/s,
cmd heading: 316.053589 deg,
new cmd heading: 316.253088 deg.
2025-06-11T21:00:57.090Z,1749675657.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519658 target range: 28.058355 and range: 28.30 m.
2025-06-11T21:00:57.309Z,1749675657.309 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.260116
2025-06-11T21:00:57.516Z,1749675657.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-06-11T21:00:57.519Z,1749675657.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.058355 m,
nav range: 26.676813 m,
bearing: 324.860743 deg,
approach rate: -0.450173 m/s,
LOS rate: 0.195636 deg/s,
cmd heading: 316.253086 deg,
new cmd heading: 316.505719 deg.
2025-06-11T21:00:57.520Z,1749675657.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524067 target range: 28.058355 and range: 28.30 m.
2025-06-11T21:00:57.561Z,1749675657.561 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.512285
2025-06-11T21:00:57.708Z,1749675657.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:00:57.813Z,1749675657.813 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.764015
2025-06-11T21:00:57.898Z,1749675657.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-06-11T21:00:57.901Z,1749675657.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.058355 m,
nav range: 26.504847 m,
bearing: 324.936563 deg,
approach rate: -0.450669 m/s,
LOS rate: 0.199989 deg/s,
cmd heading: 316.505721 deg,
new cmd heading: 316.734655 deg.
2025-06-11T21:00:57.902Z,1749675657.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528063 target range: 28.058355 and range: 28.30 m.
2025-06-11T21:00:58.067Z,1749675658.067 [DAT](INFO): DAT read: Rx Time:21:00:59.2990
2025-06-11T21:00:58.068Z,1749675658.068 [DAT](INFO): Rx dataTimestamp_ set to:1749675658.067369
2025-06-11T21:00:58.069Z,1749675658.069 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.019994
2025-06-11T21:00:58.307Z,1749675658.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:00:58.309Z,1749675658.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m.
2025-06-11T21:00:58.312Z,1749675658.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.058355 m,
nav range: 26.319973 m,
bearing: 325.019483 deg,
approach rate: -0.449583 m/s,
LOS rate: 0.203067 deg/s,
cmd heading: 316.734668 deg,
new cmd heading: 316.985177 deg.
2025-06-11T21:00:58.313Z,1749675658.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532435 target range: 28.058355 and range: 28.30 m.
2025-06-11T21:00:58.317Z,1749675658.317 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.268258
2025-06-11T21:00:58.575Z,1749675658.575 [DAT](INFO): DAT read: 21:00:59.2990 LVL= 25424, 30273, 21810, 32755, AGC= 61, IDX= 428,-0.32, 2.769, 1.422, 2.655, 2.433, PHS= 0.424,-0.964, 0.219, RAW= 142.1, 5.0, CAL= 145.5, -3.2, ROT= 4.5, 3.2
2025-06-11T21:00:58.576Z,1749675658.576 [DAT](INFO): got valid direction response:
21:00:59.2990 LVL= 25424, 30273, 21810, 32755, AGC= 61, IDX= 428,-0.32, 2.769, 1.422, 2.655, 2.433, PHS= 0.424,-0.964, 0.219, RAW= 142.1, 5.0, CAL= 145.5, -3.2, ROT= 4.5, 3.2
2025-06-11T21:00:58.577Z,1749675658.577 [DAT](INFO): DAT read: Bearing 4.5, 3.2 (Local)
2025-06-11T21:00:58.577Z,1749675658.577 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.5, 3.2 (Local)
2025-06-11T21:00:58.579Z,1749675658.579 [DAT](INFO): DAT read: Range 10 to 50 : 26.9 m (Round-trip 35.9 ms) speed 0.4 m/s
2025-06-11T21:00:58.579Z,1749675658.579 [DAT](INFO): DAT read: user:680>
2025-06-11T21:00:58.580Z,1749675658.580 [DAT](INFO): DAT read: Tx time:21:01:00.4089
2025-06-11T21:00:58.580Z,1749675658.580 [DAT](INFO): Ping request sent.
2025-06-11T21:00:58.581Z,1749675658.581 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:00:58.581Z,1749675658.581 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-11T21:00:58.582Z,1749675658.582 [DAT](INFO): direction in FSK: [0.995363,0.078337,-0.055822]
2025-06-11T21:00:58.582Z,1749675658.582 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:58.582Z,1749675658.582 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:58.590Z,1749675658.590 [DAT](INFO): publishing transmit ping time
2025-06-11T21:00:58.590Z,1749675658.590 [DAT](INFO): publishing direction and range info
2025-06-11T21:00:58.605Z,1749675658.605 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.024393
2025-06-11T21:00:58.712Z,1749675658.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:00:58.821Z,1749675658.821 [DAT](INFO): DAT read: TxSync time:21:01:00.4082
2025-06-11T21:00:58.822Z,1749675658.822 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.241157
2025-06-11T21:00:58.866Z,1749675658.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.900000 m,
deltaT: 3.531928 s,
deltaX: -1.400000 m,
approachRate: -0.396384 m/s,
rangeRepo size: 4
2025-06-11T21:00:58.873Z,1749675658.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.670126 m,
bearing: 321.519394 deg,
lat: 36.906393 deg,
lon: -122.115584 deg,
deltaT: 3.531928 s,
deltaX: -1.388229 m,
approachRate: -0.393051 m/s,
posRepo size: 4
2025-06-11T21:00:58.873Z,1749675658.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.67 m.
2025-06-11T21:00:58.880Z,1749675658.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.670126 m,
nav range: 26.390844 m,
bearing: 322.905567 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.203067 deg/s,
cmd heading: 316.985173 deg,
new cmd heading: 317.324225 deg.
2025-06-11T21:00:58.881Z,1749675658.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538352 target range: 26.670126 and range: 26.90 m.
2025-06-11T21:00:59.073Z,1749675659.073 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.492118
2025-06-11T21:00:59.215Z,1749675659.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.67 m.
2025-06-11T21:00:59.228Z,1749675659.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.670126 m,
nav range: 26.228752 m,
bearing: 322.953135 deg,
approach rate: -0.464086 m/s,
LOS rate: 0.137035 deg/s,
cmd heading: 317.324223 deg,
new cmd heading: 317.467811 deg.
2025-06-11T21:00:59.229Z,1749675659.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540859 target range: 26.670126 and range: 26.90 m.
2025-06-11T21:00:59.326Z,1749675659.326 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.744993
2025-06-11T21:00:59.577Z,1749675659.577 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.995994
2025-06-11T21:00:59.650Z,1749675659.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.67 m.
2025-06-11T21:00:59.657Z,1749675659.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.670126 m,
nav range: 26.028946 m,
bearing: 322.983741 deg,
approach rate: -0.458875 m/s,
LOS rate: 0.070828 deg/s,
cmd heading: 317.467821 deg,
new cmd heading: 317.560342 deg.
2025-06-11T21:00:59.658Z,1749675659.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542473 target range: 26.670126 and range: 26.90 m.
2025-06-11T21:00:59.829Z,1749675659.829 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.248125
2025-06-11T21:01:00.009Z,1749675660.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.67 m.
2025-06-11T21:01:00.012Z,1749675660.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.670126 m,
nav range: 25.863697 m,
bearing: 323.008750 deg,
approach rate: -0.460661 m/s,
LOS rate: 0.070162 deg/s,
cmd heading: 317.560329 deg,
new cmd heading: 317.635835 deg.
2025-06-11T21:01:00.013Z,1749675660.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.543791 target range: 26.670126 and range: 26.90 m.
2025-06-11T21:01:00.083Z,1749675660.083 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.501919
2025-06-11T21:01:00.333Z,1749675660.333 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.752140
2025-06-11T21:01:00.481Z,1749675660.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:00.483Z,1749675660.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.67 m.
2025-06-11T21:01:00.490Z,1749675660.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.670126 m,
nav range: 25.650911 m,
bearing: 323.039992 deg,
approach rate: -0.449164 m/s,
LOS rate: 0.066497 deg/s,
cmd heading: 317.635844 deg,
new cmd heading: 317.730349 deg.
2025-06-11T21:01:00.491Z,1749675660.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545441 target range: 26.670126 and range: 26.90 m.
2025-06-11T21:01:00.586Z,1749675660.586 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.004819
2025-06-11T21:01:00.820Z,1749675660.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.67 m.
2025-06-11T21:01:00.823Z,1749675660.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.670126 m,
nav range: 25.495045 m,
bearing: 323.028087 deg,
approach rate: -0.462937 m/s,
LOS rate: -0.035575 deg/s,
cmd heading: 317.730346 deg,
new cmd heading: 317.694413 deg.
2025-06-11T21:01:00.823Z,1749675660.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544814 target range: 26.670126 and range: 26.90 m.
2025-06-11T21:01:00.837Z,1749675660.837 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.256115
2025-06-11T21:01:01.089Z,1749675661.089 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.508116
2025-06-11T21:01:01.214Z,1749675661.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.67 m.
2025-06-11T21:01:01.217Z,1749675661.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.670126 m,
nav range: 25.315466 m,
bearing: 323.014189 deg,
approach rate: -0.455012 m/s,
LOS rate: -0.035464 deg/s,
cmd heading: 317.694419 deg,
new cmd heading: 317.652430 deg.
2025-06-11T21:01:01.218Z,1749675661.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544081 target range: 26.670126 and range: 26.90 m.
2025-06-11T21:01:01.341Z,1749675661.341 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.760169
2025-06-11T21:01:01.593Z,1749675661.593 [DAT](INFO): DAT read: Rx Time:21:01:02.8468
2025-06-11T21:01:01.593Z,1749675661.593 [DAT](INFO): Rx dataTimestamp_ set to:1749675661.593110
2025-06-11T21:01:01.594Z,1749675661.594 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.013350
2025-06-11T21:01:01.665Z,1749675661.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.67 m.
2025-06-11T21:01:01.672Z,1749675661.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.670126 m,
nav range: 25.117052 m,
bearing: 322.972759 deg,
approach rate: -0.439917 m/s,
LOS rate: -0.092585 deg/s,
cmd heading: 317.652427 deg,
new cmd heading: 317.527153 deg.
2025-06-11T21:01:01.673Z,1749675661.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541894 target range: 26.670126 and range: 26.90 m.
2025-06-11T21:01:01.845Z,1749675661.845 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.264114
2025-06-11T21:01:02.053Z,1749675662.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.67 m.
2025-06-11T21:01:02.055Z,1749675662.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.670126 m,
nav range: 24.940565 m,
bearing: 322.933975 deg,
approach rate: -0.455660 m/s,
LOS rate: -0.100841 deg/s,
cmd heading: 317.527162 deg,
new cmd heading: 317.409988 deg.
2025-06-11T21:01:02.057Z,1749675662.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539849 target range: 26.670126 and range: 26.90 m.
2025-06-11T21:01:02.109Z,1749675662.109 [DAT](INFO): DAT read: 21:01:02.8469 LVL= 23696, 27729, 21698, 32755, AGC= 58, IDX= 422,-0.40,-0.695,-2.060,-0.757,-1.036, PHS= 0.429,-0.977, 0.276, RAW= 144.3, 4.1, CAL= 147.4, -4.4, ROT= 2.6, 4.4
2025-06-11T21:01:02.110Z,1749675662.110 [DAT](INFO): got valid direction response:
21:01:02.8469 LVL= 23696, 27729, 21698, 32755, AGC= 58, IDX= 422,-0.40,-0.695,-2.060,-0.757,-1.036, PHS= 0.429,-0.977, 0.276, RAW= 144.3, 4.1, CAL= 147.4, -4.4, ROT= 2.6, 4.4
2025-06-11T21:01:02.121Z,1749675662.121 [DAT](INFO): DAT read: Bearing 2.6, 4.4 (Local)
2025-06-11T21:01:02.121Z,1749675662.121 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.6, 4.4 (Local)
2025-06-11T21:01:02.123Z,1749675662.123 [DAT](INFO): DAT read: Range 10 to 50 : 25.2 m (Round-trip 33.7 ms) speed 0.4 m/s
2025-06-11T21:01:02.157Z,1749675662.157 [DAT](INFO): DAT read: user:681>
2025-06-11T21:01:02.158Z,1749675662.158 [DAT](INFO): DAT read: Tx time:21:01:03.9606
2025-06-11T21:01:02.158Z,1749675662.158 [DAT](INFO): Ping request sent.
2025-06-11T21:01:02.159Z,1749675662.159 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:02.159Z,1749675662.159 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-11T21:01:02.172Z,1749675662.172 [DAT](INFO): direction in FSK: [0.996026,0.045229,-0.076719]
2025-06-11T21:01:02.172Z,1749675662.172 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:02.173Z,1749675662.173 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:02.176Z,1749675662.176 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:02.177Z,1749675662.177 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:02.183Z,1749675662.183 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.023961
2025-06-11T21:01:02.349Z,1749675662.349 [DAT](INFO): DAT read: TxSync time:21:01:03.9598
2025-06-11T21:01:02.350Z,1749675662.350 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.191179
2025-06-11T21:01:02.502Z,1749675662.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.200001 m,
deltaT: 3.530497 s,
deltaX: -1.699999 m,
approachRate: -0.481518 m/s,
rangeRepo size: 4
2025-06-11T21:01:02.509Z,1749675662.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.984774 m,
bearing: 321.168215 deg,
lat: 36.906391 deg,
lon: -122.115591 deg,
deltaT: 3.530497 s,
deltaX: -1.685352 m,
approachRate: -0.477370 m/s,
posRepo size: 4
2025-06-11T21:01:02.509Z,1749675662.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-06-11T21:01:02.516Z,1749675662.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.984774 m,
nav range: 24.949070 m,
bearing: 321.418441 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.100841 deg/s,
cmd heading: 317.409983 deg,
new cmd heading: 317.274103 deg.
2025-06-11T21:01:02.517Z,1749675662.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537477 target range: 24.984774 and range: 25.20 m.
2025-06-11T21:01:02.603Z,1749675662.603 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.444495
2025-06-11T21:01:02.834Z,1749675662.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:02.853Z,1749675662.853 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.694342
2025-06-11T21:01:02.869Z,1749675662.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-06-11T21:01:02.876Z,1749675662.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.984774 m,
nav range: 24.765493 m,
bearing: 321.345651 deg,
approach rate: -0.500059 m/s,
LOS rate: -0.199750 deg/s,
cmd heading: 317.274090 deg,
new cmd heading: 317.054100 deg.
2025-06-11T21:01:02.877Z,1749675662.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533638 target range: 24.984774 and range: 25.20 m.
2025-06-11T21:01:03.105Z,1749675663.105 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.946211
2025-06-11T21:01:03.227Z,1749675663.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-06-11T21:01:03.230Z,1749675663.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.984774 m,
nav range: 24.586761 m,
bearing: 321.273722 deg,
approach rate: -0.498512 m/s,
LOS rate: -0.202079 deg/s,
cmd heading: 317.054103 deg,
new cmd heading: 316.836749 deg.
2025-06-11T21:01:03.231Z,1749675663.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529844 target range: 24.984774 and range: 25.20 m.
2025-06-11T21:01:03.357Z,1749675663.357 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.198265
2025-06-11T21:01:03.609Z,1749675663.609 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.450244
2025-06-11T21:01:03.666Z,1749675663.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-06-11T21:01:03.669Z,1749675663.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.984774 m,
nav range: 24.389557 m,
bearing: 321.178628 deg,
approach rate: -0.449406 m/s,
LOS rate: -0.218460 deg/s,
cmd heading: 316.836739 deg,
new cmd heading: 316.549153 deg.
2025-06-11T21:01:03.670Z,1749675663.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524825 target range: 24.984774 and range: 25.20 m.
2025-06-11T21:01:03.861Z,1749675663.861 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.702171
2025-06-11T21:01:04.024Z,1749675664.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-06-11T21:01:04.027Z,1749675664.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.984774 m,
nav range: 24.227200 m,
bearing: 321.096898 deg,
approach rate: -0.454331 m/s,
LOS rate: -0.230241 deg/s,
cmd heading: 316.549161 deg,
new cmd heading: 316.302329 deg.
2025-06-11T21:01:04.028Z,1749675664.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520517 target range: 24.984774 and range: 25.20 m.
2025-06-11T21:01:04.113Z,1749675664.113 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.954516
2025-06-11T21:01:04.365Z,1749675664.365 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.206285
2025-06-11T21:01:04.425Z,1749675664.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-06-11T21:01:04.428Z,1749675664.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.984774 m,
nav range: 24.046322 m,
bearing: 321.003417 deg,
approach rate: -0.450719 m/s,
LOS rate: -0.234694 deg/s,
cmd heading: 316.302318 deg,
new cmd heading: 316.019766 deg.
2025-06-11T21:01:04.429Z,1749675664.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515585 target range: 24.984774 and range: 25.20 m.
2025-06-11T21:01:04.617Z,1749675664.617 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.458140
2025-06-11T21:01:04.869Z,1749675664.869 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.710349
2025-06-11T21:01:04.873Z,1749675664.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:04.875Z,1749675664.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-06-11T21:01:04.896Z,1749675664.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.984774 m,
nav range: 23.848372 m,
bearing: 320.890045 deg,
approach rate: -0.439958 m/s,
LOS rate: -0.254067 deg/s,
cmd heading: 316.019766 deg,
new cmd heading: 315.676834 deg.
2025-06-11T21:01:04.897Z,1749675664.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509600 target range: 24.984774 and range: 25.20 m.
2025-06-11T21:01:05.121Z,1749675665.121 [DAT](INFO): DAT read: Rx Time:21:01:06.3962
2025-06-11T21:01:05.121Z,1749675665.121 [DAT](INFO): Rx dataTimestamp_ set to:1749675665.121077
2025-06-11T21:01:05.122Z,1749675665.122 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.963384
2025-06-11T21:01:05.296Z,1749675665.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-06-11T21:01:05.299Z,1749675665.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.984774 m,
nav range: 23.656534 m,
bearing: 320.777043 deg,
approach rate: -0.455417 m/s,
LOS rate: -0.270440 deg/s,
cmd heading: 315.676836 deg,
new cmd heading: 315.335084 deg.
2025-06-11T21:01:05.301Z,1749675665.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503635 target range: 24.984774 and range: 25.20 m.
2025-06-11T21:01:05.374Z,1749675665.374 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.214657
2025-06-11T21:01:05.635Z,1749675665.635 [DAT](INFO): DAT read: 21:01:06.3962 LVL= 25296, 31953, 21346, 32755, AGC= 61, IDX= 414, 0.36,-0.608,-2.070,-0.413,-0.936, PHS= 0.416,-1.087, 0.520, RAW= 153.3, 2.0, CAL= 155.6, -6.9, ROT= 354.4, 6.9
2025-06-11T21:01:05.644Z,1749675665.644 [DAT](INFO): got valid direction response:
21:01:06.3962 LVL= 25296, 31953, 21346, 32755, AGC= 61, IDX= 414, 0.36,-0.608,-2.070,-0.413,-0.936, PHS= 0.416,-1.087, 0.520, RAW= 153.3, 2.0, CAL= 155.6, -6.9, ROT= 354.4, 6.9
2025-06-11T21:01:05.645Z,1749675665.645 [DAT](INFO): DAT read: Bearing 354.4, 6.9 (Local)
2025-06-11T21:01:05.645Z,1749675665.645 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.4, 6.9 (Local)
2025-06-11T21:01:05.647Z,1749675665.647 [DAT](INFO): DAT read: Range 10 to 50 : 23.6 m (Round-trip 31.5 ms) speed 0.4 m/s
2025-06-11T21:01:05.647Z,1749675665.647 [DAT](INFO): DAT read: user:682>
2025-06-11T21:01:05.648Z,1749675665.648 [DAT](INFO): DAT read: Tx time:21:01:07.5090
2025-06-11T21:01:05.649Z,1749675665.649 [DAT](INFO): Ping request sent.
2025-06-11T21:01:05.649Z,1749675665.649 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:05.649Z,1749675665.649 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-11T21:01:05.651Z,1749675665.651 [DAT](INFO): direction in FSK: [0.988019,-0.096876,-0.120137]
2025-06-11T21:01:05.668Z,1749675665.668 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:05.668Z,1749675665.668 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:05.671Z,1749675665.671 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:05.671Z,1749675665.671 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:05.683Z,1749675665.683 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.034215
2025-06-11T21:01:05.775Z,1749675665.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.600000 m,
deltaT: 3.529454 s,
deltaX: -1.600000 m,
approachRate: -0.453328 m/s,
rangeRepo size: 4
2025-06-11T21:01:05.782Z,1749675665.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.398542 m,
bearing: 313.783415 deg,
lat: 36.906390 deg,
lon: -122.115591 deg,
deltaT: 3.529454 s,
deltaX: -1.586231 m,
approachRate: -0.449427 m/s,
posRepo size: 4
2025-06-11T21:01:05.783Z,1749675665.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:01:05.790Z,1749675665.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.398542 m,
nav range: 23.380215 m,
bearing: 320.400850 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.270440 deg/s,
cmd heading: 315.335081 deg,
new cmd heading: 314.947336 deg.
2025-06-11T21:01:05.791Z,1749675665.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496868 target range: 23.398542 and range: 23.60 m.
2025-06-11T21:01:05.881Z,1749675665.881 [DAT](INFO): DAT read: TxSync time:21:01:07.5083
2025-06-11T21:01:05.882Z,1749675665.882 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.233125
2025-06-11T21:01:06.118Z,1749675666.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:01:06.125Z,1749675666.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.398542 m,
nav range: 23.220730 m,
bearing: 320.314758 deg,
approach rate: -0.464121 m/s,
LOS rate: -0.252258 deg/s,
cmd heading: 314.947345 deg,
new cmd heading: 314.687298 deg.
2025-06-11T21:01:06.126Z,1749675666.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492330 target range: 23.398542 and range: 23.60 m.
2025-06-11T21:01:06.133Z,1749675666.133 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.484166
2025-06-11T21:01:06.385Z,1749675666.385 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.736081
2025-06-11T21:01:06.580Z,1749675666.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:01:06.582Z,1749675666.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.398542 m,
nav range: 23.000544 m,
bearing: 320.195586 deg,
approach rate: -0.476672 m/s,
LOS rate: -0.260461 deg/s,
cmd heading: 314.687306 deg,
new cmd heading: 314.326371 deg.
2025-06-11T21:01:06.583Z,1749675666.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486030 target range: 23.398542 and range: 23.60 m.
2025-06-11T21:01:06.638Z,1749675666.638 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.989595
2025-06-11T21:01:06.889Z,1749675666.889 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.240198
2025-06-11T21:01:06.915Z,1749675666.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:06.928Z,1749675666.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:01:06.937Z,1749675666.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.398542 m,
nav range: 22.859245 m,
bearing: 320.131133 deg,
approach rate: -0.410629 m/s,
LOS rate: -0.188466 deg/s,
cmd heading: 314.326371 deg,
new cmd heading: 314.131818 deg.
2025-06-11T21:01:06.938Z,1749675666.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482635 target range: 23.398542 and range: 23.60 m.
2025-06-11T21:01:07.141Z,1749675667.141 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.492127
2025-06-11T21:01:07.289Z,1749675667.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:01:07.293Z,1749675667.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.398542 m,
nav range: 22.681843 m,
bearing: 320.049765 deg,
approach rate: -0.484912 m/s,
LOS rate: -0.224151 deg/s,
cmd heading: 314.131820 deg,
new cmd heading: 313.885808 deg.
2025-06-11T21:01:07.293Z,1749675667.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478341 target range: 23.398542 and range: 23.60 m.
2025-06-11T21:01:07.393Z,1749675667.393 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.744339
2025-06-11T21:01:07.645Z,1749675667.645 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.996026
2025-06-11T21:01:07.734Z,1749675667.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:01:07.742Z,1749675667.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.398542 m,
nav range: 22.483532 m,
bearing: 319.983442 deg,
approach rate: -0.445984 m/s,
LOS rate: -0.150470 deg/s,
cmd heading: 313.885797 deg,
new cmd heading: 313.685074 deg.
2025-06-11T21:01:07.745Z,1749675667.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474837 target range: 23.398542 and range: 23.60 m.
2025-06-11T21:01:07.897Z,1749675667.897 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.248102
2025-06-11T21:01:08.094Z,1749675668.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:01:08.097Z,1749675668.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.398542 m,
nav range: 22.316797 m,
bearing: 319.927823 deg,
approach rate: -0.463831 m/s,
LOS rate: -0.155880 deg/s,
cmd heading: 313.685071 deg,
new cmd heading: 313.516967 deg.
2025-06-11T21:01:08.098Z,1749675668.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471903 target range: 23.398542 and range: 23.60 m.
2025-06-11T21:01:08.150Z,1749675668.150 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.501300
2025-06-11T21:01:08.401Z,1749675668.401 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.752009
2025-06-11T21:01:08.492Z,1749675668.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:01:08.495Z,1749675668.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.398542 m,
nav range: 22.135576 m,
bearing: 319.868072 deg,
approach rate: -0.455211 m/s,
LOS rate: -0.151318 deg/s,
cmd heading: 313.516966 deg,
new cmd heading: 313.336246 deg.
2025-06-11T21:01:08.496Z,1749675668.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468749 target range: 23.398542 and range: 23.60 m.
2025-06-11T21:01:08.653Z,1749675668.653 [DAT](INFO): DAT read: Rx Time:21:01:09.9425
2025-06-11T21:01:08.654Z,1749675668.654 [DAT](INFO): Rx dataTimestamp_ set to:1749675668.653437
2025-06-11T21:01:08.654Z,1749675668.654 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.005615
2025-06-11T21:01:08.905Z,1749675668.905 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.256693
2025-06-11T21:01:08.956Z,1749675668.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:08.958Z,1749675668.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:01:08.961Z,1749675668.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.398542 m,
nav range: 21.919565 m,
bearing: 319.829671 deg,
approach rate: -0.463152 m/s,
LOS rate: -0.083147 deg/s,
cmd heading: 313.336240 deg,
new cmd heading: 313.219902 deg.
2025-06-11T21:01:08.962Z,1749675668.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466719 target range: 23.398542 and range: 23.60 m.
2025-06-11T21:01:09.163Z,1749675669.163 [DAT](INFO): DAT read: 21:01:09.9425 LVL= 22112, 28945, 19618, 32403, AGC= 56, IDX= 425,-0.12, 1.251,-0.096, 1.512, 0.933, PHS= 0.406,-0.982, 0.576, RAW= 155.7, -0.0, CAL= 158.3, -8.7, ROT= 351.7, 8.7
2025-06-11T21:01:09.164Z,1749675669.164 [DAT](INFO): got valid direction response:
21:01:09.9425 LVL= 22112, 28945, 19618, 32403, AGC= 56, IDX= 425,-0.12, 1.251,-0.096, 1.512, 0.933, PHS= 0.406,-0.982, 0.576, RAW= 155.7, -0.0, CAL= 158.3, -8.7, ROT= 351.7, 8.7
2025-06-11T21:01:09.165Z,1749675669.165 [DAT](INFO): DAT read: Bearing 351.7, 8.7 (Local)
2025-06-11T21:01:09.165Z,1749675669.165 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.7, 8.7 (Local)
2025-06-11T21:01:09.167Z,1749675669.167 [DAT](INFO): DAT read: Range 10 to 50 : 21.9 m (Round-trip 29.3 ms) speed 0.4 m/s
2025-06-11T21:01:09.168Z,1749675669.168 [DAT](INFO): DAT read: user:683>
2025-06-11T21:01:09.169Z,1749675669.169 [DAT](INFO): DAT read: Tx time:21:01:11.0590
2025-06-11T21:01:09.169Z,1749675669.169 [DAT](INFO): Ping request sent.
2025-06-11T21:01:09.170Z,1749675669.170 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:09.170Z,1749675669.170 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-11T21:01:09.171Z,1749675669.171 [DAT](INFO): direction in FSK: [0.978140,-0.142695,-0.151261]
2025-06-11T21:01:09.171Z,1749675669.171 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:09.171Z,1749675669.171 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:09.175Z,1749675669.175 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:09.175Z,1749675669.175 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:09.186Z,1749675669.186 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.016475
2025-06-11T21:01:09.377Z,1749675669.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.900000 m,
deltaT: 3.528169 s,
deltaX: -1.700001 m,
approachRate: -0.481837 m/s,
rangeRepo size: 4
2025-06-11T21:01:09.379Z,1749675669.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.713028 m,
bearing: 309.503460 deg,
lat: 36.906383 deg,
lon: -122.115597 deg,
deltaT: 3.528169 s,
deltaX: -1.685514 m,
approachRate: -0.477731 m/s,
posRepo size: 4
2025-06-11T21:01:09.379Z,1749675669.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-06-11T21:01:09.386Z,1749675669.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.713028 m,
nav range: 21.466433 m,
bearing: 317.366485 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.083147 deg/s,
cmd heading: 313.219908 deg,
new cmd heading: 313.117725 deg.
2025-06-11T21:01:09.387Z,1749675669.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464935 target range: 21.713028 and range: 21.90 m.
2025-06-11T21:01:09.409Z,1749675669.409 [DAT](INFO): DAT read: TxSync time:21:01:11.0583
2025-06-11T21:01:09.410Z,1749675669.410 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.240314
2025-06-11T21:01:09.661Z,1749675669.661 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.491329
2025-06-11T21:01:09.738Z,1749675669.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-06-11T21:01:09.761Z,1749675669.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.713028 m,
nav range: 21.271429 m,
bearing: 317.339023 deg,
approach rate: -0.527128 m/s,
LOS rate: -0.074914 deg/s,
cmd heading: 313.117728 deg,
new cmd heading: 313.034588 deg.
2025-06-11T21:01:09.762Z,1749675669.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463484 target range: 21.713028 and range: 21.90 m.
2025-06-11T21:01:09.913Z,1749675669.913 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.743209
2025-06-11T21:01:10.110Z,1749675670.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-06-11T21:01:10.113Z,1749675670.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.713028 m,
nav range: 21.093943 m,
bearing: 317.319167 deg,
approach rate: -0.476334 m/s,
LOS rate: -0.053739 deg/s,
cmd heading: 313.034591 deg,
new cmd heading: 312.974520 deg.
2025-06-11T21:01:10.114Z,1749675670.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462436 target range: 21.713028 and range: 21.90 m.
2025-06-11T21:01:10.165Z,1749675670.165 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.995583
2025-06-11T21:01:10.417Z,1749675670.417 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.247413
2025-06-11T21:01:10.515Z,1749675670.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-06-11T21:01:10.518Z,1749675670.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.713028 m,
nav range: 20.901020 m,
bearing: 317.299447 deg,
approach rate: -0.476446 m/s,
LOS rate: -0.049150 deg/s,
cmd heading: 312.974513 deg,
new cmd heading: 312.914808 deg.
2025-06-11T21:01:10.519Z,1749675670.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461394 target range: 21.713028 and range: 21.90 m.
2025-06-11T21:01:10.670Z,1749675670.670 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.500032
2025-06-11T21:01:10.921Z,1749675670.921 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.751683
2025-06-11T21:01:11.001Z,1749675671.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:11.003Z,1749675671.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-06-11T21:01:11.011Z,1749675671.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.713028 m,
nav range: 20.690834 m,
bearing: 317.307168 deg,
approach rate: -0.431059 m/s,
LOS rate: 0.015996 deg/s,
cmd heading: 312.914817 deg,
new cmd heading: 312.938215 deg.
2025-06-11T21:01:11.020Z,1749675671.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461802 target range: 21.713028 and range: 21.90 m.
2025-06-11T21:01:11.173Z,1749675671.173 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.003274
2025-06-11T21:01:11.379Z,1749675671.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-06-11T21:01:11.382Z,1749675671.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.713028 m,
nav range: 20.490677 m,
bearing: 317.316264 deg,
approach rate: -0.531945 m/s,
LOS rate: 0.024408 deg/s,
cmd heading: 312.938203 deg,
new cmd heading: 312.965756 deg.
2025-06-11T21:01:11.383Z,1749675671.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462283 target range: 21.713028 and range: 21.90 m.
2025-06-11T21:01:11.425Z,1749675671.425 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.255291
2025-06-11T21:01:11.677Z,1749675671.677 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.507204
2025-06-11T21:01:11.801Z,1749675671.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-06-11T21:01:11.803Z,1749675671.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.713028 m,
nav range: 20.295055 m,
bearing: 317.336876 deg,
approach rate: -0.463992 m/s,
LOS rate: 0.049362 deg/s,
cmd heading: 312.965743 deg,
new cmd heading: 313.028177 deg.
2025-06-11T21:01:11.809Z,1749675671.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463372 target range: 21.713028 and range: 21.90 m.
2025-06-11T21:01:11.930Z,1749675671.930 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.759991
2025-06-11T21:01:12.151Z,1749675672.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-06-11T21:01:12.155Z,1749675672.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.713028 m,
nav range: 20.121784 m,
bearing: 317.357386 deg,
approach rate: -0.494144 m/s,
LOS rate: 0.058994 deg/s,
cmd heading: 313.028171 deg,
new cmd heading: 313.090229 deg.
2025-06-11T21:01:12.156Z,1749675672.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464455 target range: 21.713028 and range: 21.90 m.
2025-06-11T21:01:12.181Z,1749675672.181 [DAT](INFO): DAT read: Rx Time:21:01:13.4905
2025-06-11T21:01:12.181Z,1749675672.181 [DAT](INFO): Rx dataTimestamp_ set to:1749675672.180998
2025-06-11T21:01:12.182Z,1749675672.182 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.012291
2025-06-11T21:01:12.433Z,1749675672.433 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.263239
2025-06-11T21:01:12.552Z,1749675672.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-06-11T21:01:12.554Z,1749675672.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.713028 m,
nav range: 19.930708 m,
bearing: 317.382599 deg,
approach rate: -0.477430 m/s,
LOS rate: 0.063603 deg/s,
cmd heading: 313.090216 deg,
new cmd heading: 313.166581 deg.
2025-06-11T21:01:12.555Z,1749675672.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465788 target range: 21.713028 and range: 21.90 m.
2025-06-11T21:01:12.694Z,1749675672.694 [DAT](INFO): DAT read: 21:01:13.4905 LVL= 22000, 28241, 20306, 32755, AGC= 59, IDX= 420, 0.05, 2.716, 1.310, 2.840, 2.315, PHS= 0.488,-0.959, 0.522, RAW= 151.1, -0.7, CAL= 154.5, -9.5, ROT= 355.5, 9.5
2025-06-11T21:01:12.696Z,1749675672.696 [DAT](INFO): got valid direction response:
21:01:13.4905 LVL= 22000, 28241, 20306, 32755, AGC= 59, IDX= 420, 0.05, 2.716, 1.310, 2.840, 2.315, PHS= 0.488,-0.959, 0.522, RAW= 151.1, -0.7, CAL= 154.5, -9.5, ROT= 355.5, 9.5
2025-06-11T21:01:12.697Z,1749675672.697 [DAT](INFO): DAT read: Bearing 355.5, 9.5 (Local)
2025-06-11T21:01:12.698Z,1749675672.698 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.5, 9.5 (Local)
2025-06-11T21:01:12.699Z,1749675672.699 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m (Round-trip 27.3 ms) speed 0.4 m/s
2025-06-11T21:01:12.700Z,1749675672.700 [DAT](INFO): DAT read: user:684>
2025-06-11T21:01:12.701Z,1749675672.701 [DAT](INFO): DAT read: Tx time:21:01:14.6090
2025-06-11T21:01:12.702Z,1749675672.702 [DAT](INFO): Ping request sent.
2025-06-11T21:01:12.702Z,1749675672.702 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:12.703Z,1749675672.703 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-11T21:01:12.710Z,1749675672.710 [DAT](INFO): direction in FSK: [0.983245,-0.077383,-0.165048]
2025-06-11T21:01:12.710Z,1749675672.710 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:12.711Z,1749675672.711 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:12.730Z,1749675672.730 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:12.731Z,1749675672.731 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:12.748Z,1749675672.748 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.046581
2025-06-11T21:01:12.938Z,1749675672.938 [DAT](INFO): DAT read: TxSync time:21:01:14.6083
2025-06-11T21:01:12.939Z,1749675672.939 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.236978
2025-06-11T21:01:13.023Z,1749675673.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.400000 m,
deltaT: 3.528444 s,
deltaX: -1.500000 m,
approachRate: -0.425117 m/s,
rangeRepo size: 4
2025-06-11T21:01:13.029Z,1749675673.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.225830 m,
bearing: 311.278090 deg,
lat: 36.906372 deg,
lon: -122.115612 deg,
deltaT: 3.528444 s,
deltaX: -1.487198 m,
approachRate: -0.421488 m/s,
posRepo size: 4
2025-06-11T21:01:13.030Z,1749675673.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.23 m.
2025-06-11T21:01:13.045Z,1749675673.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.225830 m,
nav range: 19.853504 m,
bearing: 312.319636 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.063603 deg/s,
cmd heading: 313.166578 deg,
new cmd heading: 313.256355 deg.
2025-06-11T21:01:13.046Z,1749675673.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467355 target range: 20.225830 and range: 20.40 m.
2025-06-11T21:01:13.189Z,1749675673.189 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.487482
2025-06-11T21:01:13.347Z,1749675673.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:13.370Z,1749675673.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.23 m.
2025-06-11T21:01:13.377Z,1749675673.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.225830 m,
nav range: 19.689121 m,
bearing: 312.304791 deg,
approach rate: -0.472745 m/s,
LOS rate: -0.043048 deg/s,
cmd heading: 313.256354 deg,
new cmd heading: 313.211448 deg.
2025-06-11T21:01:13.378Z,1749675673.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466571 target range: 20.225830 and range: 20.40 m.
2025-06-11T21:01:13.442Z,1749675673.442 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.739514
2025-06-11T21:01:13.693Z,1749675673.693 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.990922
2025-06-11T21:01:13.779Z,1749675673.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.23 m.
2025-06-11T21:01:13.782Z,1749675673.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.225830 m,
nav range: 19.497000 m,
bearing: 312.268918 deg,
approach rate: -0.469635 m/s,
LOS rate: -0.088554 deg/s,
cmd heading: 313.211438 deg,
new cmd heading: 313.102760 deg.
2025-06-11T21:01:13.783Z,1749675673.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464674 target range: 20.225830 and range: 20.40 m.
2025-06-11T21:01:13.945Z,1749675673.945 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.243444
2025-06-11T21:01:14.164Z,1749675674.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.23 m.
2025-06-11T21:01:14.167Z,1749675674.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.225830 m,
nav range: 19.324242 m,
bearing: 312.238896 deg,
approach rate: -0.448914 m/s,
LOS rate: -0.078709 deg/s,
cmd heading: 313.102756 deg,
new cmd heading: 313.011886 deg.
2025-06-11T21:01:14.168Z,1749675674.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463088 target range: 20.225830 and range: 20.40 m.
2025-06-11T21:01:14.206Z,1749675674.206 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.503700
2025-06-11T21:01:14.457Z,1749675674.457 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.754963
2025-06-11T21:01:14.573Z,1749675674.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.23 m.
2025-06-11T21:01:14.576Z,1749675674.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.225830 m,
nav range: 19.140814 m,
bearing: 312.206427 deg,
approach rate: -0.448068 m/s,
LOS rate: -0.080076 deg/s,
cmd heading: 313.011888 deg,
new cmd heading: 312.913545 deg.
2025-06-11T21:01:14.577Z,1749675674.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461371 target range: 20.225830 and range: 20.40 m.
2025-06-11T21:01:14.710Z,1749675674.710 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.007971
2025-06-11T21:01:14.963Z,1749675674.963 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.260780
2025-06-11T21:01:15.037Z,1749675675.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.23 m.
2025-06-11T21:01:15.044Z,1749675675.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.225830 m,
nav range: 18.943251 m,
bearing: 312.147677 deg,
approach rate: -0.425483 m/s,
LOS rate: -0.127846 deg/s,
cmd heading: 312.913533 deg,
new cmd heading: 312.735447 deg.
2025-06-11T21:01:15.045Z,1749675675.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458263 target range: 20.225830 and range: 20.40 m.
2025-06-11T21:01:15.213Z,1749675675.213 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.510882
2025-06-11T21:01:15.358Z,1749675675.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:15.360Z,1749675675.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.23 m.
2025-06-11T21:01:15.363Z,1749675675.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.225830 m,
nav range: 18.800110 m,
bearing: 312.104393 deg,
approach rate: -0.443766 m/s,
LOS rate: -0.135210 deg/s,
cmd heading: 312.735456 deg,
new cmd heading: 312.604616 deg.
2025-06-11T21:01:15.364Z,1749675675.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455980 target range: 20.225830 and range: 20.40 m.
2025-06-11T21:01:15.466Z,1749675675.466 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.763715
2025-06-11T21:01:15.717Z,1749675675.717 [DAT](INFO): DAT read: Rx Time:21:01:17.0384
2025-06-11T21:01:15.717Z,1749675675.717 [DAT](INFO): Rx dataTimestamp_ set to:1749675675.717068
2025-06-11T21:01:15.718Z,1749675675.718 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.016109
2025-06-11T21:01:15.867Z,1749675675.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.23 m.
2025-06-11T21:01:15.870Z,1749675675.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.225830 m,
nav range: 18.588406 m,
bearing: 311.997862 deg,
approach rate: -0.417231 m/s,
LOS rate: -0.212345 deg/s,
cmd heading: 312.604617 deg,
new cmd heading: 312.281387 deg.
2025-06-11T21:01:15.871Z,1749675675.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450338 target range: 20.225830 and range: 20.40 m.
2025-06-11T21:01:15.969Z,1749675675.969 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.267092
2025-06-11T21:01:16.227Z,1749675676.227 [DAT](INFO): DAT read: 21:01:17.0384 LVL= 19952, 22817, 18546, 31011, AGC= 53, IDX= 413,-0.01,-0.120,-1.548,-0.110,-0.557, PHS= 0.525,-0.944, 0.444, RAW= 147.2, -0.4, CAL= 150.8, -9.3, ROT= 359.2, 9.3
2025-06-11T21:01:16.231Z,1749675676.231 [DAT](INFO): got valid direction response:
21:01:17.0384 LVL= 19952, 22817, 18546, 31011, AGC= 53, IDX= 413,-0.01,-0.120,-1.548,-0.110,-0.557, PHS= 0.525,-0.944, 0.444, RAW= 147.2, -0.4, CAL= 150.8, -9.3, ROT= 359.2, 9.3
2025-06-11T21:01:16.233Z,1749675676.233 [DAT](INFO): DAT read: Bearing 359.2, 9.3 (Local)
2025-06-11T21:01:16.233Z,1749675676.233 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.2, 9.3 (Local)
2025-06-11T21:01:16.235Z,1749675676.235 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (Round-trip 25.1 ms) speed 0.4 m/s
2025-06-11T21:01:16.235Z,1749675676.235 [DAT](INFO): DAT read: user:685>
2025-06-11T21:01:16.236Z,1749675676.236 [DAT](INFO): DAT read: Tx time:21:01:18.1591
2025-06-11T21:01:16.237Z,1749675676.237 [DAT](INFO): Ping request sent.
2025-06-11T21:01:16.237Z,1749675676.237 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:16.237Z,1749675676.237 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-11T21:01:16.238Z,1749675676.238 [DAT](INFO): direction in FSK: [0.986760,-0.013779,-0.161604]
2025-06-11T21:01:16.238Z,1749675676.238 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:16.239Z,1749675676.239 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:16.244Z,1749675676.244 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:16.244Z,1749675676.244 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:16.247Z,1749675676.247 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.010484
2025-06-11T21:01:16.353Z,1749675676.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 3.535578 s,
deltaX: -1.600000 m,
approachRate: -0.452543 m/s,
rangeRepo size: 4
2025-06-11T21:01:16.355Z,1749675676.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.639524 m,
bearing: 314.369951 deg,
lat: 36.906372 deg,
lon: -122.115612 deg,
deltaT: 3.535578 s,
deltaX: -1.586306 m,
approachRate: -0.448669 m/s,
posRepo size: 4
2025-06-11T21:01:16.360Z,1749675676.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:01:16.363Z,1749675676.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.639524 m,
nav range: 18.406483 m,
bearing: 311.905031 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.212345 deg/s,
cmd heading: 312.281385 deg,
new cmd heading: 311.972231 deg.
2025-06-11T21:01:16.368Z,1749675676.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444942 target range: 18.639524 and range: 18.80 m.
2025-06-11T21:01:16.473Z,1749675676.473 [DAT](INFO): DAT read: TxSync time:21:01:18.1583
2025-06-11T21:01:16.474Z,1749675676.474 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.237170
2025-06-11T21:01:16.725Z,1749675676.725 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.488104
2025-06-11T21:01:16.806Z,1749675676.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:01:16.813Z,1749675676.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.639524 m,
nav range: 18.204485 m,
bearing: 311.773343 deg,
approach rate: -0.445164 m/s,
LOS rate: -0.293435 deg/s,
cmd heading: 311.972223 deg,
new cmd heading: 311.572783 deg.
2025-06-11T21:01:16.814Z,1749675676.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.437971 target range: 18.639524 and range: 18.80 m.
2025-06-11T21:01:16.977Z,1749675676.977 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.740021
2025-06-11T21:01:17.168Z,1749675677.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:01:17.171Z,1749675677.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.639524 m,
nav range: 18.047241 m,
bearing: 311.669868 deg,
approach rate: -0.434816 m/s,
LOS rate: -0.288627 deg/s,
cmd heading: 311.572794 deg,
new cmd heading: 311.259666 deg.
2025-06-11T21:01:17.188Z,1749675677.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432506 target range: 18.639524 and range: 18.80 m.
2025-06-11T21:01:17.230Z,1749675677.230 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.993631
2025-06-11T21:01:17.481Z,1749675677.481 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.243982
2025-06-11T21:01:17.634Z,1749675677.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:17.636Z,1749675677.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:01:17.639Z,1749675677.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.639524 m,
nav range: 17.858921 m,
bearing: 311.543792 deg,
approach rate: -0.402424 m/s,
LOS rate: -0.272255 deg/s,
cmd heading: 311.259671 deg,
new cmd heading: 310.877459 deg.
2025-06-11T21:01:17.640Z,1749675677.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425835 target range: 18.639524 and range: 18.80 m.
2025-06-11T21:01:17.736Z,1749675677.736 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.498330
2025-06-11T21:01:17.985Z,1749675677.985 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.748153
2025-06-11T21:01:17.999Z,1749675677.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:01:18.018Z,1749675678.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.639524 m,
nav range: 17.702085 m,
bearing: 311.424083 deg,
approach rate: -0.431646 m/s,
LOS rate: -0.332384 deg/s,
cmd heading: 310.877453 deg,
new cmd heading: 310.515150 deg.
2025-06-11T21:01:18.019Z,1749675678.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.419512 target range: 18.639524 and range: 18.80 m.
2025-06-11T21:01:18.237Z,1749675678.237 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.999961
2025-06-11T21:01:18.410Z,1749675678.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:01:18.413Z,1749675678.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.639524 m,
nav range: 17.531933 m,
bearing: 311.291431 deg,
approach rate: -0.414610 m/s,
LOS rate: -0.326369 deg/s,
cmd heading: 310.515153 deg,
new cmd heading: 310.113342 deg.
2025-06-11T21:01:18.414Z,1749675678.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412499 target range: 18.639524 and range: 18.80 m.
2025-06-11T21:01:18.489Z,1749675678.489 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.252232
2025-06-11T21:01:18.741Z,1749675678.741 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.504195
2025-06-11T21:01:18.802Z,1749675678.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:01:18.804Z,1749675678.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.639524 m,
nav range: 17.369137 m,
bearing: 311.162523 deg,
approach rate: -0.415578 m/s,
LOS rate: -0.332154 deg/s,
cmd heading: 310.113347 deg,
new cmd heading: 309.723004 deg.
2025-06-11T21:01:18.805Z,1749675678.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405686 target range: 18.639524 and range: 18.80 m.
2025-06-11T21:01:18.993Z,1749675678.993 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.756428
2025-06-11T21:01:19.192Z,1749675679.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:01:19.195Z,1749675679.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.639524 m,
nav range: 17.207119 m,
bearing: 311.033067 deg,
approach rate: -0.415091 m/s,
LOS rate: -0.334789 deg/s,
cmd heading: 309.723015 deg,
new cmd heading: 309.330997 deg.
2025-06-11T21:01:19.196Z,1749675679.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398844 target range: 18.639524 and range: 18.80 m.
2025-06-11T21:01:19.246Z,1749675679.246 [DAT](INFO): DAT read: Rx Time:21:01:20.5864
2025-06-11T21:01:19.247Z,1749675679.247 [DAT](INFO): Rx dataTimestamp_ set to:1749675679.246019
2025-06-11T21:01:19.247Z,1749675679.247 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.010476
2025-06-11T21:01:19.498Z,1749675679.498 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.261089
2025-06-11T21:01:19.585Z,1749675679.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:01:19.589Z,1749675679.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.639524 m,
nav range: 17.043768 m,
bearing: 310.901697 deg,
approach rate: -0.415058 m/s,
LOS rate: -0.336997 deg/s,
cmd heading: 309.330989 deg,
new cmd heading: 308.933109 deg.
2025-06-11T21:01:19.590Z,1749675679.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391900 target range: 18.639524 and range: 18.80 m.
2025-06-11T21:01:19.771Z,1749675679.771 [DAT](INFO): DAT read: 21:01:20.5864 LVL= 21552, 29873, 18418, 32755, AGC= 56, IDX= 424, 0.10,-1.549,-2.948,-1.499,-1.980, PHS= 0.519,-0.921, 0.478, RAW= 148.6, -1.1, CAL= 152.3, -10.0, ROT= 357.7, 10.0
2025-06-11T21:01:19.772Z,1749675679.772 [DAT](INFO): got valid direction response:
21:01:20.5864 LVL= 21552, 29873, 18418, 32755, AGC= 56, IDX= 424, 0.10,-1.549,-2.948,-1.499,-1.980, PHS= 0.519,-0.921, 0.478, RAW= 148.6, -1.1, CAL= 152.3, -10.0, ROT= 357.7, 10.0
2025-06-11T21:01:19.773Z,1749675679.773 [DAT](INFO): DAT read: Bearing 357.7, 10.0 (Local)
2025-06-11T21:01:19.773Z,1749675679.773 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.7, 10.0 (Local)
2025-06-11T21:01:19.775Z,1749675679.775 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (Round-trip 23.1 ms) speed 0.4 m/s
2025-06-11T21:01:19.775Z,1749675679.775 [DAT](INFO): DAT read: user:686>
2025-06-11T21:01:19.777Z,1749675679.777 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-11T21:01:19.781Z,1749675679.781 [DAT](INFO): direction in FSK: [0.984014,-0.039522,-0.173648]
2025-06-11T21:01:19.782Z,1749675679.782 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:19.809Z,1749675679.809 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.572574
2025-06-11T21:01:20.001Z,1749675680.001 [DAT](INFO): DAT read: Tx time:21:01:21.7091
2025-06-11T21:01:20.001Z,1749675680.001 [DAT](INFO): Ping request sent.
2025-06-11T21:01:20.001Z,1749675680.001 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:20.002Z,1749675680.002 [DAT](INFO): DAT read: TxSync time:21:01:21.7083
2025-06-11T21:01:20.002Z,1749675680.002 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:20.003Z,1749675680.003 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.001683
2025-06-11T21:01:20.033Z,1749675680.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 3.529809 s,
deltaX: -1.500000 m,
approachRate: -0.424952 m/s,
rangeRepo size: 4
2025-06-11T21:01:20.034Z,1749675680.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.152458 m,
bearing: 312.131917 deg,
lat: 36.906372 deg,
lon: -122.115612 deg,
deltaT: 3.529809 s,
deltaX: -1.487066 m,
approachRate: -0.421288 m/s,
posRepo size: 4
2025-06-11T21:01:20.035Z,1749675680.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:01:20.038Z,1749675680.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152458 m,
nav range: 16.852896 m,
bearing: 310.756236 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.336997 deg/s,
cmd heading: 308.933117 deg,
new cmd heading: 308.482041 deg.
2025-06-11T21:01:20.039Z,1749675680.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384027 target range: 17.152458 and range: 17.30 m.
2025-06-11T21:01:20.253Z,1749675680.253 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.251327
2025-06-11T21:01:20.436Z,1749675680.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:20.438Z,1749675680.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:01:20.441Z,1749675680.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152458 m,
nav range: 16.675079 m,
bearing: 310.617649 deg,
approach rate: -0.436980 m/s,
LOS rate: -0.344206 deg/s,
cmd heading: 308.482051 deg,
new cmd heading: 308.061865 deg.
2025-06-11T21:01:20.442Z,1749675680.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.376694 target range: 17.152458 and range: 17.30 m.
2025-06-11T21:01:20.510Z,1749675680.510 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.508224
2025-06-11T21:01:20.776Z,1749675680.776 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.762068
2025-06-11T21:01:20.840Z,1749675680.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:01:20.842Z,1749675680.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152458 m,
nav range: 16.498404 m,
bearing: 310.492255 deg,
approach rate: -0.440540 m/s,
LOS rate: -0.316018 deg/s,
cmd heading: 308.061858 deg,
new cmd heading: 307.681653 deg.
2025-06-11T21:01:20.843Z,1749675680.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370058 target range: 17.152458 and range: 17.30 m.
2025-06-11T21:01:21.013Z,1749675681.013 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.011367
2025-06-11T21:01:21.206Z,1749675681.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:01:21.209Z,1749675681.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152458 m,
nav range: 16.336830 m,
bearing: 310.379124 deg,
approach rate: -0.440425 m/s,
LOS rate: -0.311429 deg/s,
cmd heading: 307.681663 deg,
new cmd heading: 307.338916 deg.
2025-06-11T21:01:21.210Z,1749675681.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.364076 target range: 17.152458 and range: 17.30 m.
2025-06-11T21:01:21.266Z,1749675681.266 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.264141
2025-06-11T21:01:21.517Z,1749675681.517 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.515330
2025-06-11T21:01:21.605Z,1749675681.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:01:21.607Z,1749675681.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152458 m,
nav range: 16.161205 m,
bearing: 310.255995 deg,
approach rate: -0.441009 m/s,
LOS rate: -0.312547 deg/s,
cmd heading: 307.338924 deg,
new cmd heading: 306.965529 deg.
2025-06-11T21:01:21.621Z,1749675681.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357559 target range: 17.152458 and range: 17.30 m.
2025-06-11T21:01:21.771Z,1749675681.771 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.769274
2025-06-11T21:01:22.021Z,1749675682.021 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.019434
2025-06-11T21:01:22.034Z,1749675682.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:01:22.038Z,1749675682.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152458 m,
nav range: 15.972763 m,
bearing: 310.148046 deg,
approach rate: -0.438464 m/s,
LOS rate: -0.254136 deg/s,
cmd heading: 306.965531 deg,
new cmd heading: 306.637868 deg.
2025-06-11T21:01:22.039Z,1749675682.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351840 target range: 17.152458 and range: 17.30 m.
2025-06-11T21:01:22.274Z,1749675682.274 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.272461
2025-06-11T21:01:22.420Z,1749675682.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:01:22.423Z,1749675682.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152458 m,
nav range: 15.803555 m,
bearing: 310.052208 deg,
approach rate: -0.439061 m/s,
LOS rate: -0.251342 deg/s,
cmd heading: 306.637873 deg,
new cmd heading: 306.347285 deg.
2025-06-11T21:01:22.424Z,1749675682.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346769 target range: 17.152458 and range: 17.30 m.
2025-06-11T21:01:22.525Z,1749675682.525 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.523452
2025-06-11T21:01:22.779Z,1749675682.779 [DAT](INFO): DAT read: Rx Time:21:01:24.1343
2025-06-11T21:01:22.781Z,1749675682.781 [DAT](INFO): Rx dataTimestamp_ set to:1749675682.780130
2025-06-11T21:01:22.783Z,1749675682.783 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.781313
2025-06-11T21:01:22.902Z,1749675682.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:22.905Z,1749675682.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:01:22.909Z,1749675682.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152458 m,
nav range: 15.590386 m,
bearing: 309.950149 deg,
approach rate: -0.439770 m/s,
LOS rate: -0.213428 deg/s,
cmd heading: 306.347289 deg,
new cmd heading: 306.036929 deg.
2025-06-11T21:01:22.911Z,1749675682.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.341352 target range: 17.152458 and range: 17.30 m.
2025-06-11T21:01:23.029Z,1749675683.029 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.027498
2025-06-11T21:01:23.234Z,1749675683.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:01:23.237Z,1749675683.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152458 m,
nav range: 15.444073 m,
bearing: 309.884831 deg,
approach rate: -0.443723 m/s,
LOS rate: -0.199967 deg/s,
cmd heading: 306.036926 deg,
new cmd heading: 305.839114 deg.
2025-06-11T21:01:23.238Z,1749675683.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337900 target range: 17.152458 and range: 17.30 m.
2025-06-11T21:01:23.283Z,1749675683.283 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.281198
2025-06-11T21:01:23.539Z,1749675683.539 [DAT](INFO): DAT read: 21:01:24.1343 LVL= 25504, 26481, 21330, 32755, AGC= 51, IDX= 419, 0.31, 0.390,-1.063, 0.338,-0.066, PHS= 0.545,-0.949, 0.402, RAW= 145.0, 0.0, CAL= 148.9, -8.9, ROT= 1.1, 8.9
2025-06-11T21:01:23.540Z,1749675683.540 [DAT](INFO): got valid direction response:
21:01:24.1343 LVL= 25504, 26481, 21330, 32755, AGC= 51, IDX= 419, 0.31, 0.390,-1.063, 0.338,-0.066, PHS= 0.545,-0.949, 0.402, RAW= 145.0, 0.0, CAL= 148.9, -8.9, ROT= 1.1, 8.9
2025-06-11T21:01:23.542Z,1749675683.542 [DAT](INFO): DAT read: Bearing 1.1, 8.9 (Local)
2025-06-11T21:01:23.542Z,1749675683.542 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.1, 8.9 (Local)
2025-06-11T21:01:23.543Z,1749675683.543 [DAT](INFO): DAT read: Range 10 to 50 : 15.7 m (Round-trip 21.0 ms) speed 0.4 m/s
2025-06-11T21:01:23.544Z,1749675683.544 [DAT](INFO): DAT read: user:687>
2025-06-11T21:01:23.545Z,1749675683.545 [DAT](INFO): DAT read: Tx time:21:01:25.2591
2025-06-11T21:01:23.545Z,1749675683.545 [DAT](INFO): Ping request sent.
2025-06-11T21:01:23.546Z,1749675683.546 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:23.546Z,1749675683.546 [DAT](INFO): DAT read: TxSync time:21:01:25.2583
2025-06-11T21:01:23.547Z,1749675683.547 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-11T21:01:23.548Z,1749675683.548 [DAT](INFO): direction in FSK: [0.987778,0.018966,-0.154710]
2025-06-11T21:01:23.548Z,1749675683.548 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:23.548Z,1749675683.548 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:23.551Z,1749675683.551 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:23.553Z,1749675683.553 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:23.556Z,1749675683.556 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.010676
2025-06-11T21:01:23.788Z,1749675683.788 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.242410
2025-06-11T21:01:23.865Z,1749675683.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.700000 m,
deltaT: 3.782299 s,
deltaX: -1.599999 m,
approachRate: -0.423023 m/s,
rangeRepo size: 4
2025-06-11T21:01:23.867Z,1749675683.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.566101 m,
bearing: 312.383245 deg,
lat: 36.906376 deg,
lon: -122.115610 deg,
deltaT: 3.782299 s,
deltaX: -1.586357 m,
approachRate: -0.419416 m/s,
posRepo size: 4
2025-06-11T21:01:23.867Z,1749675683.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.57 m.
2025-06-11T21:01:23.874Z,1749675683.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.566101 m,
nav range: 15.261558 m,
bearing: 311.301323 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.199967 deg/s,
cmd heading: 305.839123 deg,
new cmd heading: 305.463780 deg.
2025-06-11T21:01:23.875Z,1749675683.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.331349 target range: 15.566101 and range: 15.70 m.
2025-06-11T21:01:24.037Z,1749675684.037 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.491372
2025-06-11T21:01:24.211Z,1749675684.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.57 m.
2025-06-11T21:01:24.215Z,1749675684.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.566101 m,
nav range: 15.105476 m,
bearing: 311.267449 deg,
approach rate: -0.444051 m/s,
LOS rate: -0.097367 deg/s,
cmd heading: 305.463791 deg,
new cmd heading: 305.361119 deg.
2025-06-11T21:01:24.224Z,1749675684.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.329557 target range: 15.566101 and range: 15.70 m.
2025-06-11T21:01:24.290Z,1749675684.290 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.743758
2025-06-11T21:01:24.541Z,1749675684.541 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.995223
2025-06-11T21:01:24.609Z,1749675684.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.57 m.
2025-06-11T21:01:24.611Z,1749675684.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.566101 m,
nav range: 14.922340 m,
bearing: 311.226799 deg,
approach rate: -0.461020 m/s,
LOS rate: -0.103588 deg/s,
cmd heading: 305.361119 deg,
new cmd heading: 305.237671 deg.
2025-06-11T21:01:24.629Z,1749675684.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327403 target range: 15.566101 and range: 15.70 m.
2025-06-11T21:01:24.796Z,1749675684.796 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.249522
2025-06-11T21:01:25.021Z,1749675685.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:25.023Z,1749675685.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.57 m.
2025-06-11T21:01:25.026Z,1749675685.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.566101 m,
nav range: 14.738319 m,
bearing: 311.214346 deg,
approach rate: -0.444239 m/s,
LOS rate: -0.030436 deg/s,
cmd heading: 305.237684 deg,
new cmd heading: 305.199861 deg.
2025-06-11T21:01:25.027Z,1749675685.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326743 target range: 15.566101 and range: 15.70 m.
2025-06-11T21:01:25.045Z,1749675685.045 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.499283
2025-06-11T21:01:25.297Z,1749675685.297 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.751282
2025-06-11T21:01:25.375Z,1749675685.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.57 m.
2025-06-11T21:01:25.378Z,1749675685.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.566101 m,
nav range: 14.583188 m,
bearing: 311.207792 deg,
approach rate: -0.440079 m/s,
LOS rate: -0.018791 deg/s,
cmd heading: 305.199872 deg,
new cmd heading: 305.180000 deg.
2025-06-11T21:01:25.379Z,1749675685.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326396 target range: 15.566101 and range: 15.70 m.
2025-06-11T21:01:25.549Z,1749675685.549 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.003263
2025-06-11T21:01:25.803Z,1749675685.803 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.257211
2025-06-11T21:01:25.855Z,1749675685.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.57 m.
2025-06-11T21:01:25.869Z,1749675685.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.566101 m,
nav range: 14.398721 m,
bearing: 311.203941 deg,
approach rate: -0.385591 m/s,
LOS rate: -0.008154 deg/s,
cmd heading: 305.180010 deg,
new cmd heading: 305.168308 deg.
2025-06-11T21:01:25.870Z,1749675685.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326192 target range: 15.566101 and range: 15.70 m.
2025-06-11T21:01:26.053Z,1749675686.053 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.507423
2025-06-11T21:01:26.209Z,1749675686.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.57 m.
2025-06-11T21:01:26.212Z,1749675686.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.566101 m,
nav range: 14.217830 m,
bearing: 311.222066 deg,
approach rate: -0.508785 m/s,
LOS rate: 0.051629 deg/s,
cmd heading: 305.168317 deg,
new cmd heading: 305.223384 deg.
2025-06-11T21:01:26.213Z,1749675686.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327153 target range: 15.566101 and range: 15.70 m.
2025-06-11T21:01:26.306Z,1749675686.306 [DAT](INFO): DAT read: Rx Time:21:01:27.6823
2025-06-11T21:01:26.307Z,1749675686.307 [DAT](INFO): Rx dataTimestamp_ set to:1749675686.306470
2025-06-11T21:01:26.308Z,1749675686.308 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.762111
2025-06-11T21:01:26.557Z,1749675686.557 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.011297
2025-06-11T21:01:26.607Z,1749675686.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.57 m.
2025-06-11T21:01:26.610Z,1749675686.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.566101 m,
nav range: 14.043899 m,
bearing: 311.243825 deg,
approach rate: -0.437022 m/s,
LOS rate: 0.055350 deg/s,
cmd heading: 305.223396 deg,
new cmd heading: 305.289482 deg.
2025-06-11T21:01:26.611Z,1749675686.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328307 target range: 15.566101 and range: 15.70 m.
2025-06-11T21:01:26.820Z,1749675686.820 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.273337
2025-06-11T21:01:27.029Z,1749675687.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:27.031Z,1749675687.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.57 m.
2025-06-11T21:01:27.034Z,1749675687.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.566101 m,
nav range: 13.855990 m,
bearing: 311.287734 deg,
approach rate: -0.443731 m/s,
LOS rate: 0.105093 deg/s,
cmd heading: 305.289484 deg,
new cmd heading: 305.422997 deg.
2025-06-11T21:01:27.035Z,1749675687.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330637 target range: 15.566101 and range: 15.70 m.
2025-06-11T21:01:27.075Z,1749675687.075 [DAT](INFO): DAT read: 21:01:27.6823 LVL= 22592, 25185, 21746, 32755, AGC= 51, IDX= 415,-0.49,-1.877, 2.900,-2.259,-2.381, PHS= 0.592,-0.956, 0.119, RAW= 132.6, 3.6, CAL= 138.4, -3.8, ROT= 11.6, 3.8
2025-06-11T21:01:27.077Z,1749675687.077 [DAT](INFO): got valid direction response:
21:01:27.6823 LVL= 22592, 25185, 21746, 32755, AGC= 51, IDX= 415,-0.49,-1.877, 2.900,-2.259,-2.381, PHS= 0.592,-0.956, 0.119, RAW= 132.6, 3.6, CAL= 138.4, -3.8, ROT= 11.6, 3.8
2025-06-11T21:01:27.082Z,1749675687.082 [DAT](INFO): DAT read: Bearing 11.6, 3.8 (Local)
2025-06-11T21:01:27.083Z,1749675687.083 [DAT](INFO): Local bearing/azimuth received:
Bearing 11.6, 3.8 (Local)
2025-06-11T21:01:27.085Z,1749675687.085 [DAT](INFO): DAT read: Range 10 to 50 : 14.2 m (Round-trip 19.0 ms) speed 0.4 m/s
2025-06-11T21:01:27.086Z,1749675687.086 [DAT](INFO): DAT read: user:688>
2025-06-11T21:01:27.095Z,1749675687.095 [DAT](INFO): DAT read: Tx time:21:01:28.8091
2025-06-11T21:01:27.097Z,1749675687.097 [DAT](INFO): Ping request sent.
2025-06-11T21:01:27.098Z,1749675687.098 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:27.098Z,1749675687.098 [DAT](INFO): DAT read: TxSync time:21:01:28.8083
2025-06-11T21:01:27.099Z,1749675687.099 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-11T21:01:27.109Z,1749675687.109 [DAT](INFO): direction in FSK: [0.977422,0.200636,-0.066274]
2025-06-11T21:01:27.109Z,1749675687.109 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:27.110Z,1749675687.110 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:27.119Z,1749675687.119 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:27.119Z,1749675687.119 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:27.132Z,1749675687.132 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.035408
2025-06-11T21:01:27.317Z,1749675687.317 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.220092
2025-06-11T21:01:27.419Z,1749675687.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.200000 m,
deltaT: 3.532135 s,
deltaX: -1.500000 m,
approachRate: -0.424672 m/s,
rangeRepo size: 4
2025-06-11T21:01:27.421Z,1749675687.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.078890 m,
bearing: 319.108926 deg,
lat: 36.906378 deg,
lon: -122.115609 deg,
deltaT: 3.532135 s,
deltaX: -1.487211 m,
approachRate: -0.421052 m/s,
posRepo size: 4
2025-06-11T21:01:27.422Z,1749675687.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-11T21:01:27.425Z,1749675687.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.078890 m,
nav range: 13.798133 m,
bearing: 312.313103 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.105093 deg/s,
cmd heading: 305.423001 deg,
new cmd heading: 305.545193 deg.
2025-06-11T21:01:27.426Z,1749675687.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332770 target range: 14.078890 and range: 14.20 m.
2025-06-11T21:01:27.569Z,1749675687.569 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.472121
2025-06-11T21:01:27.799Z,1749675687.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-11T21:01:27.807Z,1749675687.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.078890 m,
nav range: 13.627930 m,
bearing: 312.374973 deg,
approach rate: -0.447470 m/s,
LOS rate: 0.164689 deg/s,
cmd heading: 305.545207 deg,
new cmd heading: 305.733133 deg.
2025-06-11T21:01:27.807Z,1749675687.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.336050 target range: 14.078890 and range: 14.20 m.
2025-06-11T21:01:27.823Z,1749675687.823 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.726032
2025-06-11T21:01:28.073Z,1749675688.073 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.975948
2025-06-11T21:01:28.239Z,1749675688.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-11T21:01:28.241Z,1749675688.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.078890 m,
nav range: 13.430133 m,
bearing: 312.468062 deg,
approach rate: -0.449790 m/s,
LOS rate: 0.214802 deg/s,
cmd heading: 305.733146 deg,
new cmd heading: 306.016524 deg.
2025-06-11T21:01:28.242Z,1749675688.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340996 target range: 14.078890 and range: 14.20 m.
2025-06-11T21:01:28.325Z,1749675688.325 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.228522
2025-06-11T21:01:28.577Z,1749675688.577 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.480030
2025-06-11T21:01:28.627Z,1749675688.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-11T21:01:28.630Z,1749675688.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.078890 m,
nav range: 13.255729 m,
bearing: 312.553801 deg,
approach rate: -0.449171 m/s,
LOS rate: 0.223723 deg/s,
cmd heading: 306.016517 deg,
new cmd heading: 306.277117 deg.
2025-06-11T21:01:28.631Z,1749675688.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345544 target range: 14.078890 and range: 14.20 m.
2025-06-11T21:01:28.831Z,1749675688.831 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.733882
2025-06-11T21:01:28.833Z,1749675688.833 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:01:29.045Z,1749675689.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:29.047Z,1749675689.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-11T21:01:29.050Z,1749675689.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.078890 m,
nav range: 13.064709 m,
bearing: 312.628487 deg,
approach rate: -0.454464 m/s,
LOS rate: 0.180287 deg/s,
cmd heading: 306.277130 deg,
new cmd heading: 306.504462 deg.
2025-06-11T21:01:29.051Z,1749675689.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349512 target range: 14.078890 and range: 14.20 m.
2025-06-11T21:01:29.081Z,1749675689.081 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.984540
2025-06-11T21:01:29.337Z,1749675689.337 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.239646
2025-06-11T21:01:29.470Z,1749675689.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-11T21:01:29.473Z,1749675689.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.078890 m,
nav range: 12.871971 m,
bearing: 312.706792 deg,
approach rate: -0.455668 m/s,
LOS rate: 0.187900 deg/s,
cmd heading: 306.504466 deg,
new cmd heading: 306.742897 deg.
2025-06-11T21:01:29.474Z,1749675689.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353673 target range: 14.078890 and range: 14.20 m.
2025-06-11T21:01:29.586Z,1749675689.586 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.488514
2025-06-11T21:01:29.822Z,1749675689.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-11T21:01:29.826Z,1749675689.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.078890 m,
nav range: 12.711277 m,
bearing: 312.774211 deg,
approach rate: -0.456068 m/s,
LOS rate: 0.193760 deg/s,
cmd heading: 306.742894 deg,
new cmd heading: 306.947706 deg.
2025-06-11T21:01:29.836Z,1749675689.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:01:29.838Z,1749675689.838 [DAT](INFO): DAT read: Rx Time:21:01:31.2303
2025-06-11T21:01:29.838Z,1749675689.838 [DAT](INFO): Rx dataTimestamp_ set to:1749675689.838009
2025-06-11T21:01:29.839Z,1749675689.839 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.741996
2025-06-11T21:01:29.840Z,1749675689.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357248 target range: 14.078890 and range: 14.20 m.
2025-06-11T21:01:30.089Z,1749675690.089 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.992055
2025-06-11T21:01:30.251Z,1749675690.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-11T21:01:30.254Z,1749675690.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.078890 m,
nav range: 12.516207 m,
bearing: 312.854562 deg,
approach rate: -0.455198 m/s,
LOS rate: 0.190424 deg/s,
cmd heading: 306.947718 deg,
new cmd heading: 307.192528 deg.
2025-06-11T21:01:30.255Z,1749675690.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361521 target range: 14.078890 and range: 14.20 m.
2025-06-11T21:01:30.342Z,1749675690.342 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.245338
2025-06-11T21:01:30.599Z,1749675690.599 [DAT](INFO): DAT read: 21:01:31.2303 LVL= 24688, 26609, 24722, 32755, AGC= 52, IDX= 426,-0.13,-2.407, 2.269,-2.885,-2.966, PHS= 0.646,-1.002, 0.078, RAW= 130.2, 3.9, CAL= 136.5, -3.0, ROT= 13.5, 3.0
2025-06-11T21:01:30.600Z,1749675690.600 [DAT](INFO): got valid direction response:
21:01:31.2303 LVL= 24688, 26609, 24722, 32755, AGC= 52, IDX= 426,-0.13,-2.407, 2.269,-2.885,-2.966, PHS= 0.646,-1.002, 0.078, RAW= 130.2, 3.9, CAL= 136.5, -3.0, ROT= 13.5, 3.0
2025-06-11T21:01:30.601Z,1749675690.601 [DAT](INFO): DAT read: Bearing 13.5, 3.0 (Local)
2025-06-11T21:01:30.601Z,1749675690.601 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.5, 3.0 (Local)
2025-06-11T21:01:30.603Z,1749675690.603 [DAT](INFO): DAT read: Range 10 to 50 : 12.6 m (Round-trip 16.9 ms) speed 0.4 m/s
2025-06-11T21:01:30.603Z,1749675690.603 [DAT](INFO): DAT read: user:689>
2025-06-11T21:01:30.604Z,1749675690.604 [DAT](INFO): DAT read: Tx time:21:01:32.3592
2025-06-11T21:01:30.604Z,1749675690.604 [DAT](INFO): Ping request sent.
2025-06-11T21:01:30.604Z,1749675690.604 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:30.605Z,1749675690.605 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-11T21:01:30.606Z,1749675690.606 [DAT](INFO): direction in FSK: [0.971037,0.233125,-0.052336]
2025-06-11T21:01:30.606Z,1749675690.606 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:30.606Z,1749675690.606 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:30.610Z,1749675690.610 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:30.610Z,1749675690.610 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:30.633Z,1749675690.633 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.028831
2025-06-11T21:01:30.729Z,1749675690.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.600000 m,
deltaT: 3.527613 s,
deltaX: -1.599999 m,
approachRate: -0.453564 m/s,
rangeRepo size: 4
2025-06-11T21:01:30.731Z,1749675690.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.492540 m,
bearing: 320.250866 deg,
lat: 36.906378 deg,
lon: -122.115606 deg,
deltaT: 3.527613 s,
deltaX: -1.586349 m,
approachRate: -0.449695 m/s,
posRepo size: 4
2025-06-11T21:01:30.740Z,1749675690.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.49 m.
2025-06-11T21:01:30.743Z,1749675690.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.492540 m,
nav range: 12.191027 m,
bearing: 313.933403 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.190424 deg/s,
cmd heading: 307.192539 deg,
new cmd heading: 307.465318 deg.
2025-06-11T21:01:30.748Z,1749675690.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366282 target range: 12.492540 and range: 12.60 m.
2025-06-11T21:01:30.846Z,1749675690.846 [DAT](INFO): DAT read: TxSync time:21:01:32.3584
2025-06-11T21:01:30.847Z,1749675690.847 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.242315
2025-06-11T21:01:31.097Z,1749675691.097 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.492316
2025-06-11T21:01:31.140Z,1749675691.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:31.142Z,1749675691.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.49 m.
2025-06-11T21:01:31.149Z,1749675691.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.492540 m,
nav range: 11.997617 m,
bearing: 314.013508 deg,
approach rate: -0.467432 m/s,
LOS rate: 0.196716 deg/s,
cmd heading: 307.465309 deg,
new cmd heading: 307.709495 deg.
2025-06-11T21:01:31.150Z,1749675691.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370544 target range: 12.492540 and range: 12.60 m.
2025-06-11T21:01:31.349Z,1749675691.349 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.744252
2025-06-11T21:01:31.458Z,1749675691.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.49 m.
2025-06-11T21:01:31.477Z,1749675691.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.492540 m,
nav range: 11.846488 m,
bearing: 314.078981 deg,
approach rate: -0.478245 m/s,
LOS rate: 0.209832 deg/s,
cmd heading: 307.709502 deg,
new cmd heading: 307.908426 deg.
2025-06-11T21:01:31.478Z,1749675691.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374016 target range: 12.492540 and range: 12.60 m.
2025-06-11T21:01:31.601Z,1749675691.601 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.996315
2025-06-11T21:01:31.853Z,1749675691.853 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.248382
2025-06-11T21:01:31.870Z,1749675691.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.49 m.
2025-06-11T21:01:31.873Z,1749675691.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.492540 m,
nav range: 11.659924 m,
bearing: 314.160367 deg,
approach rate: -0.453508 m/s,
LOS rate: 0.201002 deg/s,
cmd heading: 307.908425 deg,
new cmd heading: 308.156488 deg.
2025-06-11T21:01:31.874Z,1749675691.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.378345 target range: 12.492540 and range: 12.60 m.
2025-06-11T21:01:32.105Z,1749675692.105 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.500308
2025-06-11T21:01:32.298Z,1749675692.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.49 m.
2025-06-11T21:01:32.301Z,1749675692.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.492540 m,
nav range: 11.464091 m,
bearing: 314.222522 deg,
approach rate: -0.456926 m/s,
LOS rate: 0.147501 deg/s,
cmd heading: 308.156497 deg,
new cmd heading: 308.346147 deg.
2025-06-11T21:01:32.302Z,1749675692.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381656 target range: 12.492540 and range: 12.60 m.
2025-06-11T21:01:32.358Z,1749675692.358 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.753018
2025-06-11T21:01:32.609Z,1749675692.609 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.004160
2025-06-11T21:01:32.680Z,1749675692.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.49 m.
2025-06-11T21:01:32.683Z,1749675692.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.492540 m,
nav range: 11.299173 m,
bearing: 314.271112 deg,
approach rate: -0.436979 m/s,
LOS rate: 0.130627 deg/s,
cmd heading: 308.346158 deg,
new cmd heading: 308.494056 deg.
2025-06-11T21:01:32.688Z,1749675692.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384237 target range: 12.492540 and range: 12.60 m.
2025-06-11T21:01:32.864Z,1749675692.864 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.258685
2025-06-11T21:01:33.113Z,1749675693.113 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.508405
2025-06-11T21:01:33.114Z,1749675693.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.49 m.
2025-06-11T21:01:33.121Z,1749675693.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.492540 m,
nav range: 11.115881 m,
bearing: 314.297765 deg,
approach rate: -0.424125 m/s,
LOS rate: 0.062691 deg/s,
cmd heading: 308.494045 deg,
new cmd heading: 308.575324 deg.
2025-06-11T21:01:33.122Z,1749675693.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.385655 target range: 12.492540 and range: 12.60 m.
2025-06-11T21:01:33.365Z,1749675693.365 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.760175
2025-06-11T21:01:33.482Z,1749675693.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:33.484Z,1749675693.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.49 m.
2025-06-11T21:01:33.487Z,1749675693.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.492540 m,
nav range: 10.944471 m,
bearing: 314.320839 deg,
approach rate: -0.455666 m/s,
LOS rate: 0.062298 deg/s,
cmd heading: 308.575325 deg,
new cmd heading: 308.645629 deg.
2025-06-11T21:01:33.488Z,1749675693.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.386882 target range: 12.492540 and range: 12.60 m.
2025-06-11T21:01:33.617Z,1749675693.617 [DAT](INFO): DAT read: Rx Time:21:01:34.7781
2025-06-11T21:01:33.617Z,1749675693.617 [DAT](INFO): Rx dataTimestamp_ set to:1749675693.617197
2025-06-11T21:01:33.618Z,1749675693.618 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.013523
2025-06-11T21:01:33.869Z,1749675693.869 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.264292
2025-06-11T21:01:33.967Z,1749675693.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.49 m.
2025-06-11T21:01:33.982Z,1749675693.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.492540 m,
nav range: 10.766338 m,
bearing: 314.345596 deg,
approach rate: -0.370170 m/s,
LOS rate: 0.052298 deg/s,
cmd heading: 308.645621 deg,
new cmd heading: 308.721122 deg.
2025-06-11T21:01:33.983Z,1749675693.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388200 target range: 12.492540 and range: 12.60 m.
2025-06-11T21:01:34.127Z,1749675694.127 [DAT](INFO): DAT read: 21:01:34.7781 LVL= 29744, 30321, 24562, 32755, AGC= 53, IDX= 419, 0.12,-2.210, 2.506,-2.656,-2.759, PHS= 0.638,-0.971, 0.100, RAW= 130.8, 3.3, CAL= 137.0, -3.9, ROT= 13.0, 3.9
2025-06-11T21:01:34.128Z,1749675694.128 [DAT](INFO): got valid direction response:
21:01:34.7781 LVL= 29744, 30321, 24562, 32755, AGC= 53, IDX= 419, 0.12,-2.210, 2.506,-2.656,-2.759, PHS= 0.638,-0.971, 0.100, RAW= 130.8, 3.3, CAL= 137.0, -3.9, ROT= 13.0, 3.9
2025-06-11T21:01:34.129Z,1749675694.129 [DAT](INFO): DAT read: Bearing 13.0, 3.9 (Local)
2025-06-11T21:01:34.129Z,1749675694.129 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.0, 3.9 (Local)
2025-06-11T21:01:34.131Z,1749675694.131 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (Round-trip 14.7 ms) speed 0.4 m/s
2025-06-11T21:01:34.132Z,1749675694.132 [DAT](INFO): DAT read: user:690>
2025-06-11T21:01:34.133Z,1749675694.133 [DAT](INFO): DAT read: Tx time:21:01:35.9092
2025-06-11T21:01:34.134Z,1749675694.134 [DAT](INFO): Ping request sent.
2025-06-11T21:01:34.134Z,1749675694.134 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:34.135Z,1749675694.135 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-11T21:01:34.137Z,1749675694.137 [DAT](INFO): direction in FSK: [0.972114,0.224430,-0.068015]
2025-06-11T21:01:34.138Z,1749675694.138 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:34.139Z,1749675694.139 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:34.146Z,1749675694.146 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:34.146Z,1749675694.146 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:34.155Z,1749675694.155 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.020546
2025-06-11T21:01:34.368Z,1749675694.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 3.528035 s,
deltaX: -1.600000 m,
approachRate: -0.453510 m/s,
rangeRepo size: 4
2025-06-11T21:01:34.370Z,1749675694.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.906095 m,
bearing: 320.624979 deg,
lat: 36.906388 deg,
lon: -122.115599 deg,
deltaT: 3.528035 s,
deltaX: -1.586446 m,
approachRate: -0.449668 m/s,
posRepo size: 4
2025-06-11T21:01:34.371Z,1749675694.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:01:34.373Z,1749675694.373 [DAT](INFO): DAT read: TxSync time:21:01:35.9084
2025-06-11T21:01:34.374Z,1749675694.374 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.239774
2025-06-11T21:01:34.382Z,1749675694.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.906095 m,
nav range: 10.902228 m,
bearing: 320.625017 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.052298 deg/s,
cmd heading: 308.721135 deg,
new cmd heading: 308.783618 deg.
2025-06-11T21:01:34.383Z,1749675694.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.389291 target range: 10.906095 and range: 11.00 m.
2025-06-11T21:01:34.625Z,1749675694.625 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.490731
2025-06-11T21:01:34.694Z,1749675694.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:01:34.697Z,1749675694.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.906095 m,
nav range: 10.757680 m,
bearing: 320.709124 deg,
approach rate: -0.437044 m/s,
LOS rate: 0.257716 deg/s,
cmd heading: 308.783618 deg,
new cmd heading: 309.039328 deg.
2025-06-11T21:01:34.698Z,1749675694.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393754 target range: 10.906095 and range: 11.00 m.
2025-06-11T21:01:34.877Z,1749675694.877 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.742662
2025-06-11T21:01:35.114Z,1749675695.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:01:35.116Z,1749675695.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.906095 m,
nav range: 10.592004 m,
bearing: 320.806611 deg,
approach rate: -0.395075 m/s,
LOS rate: 0.236105 deg/s,
cmd heading: 309.039340 deg,
new cmd heading: 309.336372 deg.
2025-06-11T21:01:35.117Z,1749675695.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398938 target range: 10.906095 and range: 11.00 m.
2025-06-11T21:01:35.129Z,1749675695.129 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.994768
2025-06-11T21:01:35.381Z,1749675695.381 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.246740
2025-06-11T21:01:35.498Z,1749675695.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:35.500Z,1749675695.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:01:35.503Z,1749675695.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.906095 m,
nav range: 10.439452 m,
bearing: 320.896003 deg,
approach rate: -0.394367 m/s,
LOS rate: 0.234468 deg/s,
cmd heading: 309.336372 deg,
new cmd heading: 309.608465 deg.
2025-06-11T21:01:35.505Z,1749675695.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403687 target range: 10.906095 and range: 11.00 m.
2025-06-11T21:01:35.633Z,1749675695.633 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.498601
2025-06-11T21:01:35.885Z,1749675695.885 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.750751
2025-06-11T21:01:36.058Z,1749675696.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:01:36.060Z,1749675696.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.906095 m,
nav range: 10.217547 m,
bearing: 321.048306 deg,
approach rate: -0.398277 m/s,
LOS rate: 0.279291 deg/s,
cmd heading: 309.608459 deg,
new cmd heading: 310.075280 deg.
2025-06-11T21:01:36.061Z,1749675696.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411835 target range: 10.906095 and range: 11.00 m.
2025-06-11T21:01:36.138Z,1749675696.138 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.003613
2025-06-11T21:01:36.372Z,1749675696.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:01:36.375Z,1749675696.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.906095 m,
nav range: 10.100157 m,
bearing: 321.128309 deg,
approach rate: -0.372779 m/s,
LOS rate: 0.257005 deg/s,
cmd heading: 310.075289 deg,
new cmd heading: 310.318085 deg.
2025-06-11T21:01:36.380Z,1749675696.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416072 target range: 10.906095 and range: 11.00 m.
2025-06-11T21:01:36.391Z,1749675696.391 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.256098
2025-06-11T21:01:36.641Z,1749675696.641 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.506626
2025-06-11T21:01:36.774Z,1749675696.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:01:36.777Z,1749675696.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.906095 m,
nav range: 9.932299 m,
bearing: 321.241847 deg,
approach rate: -0.417851 m/s,
LOS rate: 0.287407 deg/s,
cmd heading: 310.318088 deg,
new cmd heading: 310.664454 deg.
2025-06-11T21:01:36.778Z,1749675696.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422118 target range: 10.906095 and range: 11.00 m.
2025-06-11T21:01:36.893Z,1749675696.893 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.758863
2025-06-11T21:01:37.145Z,1749675697.145 [DAT](INFO): DAT read: Rx Time:21:01:38.3259
2025-06-11T21:01:37.145Z,1749675697.145 [DAT](INFO): Rx dataTimestamp_ set to:1749675697.145010
2025-06-11T21:01:37.146Z,1749675697.146 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.011776
2025-06-11T21:01:37.216Z,1749675697.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:01:37.219Z,1749675697.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.906095 m,
nav range: 9.764265 m,
bearing: 321.382707 deg,
approach rate: -0.379876 m/s,
LOS rate: 0.323924 deg/s,
cmd heading: 310.664461 deg,
new cmd heading: 311.094304 deg.
2025-06-11T21:01:37.224Z,1749675697.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.429620 target range: 10.906095 and range: 11.00 m.
2025-06-11T21:01:37.397Z,1749675697.397 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.262760
2025-06-11T21:01:37.574Z,1749675697.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:37.576Z,1749675697.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:01:37.579Z,1749675697.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.906095 m,
nav range: 9.606990 m,
bearing: 321.516285 deg,
approach rate: -0.437816 m/s,
LOS rate: 0.377938 deg/s,
cmd heading: 311.094298 deg,
new cmd heading: 311.501588 deg.
2025-06-11T21:01:37.580Z,1749675697.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436728 target range: 10.906095 and range: 11.00 m.
2025-06-11T21:01:37.663Z,1749675697.663 [DAT](INFO): DAT read: 21:01:38.3259 LVL= 27696, 32657, 24434, 32755, AGC= 53, IDX= 413, 0.01,-2.969, 1.831, 2.904, 2.863, PHS= 0.539,-0.984, 0.039, RAW= 131.2, 6.1, CAL= 137.4, -0.0, ROT= 12.6, 0.0
2025-06-11T21:01:37.665Z,1749675697.665 [DAT](INFO): got valid direction response:
21:01:38.3259 LVL= 27696, 32657, 24434, 32755, AGC= 53, IDX= 413, 0.01,-2.969, 1.831, 2.904, 2.863, PHS= 0.539,-0.984, 0.039, RAW= 131.2, 6.1, CAL= 137.4, -0.0, ROT= 12.6, 0.0
2025-06-11T21:01:37.667Z,1749675697.667 [DAT](INFO): DAT read: Bearing 12.6, 0.0 (Local)
2025-06-11T21:01:37.667Z,1749675697.667 [DAT](INFO): Local bearing/azimuth received:
Bearing 12.6, 0.0 (Local)
2025-06-11T21:01:37.677Z,1749675697.677 [DAT](INFO): DAT read: Range 10 to 50 : 9.3 m (Round-trip 12.5 ms) speed 0.4 m/s
2025-06-11T21:01:37.681Z,1749675697.681 [DAT](INFO): DAT read: user:691>
2025-06-11T21:01:37.683Z,1749675697.683 [DAT](INFO): DAT read: Tx time:21:01:39.4092
2025-06-11T21:01:37.683Z,1749675697.683 [DAT](INFO): Ping request sent.
2025-06-11T21:01:37.683Z,1749675697.683 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:37.684Z,1749675697.684 [DAT](INFO): DAT read: TxSync time:21:01:39.4084
2025-06-11T21:01:37.685Z,1749675697.685 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-11T21:01:37.686Z,1749675697.686 [DAT](INFO): direction in FSK: [0.975917,0.218143,-0.000000]
2025-06-11T21:01:37.687Z,1749675697.687 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:37.687Z,1749675697.687 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:37.709Z,1749675697.709 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:37.709Z,1749675697.709 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:37.729Z,1749675697.729 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.045640
2025-06-11T21:01:37.901Z,1749675697.901 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.217378
2025-06-11T21:01:38.041Z,1749675698.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 3.529170 s,
deltaX: -1.700000 m,
approachRate: -0.481700 m/s,
rangeRepo size: 4
2025-06-11T21:01:38.042Z,1749675698.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.220592 m,
bearing: 321.977842 deg,
lat: 36.906388 deg,
lon: -122.115598 deg,
deltaT: 3.529170 s,
deltaX: -1.685502 m,
approachRate: -0.477592 m/s,
posRepo size: 4
2025-06-11T21:01:38.043Z,1749675698.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.22 m.
2025-06-11T21:01:38.048Z,1749675698.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.30 m.
2025-06-11T21:01:38.048Z,1749675698.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-11T21:01:38.051Z,1749675698.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 9.373043 m,
bearing: 322.214983 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.377938 deg/s,
cmd heading: 311.501596 deg,
new cmd heading: 312.021560 deg.
2025-06-11T21:01:38.056Z,1749675698.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445804 target range: 9.220592 and range: 9.30 m.
2025-06-11T21:01:38.153Z,1749675698.153 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.469667
2025-06-11T21:01:38.403Z,1749675698.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:38.405Z,1749675698.405 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.721636
2025-06-11T21:01:38.416Z,1749675698.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 9.200235 m,
bearing: 322.435008 deg,
approach rate: -0.468590 m/s,
LOS rate: 0.607831 deg/s,
cmd heading: 312.021565 deg,
new cmd heading: 312.694005 deg.
2025-06-11T21:01:38.417Z,1749675698.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457540 target range: 9.220592 and range: 9.30 m.
2025-06-11T21:01:38.657Z,1749675698.657 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.974036
2025-06-11T21:01:38.789Z,1749675698.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:38.791Z,1749675698.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 9.037033 m,
bearing: 322.649735 deg,
approach rate: -0.428433 m/s,
LOS rate: 0.573874 deg/s,
cmd heading: 312.694011 deg,
new cmd heading: 313.349796 deg.
2025-06-11T21:01:38.796Z,1749675698.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468986 target range: 9.220592 and range: 9.30 m.
2025-06-11T21:01:38.910Z,1749675698.910 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.226183
2025-06-11T21:01:39.161Z,1749675699.161 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.477504
2025-06-11T21:01:39.231Z,1749675699.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:39.234Z,1749675699.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 8.830775 m,
bearing: 322.973487 deg,
approach rate: -0.461974 m/s,
LOS rate: 0.742070 deg/s,
cmd heading: 313.349791 deg,
new cmd heading: 314.343629 deg.
2025-06-11T21:01:39.234Z,1749675699.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486331 target range: 9.220592 and range: 9.30 m.
2025-06-11T21:01:39.413Z,1749675699.413 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.729366
2025-06-11T21:01:39.578Z,1749675699.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:39.593Z,1749675699.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:39.601Z,1749675699.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 8.674803 m,
bearing: 323.222163 deg,
approach rate: -0.430925 m/s,
LOS rate: 0.699399 deg/s,
cmd heading: 314.343638 deg,
new cmd heading: 315.103031 deg.
2025-06-11T21:01:39.602Z,1749675699.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499585 target range: 9.220592 and range: 9.30 m.
2025-06-11T21:01:39.666Z,1749675699.666 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.982551
2025-06-11T21:01:39.918Z,1749675699.918 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.234225
2025-06-11T21:01:39.998Z,1749675699.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:40.006Z,1749675700.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 8.493451 m,
bearing: 323.517525 deg,
approach rate: -0.449497 m/s,
LOS rate: 0.747710 deg/s,
cmd heading: 315.103018 deg,
new cmd heading: 316.007946 deg.
2025-06-11T21:01:40.032Z,1749675700.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515379 target range: 9.220592 and range: 9.30 m.
2025-06-11T21:01:40.170Z,1749675700.170 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.485908
2025-06-11T21:01:40.422Z,1749675700.422 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.738361
2025-06-11T21:01:40.470Z,1749675700.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:40.477Z,1749675700.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 8.294888 m,
bearing: 323.882313 deg,
approach rate: -0.419163 m/s,
LOS rate: 0.788491 deg/s,
cmd heading: 316.007936 deg,
new cmd heading: 317.128347 deg.
2025-06-11T21:01:40.478Z,1749675700.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534934 target range: 9.220592 and range: 9.30 m.
2025-06-11T21:01:40.673Z,1749675700.673 [DAT](INFO): DAT read: Rx Time:21:01:41.8242
2025-06-11T21:01:40.673Z,1749675700.673 [DAT](INFO): Rx dataTimestamp_ set to:1749675700.673067
2025-06-11T21:01:40.674Z,1749675700.674 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.990597
2025-06-11T21:01:40.822Z,1749675700.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:40.824Z,1749675700.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 8.118038 m,
bearing: 324.222806 deg,
approach rate: -0.502909 m/s,
LOS rate: 0.989347 deg/s,
cmd heading: 317.128333 deg,
new cmd heading: 318.171944 deg.
2025-06-11T21:01:40.825Z,1749675700.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553148 target range: 9.220592 and range: 9.30 m.
2025-06-11T21:01:40.927Z,1749675700.927 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.243647
2025-06-11T21:01:41.190Z,1749675701.190 [DAT](INFO): DAT read: 21:01:41.8242 LVL= 21664, 25649, 23090, 32755, AGC= 50, IDX= 426,-0.20, 2.869, 1.341, 2.508, 2.429, PHS= 0.528,-1.041, 0.076, RAW= 133.8, 6.3, CAL= 139.2, -0.3, ROT= 10.8, 0.3
2025-06-11T21:01:41.191Z,1749675701.191 [DAT](INFO): got valid direction response:
21:01:41.8242 LVL= 21664, 25649, 23090, 32755, AGC= 50, IDX= 426,-0.20, 2.869, 1.341, 2.508, 2.429, PHS= 0.528,-1.041, 0.076, RAW= 133.8, 6.3, CAL= 139.2, -0.3, ROT= 10.8, 0.3
2025-06-11T21:01:41.200Z,1749675701.200 [DAT](INFO): DAT read: Bearing 10.8, 0.3 (Local)
2025-06-11T21:01:41.200Z,1749675701.200 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.8, 0.3 (Local)
2025-06-11T21:01:41.202Z,1749675701.202 [DAT](INFO): DAT read: Range 10 to 50 : 8.0 m (Round-trip 10.7 ms) speed 0.4 m/s
2025-06-11T21:01:41.202Z,1749675701.202 [DAT](INFO): DAT read: user:692>
2025-06-11T21:01:41.203Z,1749675701.203 [DAT](INFO): DAT read: Tx time:21:01:42.9093
2025-06-11T21:01:41.212Z,1749675701.212 [DAT](INFO): Ping request sent.
2025-06-11T21:01:41.212Z,1749675701.212 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:41.212Z,1749675701.212 [DAT](INFO): DAT read: TxSync time:21:01:42.9085
2025-06-11T21:01:41.213Z,1749675701.213 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-11T21:01:41.214Z,1749675701.214 [DAT](INFO): direction in FSK: [0.982274,0.187379,-0.005236]
2025-06-11T21:01:41.214Z,1749675701.214 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:41.215Z,1749675701.215 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:41.222Z,1749675701.222 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:41.222Z,1749675701.222 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:41.229Z,1749675701.229 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.025669
2025-06-11T21:01:41.411Z,1749675701.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 3.529401 s,
deltaX: -1.300000 m,
approachRate: -0.368335 m/s,
rangeRepo size: 4
2025-06-11T21:01:41.417Z,1749675701.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.931630 m,
bearing: 322.054579 deg,
lat: 36.906388 deg,
lon: -122.115598 deg,
deltaT: 3.529401 s,
deltaX: -1.288963 m,
approachRate: -0.365207 m/s,
posRepo size: 4
2025-06-11T21:01:41.418Z,1749675701.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.93 m. 9.22 m.
2025-06-11T21:01:41.429Z,1749675701.429 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.225274
2025-06-11T21:01:41.431Z,1749675701.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 7.849344 m,
bearing: 324.740350 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.377938 deg/s,
cmd heading: 318.171932 deg,
new cmd heading: 318.839959 deg.
2025-06-11T21:01:41.431Z,1749675701.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564807 target range: 9.220592 and range: 8.00 m.
2025-06-11T21:01:41.681Z,1749675701.681 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.477152
2025-06-11T21:01:41.745Z,1749675701.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:41.747Z,1749675701.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:41.750Z,1749675701.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 7.694538 m,
bearing: 325.048781 deg,
approach rate: -0.460526 m/s,
LOS rate: 0.935995 deg/s,
cmd heading: 318.839951 deg,
new cmd heading: 319.783770 deg.
2025-06-11T21:01:41.751Z,1749675701.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581280 target range: 9.220592 and range: 8.00 m.
2025-06-11T21:01:41.933Z,1749675701.933 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.729636
2025-06-11T21:01:42.178Z,1749675702.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:42.182Z,1749675702.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 7.486264 m,
bearing: 325.448798 deg,
approach rate: -0.482976 m/s,
LOS rate: 0.953418 deg/s,
cmd heading: 319.783774 deg,
new cmd heading: 321.017011 deg.
2025-06-11T21:01:42.183Z,1749675702.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602804 target range: 9.220592 and range: 8.00 m.
2025-06-11T21:01:42.185Z,1749675702.185 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.981240
2025-06-11T21:01:42.437Z,1749675702.437 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.233041
2025-06-11T21:01:42.605Z,1749675702.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:42.612Z,1749675702.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 7.300821 m,
bearing: 325.812527 deg,
approach rate: -0.434392 m/s,
LOS rate: 0.873653 deg/s,
cmd heading: 321.017006 deg,
new cmd heading: 322.135760 deg.
2025-06-11T21:01:42.613Z,1749675702.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622330 target range: 9.220592 and range: 8.00 m.
2025-06-11T21:01:42.689Z,1749675702.689 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.485157
2025-06-11T21:01:42.942Z,1749675702.942 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.737908
2025-06-11T21:01:42.969Z,1749675702.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:42.972Z,1749675702.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 7.120956 m,
bearing: 326.168093 deg,
approach rate: -0.494057 m/s,
LOS rate: 1.001339 deg/s,
cmd heading: 322.135764 deg,
new cmd heading: 323.229264 deg.
2025-06-11T21:01:42.973Z,1749675702.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641415 target range: 9.220592 and range: 8.00 m.
2025-06-11T21:01:43.195Z,1749675703.195 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.991100
2025-06-11T21:01:43.362Z,1749675703.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:43.365Z,1749675703.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 6.944800 m,
bearing: 326.502722 deg,
approach rate: -0.448668 m/s,
LOS rate: 0.873913 deg/s,
cmd heading: 323.229277 deg,
new cmd heading: 324.258511 deg.
2025-06-11T21:01:43.365Z,1749675703.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659379 target range: 9.220592 and range: 8.00 m.
2025-06-11T21:01:43.445Z,1749675703.445 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.241173
2025-06-11T21:01:43.697Z,1749675703.697 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.493062
2025-06-11T21:01:43.746Z,1749675703.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:43.749Z,1749675703.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:43.751Z,1749675703.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 6.771514 m,
bearing: 326.833879 deg,
approach rate: -0.447821 m/s,
LOS rate: 0.877700 deg/s,
cmd heading: 324.258504 deg,
new cmd heading: 325.277286 deg.
2025-06-11T21:01:43.752Z,1749675703.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677160 target range: 9.220592 and range: 8.00 m.
2025-06-11T21:01:43.950Z,1749675703.950 [DAT](INFO): DAT read: Rx Time:21:01:45.3219
2025-06-11T21:01:43.951Z,1749675703.951 [DAT](INFO): Rx dataTimestamp_ set to:1749675703.950461
2025-06-11T21:01:43.952Z,1749675703.952 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.747989
2025-06-11T21:01:44.201Z,1749675704.201 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.996993
2025-06-11T21:01:44.218Z,1749675704.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:44.224Z,1749675704.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 6.567660 m,
bearing: 327.123532 deg,
approach rate: -0.434795 m/s,
LOS rate: 0.636966 deg/s,
cmd heading: 325.277295 deg,
new cmd heading: 326.173150 deg.
2025-06-11T21:01:44.225Z,1749675704.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692795 target range: 9.220592 and range: 8.00 m.
2025-06-11T21:01:44.457Z,1749675704.457 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.252321
2025-06-11T21:01:44.593Z,1749675704.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:44.595Z,1749675704.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 6.404157 m,
bearing: 327.351224 deg,
approach rate: -0.435516 m/s,
LOS rate: 0.621976 deg/s,
cmd heading: 326.173143 deg,
new cmd heading: 326.873620 deg.
2025-06-11T21:01:44.597Z,1749675704.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705021 target range: 9.220592 and range: 8.00 m.
2025-06-11T21:01:44.711Z,1749675704.711 [DAT](INFO): DAT read: 21:01:45.3219 LVL= 26864, 25009, 21410, 32755, AGC= 49, IDX= 419,-0.12, 1.914, 0.423, 1.658, 1.588, PHS= 0.414,-1.119, 0.067, RAW= 137.5, 9.2, CAL= 141.6, 2.5, ROT= 8.4, -2.5
2025-06-11T21:01:44.712Z,1749675704.712 [DAT](INFO): got valid direction response:
21:01:45.3219 LVL= 26864, 25009, 21410, 32755, AGC= 49, IDX= 419,-0.12, 1.914, 0.423, 1.658, 1.588, PHS= 0.414,-1.119, 0.067, RAW= 137.5, 9.2, CAL= 141.6, 2.5, ROT= 8.4, -2.5
2025-06-11T21:01:44.713Z,1749675704.713 [DAT](INFO): DAT read: Bearing 8.4, -2.5 (Local)
2025-06-11T21:01:44.714Z,1749675704.714 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.4, -2.5 (Local)
2025-06-11T21:01:44.715Z,1749675704.715 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m (Round-trip 8.4 ms) speed 0.4 m/s
2025-06-11T21:01:44.717Z,1749675704.717 [DAT](INFO): DAT read: user:693>
2025-06-11T21:01:44.718Z,1749675704.718 [DAT](INFO): DAT read: Tx time:21:01:46.4093
2025-06-11T21:01:44.718Z,1749675704.718 [DAT](INFO): Ping request sent.
2025-06-11T21:01:44.718Z,1749675704.718 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:44.719Z,1749675704.719 [DAT](INFO): DAT read: TxSync time:21:01:46.4085
2025-06-11T21:01:44.719Z,1749675704.719 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-11T21:01:44.720Z,1749675704.720 [DAT](INFO): direction in FSK: [0.988331,0.145944,0.043619]
2025-06-11T21:01:44.721Z,1749675704.721 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:44.721Z,1749675704.721 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:44.736Z,1749675704.736 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:44.737Z,1749675704.737 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:44.744Z,1749675704.744 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.026089
2025-06-11T21:01:44.957Z,1749675704.957 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.238702
2025-06-11T21:01:45.022Z,1749675705.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 3.525451 s,
deltaX: -1.700000 m,
approachRate: -0.482208 m/s,
rangeRepo size: 4
2025-06-11T21:01:45.028Z,1749675705.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.246144 m,
bearing: 324.225082 deg,
lat: 36.906386 deg,
lon: -122.115599 deg,
deltaT: 7.054852 s,
deltaX: -2.974448 m,
approachRate: -0.421617 m/s,
posRepo size: 4
2025-06-11T21:01:45.029Z,1749675705.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.25 m. 9.22 m.
2025-06-11T21:01:45.033Z,1749675705.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 6.222817 m,
bearing: 327.595174 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.377938 deg/s,
cmd heading: 326.873620 deg,
new cmd heading: 327.359996 deg.
2025-06-11T21:01:45.034Z,1749675705.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713510 target range: 9.220592 and range: 6.30 m.
2025-06-11T21:01:45.210Z,1749675705.210 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.491415
2025-06-11T21:01:45.462Z,1749675705.462 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.743689
2025-06-11T21:01:45.493Z,1749675705.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:45.495Z,1749675705.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 6.020169 m,
bearing: 327.810367 deg,
approach rate: -0.433812 m/s,
LOS rate: 0.476171 deg/s,
cmd heading: 327.359984 deg,
new cmd heading: 328.027262 deg.
2025-06-11T21:01:45.496Z,1749675705.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725156 target range: 9.220592 and range: 6.30 m.
2025-06-11T21:01:45.716Z,1749675705.716 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.997597
2025-06-11T21:01:45.819Z,1749675705.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:45.822Z,1749675705.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:45.845Z,1749675705.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 5.870830 m,
bearing: 327.978523 deg,
approach rate: -0.448714 m/s,
LOS rate: 0.518103 deg/s,
cmd heading: 328.027266 deg,
new cmd heading: 328.544551 deg.
2025-06-11T21:01:45.846Z,1749675705.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734184 target range: 9.220592 and range: 6.30 m.
2025-06-11T21:01:45.967Z,1749675705.967 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.248474
2025-06-11T21:01:46.217Z,1749675706.217 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.498829
2025-06-11T21:01:46.248Z,1749675706.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:46.250Z,1749675706.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 5.698713 m,
bearing: 328.030042 deg,
approach rate: -0.408133 m/s,
LOS rate: 0.125856 deg/s,
cmd heading: 328.544557 deg,
new cmd heading: 328.703784 deg.
2025-06-11T21:01:46.251Z,1749675706.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736963 target range: 9.220592 and range: 6.30 m.
2025-06-11T21:01:46.469Z,1749675706.469 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.751049
2025-06-11T21:01:46.610Z,1749675706.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:46.613Z,1749675706.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 5.529100 m,
bearing: 328.052981 deg,
approach rate: -0.462453 m/s,
LOS rate: 0.064461 deg/s,
cmd heading: 328.703783 deg,
new cmd heading: 328.774710 deg.
2025-06-11T21:01:46.614Z,1749675706.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738201 target range: 9.220592 and range: 6.30 m.
2025-06-11T21:01:46.722Z,1749675706.722 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.003892
2025-06-11T21:01:46.973Z,1749675706.973 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.254724
2025-06-11T21:01:47.016Z,1749675707.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:47.019Z,1749675707.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 5.353345 m,
bearing: 328.045754 deg,
approach rate: -0.433442 m/s,
LOS rate: -0.018409 deg/s,
cmd heading: 328.774707 deg,
new cmd heading: 328.752313 deg.
2025-06-11T21:01:47.036Z,1749675707.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737810 target range: 9.220592 and range: 6.30 m.
2025-06-11T21:01:47.225Z,1749675707.225 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.506734
2025-06-11T21:01:47.446Z,1749675707.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:47.449Z,1749675707.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 5.165962 m,
bearing: 327.974926 deg,
approach rate: -0.435281 m/s,
LOS rate: -0.170497 deg/s,
cmd heading: 328.752304 deg,
new cmd heading: 328.532115 deg.
2025-06-11T21:01:47.450Z,1749675707.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733967 target range: 9.220592 and range: 6.30 m.
2025-06-11T21:01:47.477Z,1749675707.477 [DAT](INFO): DAT read: Rx Time:21:01:48.8200
2025-06-11T21:01:47.477Z,1749675707.477 [DAT](INFO): Rx dataTimestamp_ set to:1749675707.477163
2025-06-11T21:01:47.478Z,1749675707.478 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.759973
2025-06-11T21:01:47.729Z,1749675707.729 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.010726
2025-06-11T21:01:47.844Z,1749675707.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:47.847Z,1749675707.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:47.853Z,1749675707.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 5.001454 m,
bearing: 327.846649 deg,
approach rate: -0.410922 m/s,
LOS rate: -0.330961 deg/s,
cmd heading: 328.532126 deg,
new cmd heading: 328.134645 deg.
2025-06-11T21:01:47.854Z,1749675707.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727030 target range: 9.220592 and range: 6.30 m.
2025-06-11T21:01:48.000Z,1749675708.000 [DAT](INFO): DAT read: 21:01:48.8200 LVL= 24128, 31425, 18354, 32755, AGC= 50, IDX= 414, 0.01,-2.838, 2.127,-2.253,-2.834, PHS= 0.084,-1.276, 0.577, RAW= 164.9, 7.4, CAL= 164.5, -2.2, ROT= 345.5, 2.2
2025-06-11T21:01:48.001Z,1749675708.001 [DAT](INFO): got valid direction response:
21:01:48.8200 LVL= 24128, 31425, 18354, 32755, AGC= 50, IDX= 414, 0.01,-2.838, 2.127,-2.253,-2.834, PHS= 0.084,-1.276, 0.577, RAW= 164.9, 7.4, CAL= 164.5, -2.2, ROT= 345.5, 2.2
2025-06-11T21:01:48.002Z,1749675708.002 [DAT](INFO): DAT read: Bearing 345.5, 2.2 (Local)
2025-06-11T21:01:48.003Z,1749675708.003 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.5, 2.2 (Local)
2025-06-11T21:01:48.012Z,1749675708.012 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m (Round-trip 6.5 ms) speed 0.3 m/s
2025-06-11T21:01:48.013Z,1749675708.013 [DAT](INFO): DAT read: user:694>
2025-06-11T21:01:48.014Z,1749675708.014 [DAT](INFO): DAT read: Tx time:21:01:49.9093
2025-06-11T21:01:48.014Z,1749675708.014 [DAT](INFO): Ping request sent.
2025-06-11T21:01:48.014Z,1749675708.014 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:48.015Z,1749675708.015 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-11T21:01:48.020Z,1749675708.020 [DAT](INFO): direction in FSK: [0.967434,-0.250195,-0.038388]
2025-06-11T21:01:48.020Z,1749675708.020 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:48.020Z,1749675708.020 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:48.029Z,1749675708.029 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:48.029Z,1749675708.029 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:48.041Z,1749675708.041 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.027025
2025-06-11T21:01:48.233Z,1749675708.233 [DAT](INFO): DAT read: TxSync time:21:01:49.9085
2025-06-11T21:01:48.234Z,1749675708.234 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.219422
2025-06-11T21:01:48.363Z,1749675708.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 3.278137 s,
deltaX: -1.500000 m,
approachRate: -0.457577 m/s,
rangeRepo size: 4
2025-06-11T21:01:48.366Z,1749675708.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.758841 m,
bearing: 309.783576 deg,
lat: 36.906386 deg,
lon: -122.115601 deg,
deltaT: 10.332989 s,
deltaX: -4.461751 m,
approachRate: -0.431797 m/s,
posRepo size: 4
2025-06-11T21:01:48.367Z,1749675708.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.76 m. 9.22 m.
2025-06-11T21:01:48.369Z,1749675708.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 4.762811 m,
bearing: 327.575893 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.377938 deg/s,
cmd heading: 328.134637 deg,
new cmd heading: 328.720115 deg.
2025-06-11T21:01:48.370Z,1749675708.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737248 target range: 9.220592 and range: 4.80 m.
2025-06-11T21:01:48.485Z,1749675708.485 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.470491
2025-06-11T21:01:48.662Z,1749675708.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:48.681Z,1749675708.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 4.628679 m,
bearing: 327.386193 deg,
approach rate: -0.448714 m/s,
LOS rate: -0.652992 deg/s,
cmd heading: 328.720121 deg,
new cmd heading: 328.134552 deg.
2025-06-11T21:01:48.682Z,1749675708.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727028 target range: 9.220592 and range: 4.80 m.
2025-06-11T21:01:48.738Z,1749675708.738 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.723315
2025-06-11T21:01:48.989Z,1749675708.989 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.974369
2025-06-11T21:01:49.078Z,1749675709.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:49.081Z,1749675709.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 4.445713 m,
bearing: 327.079380 deg,
approach rate: -0.439756 m/s,
LOS rate: -0.767766 deg/s,
cmd heading: 328.134555 deg,
new cmd heading: 327.176327 deg.
2025-06-11T21:01:49.082Z,1749675709.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710304 target range: 9.220592 and range: 4.80 m.
2025-06-11T21:01:49.241Z,1749675709.241 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.226363
2025-06-11T21:01:49.493Z,1749675709.493 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.478711
2025-06-11T21:01:49.511Z,1749675709.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:49.514Z,1749675709.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 4.247028 m,
bearing: 326.653857 deg,
approach rate: -0.458742 m/s,
LOS rate: -1.028441 deg/s,
cmd heading: 327.176334 deg,
new cmd heading: 325.840300 deg.
2025-06-11T21:01:49.515Z,1749675709.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686986 target range: 9.220592 and range: 4.80 m.
2025-06-11T21:01:49.745Z,1749675709.745 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.730452
2025-06-11T21:01:49.887Z,1749675709.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:49.894Z,1749675709.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:49.899Z,1749675709.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 4.087257 m,
bearing: 326.253986 deg,
approach rate: -0.417789 m/s,
LOS rate: -1.086498 deg/s,
cmd heading: 325.840294 deg,
new cmd heading: 324.593995 deg.
2025-06-11T21:01:49.904Z,1749675709.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665234 target range: 9.220592 and range: 4.80 m.
2025-06-11T21:01:49.998Z,1749675709.998 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.982779
2025-06-11T21:01:50.249Z,1749675710.249 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.234367
2025-06-11T21:01:50.327Z,1749675710.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:50.334Z,1749675710.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 3.882443 m,
bearing: 325.643041 deg,
approach rate: -0.472351 m/s,
LOS rate: -1.483293 deg/s,
cmd heading: 324.594003 deg,
new cmd heading: 322.665242 deg.
2025-06-11T21:01:50.335Z,1749675710.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631571 target range: 9.220592 and range: 4.80 m.
2025-06-11T21:01:50.501Z,1749675710.501 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.486431
2025-06-11T21:01:50.685Z,1749675710.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:50.687Z,1749675710.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 3.707886 m,
bearing: 325.049311 deg,
approach rate: -0.487889 m/s,
LOS rate: -1.737571 deg/s,
cmd heading: 322.665240 deg,
new cmd heading: 320.800888 deg.
2025-06-11T21:01:50.689Z,1749675710.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599032 target range: 9.220592 and range: 4.80 m.
2025-06-11T21:01:50.753Z,1749675710.753 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.738502
2025-06-11T21:01:51.005Z,1749675711.005 [DAT](INFO): DAT read: Rx Time:21:01:52.3181
2025-06-11T21:01:51.005Z,1749675711.005 [DAT](INFO): Rx dataTimestamp_ set to:1749675711.005038
2025-06-11T21:01:51.006Z,1749675711.006 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.991484
2025-06-11T21:01:51.125Z,1749675711.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:51.127Z,1749675711.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 3.510577 m,
bearing: 324.290616 deg,
approach rate: -0.448597 m/s,
LOS rate: -1.821850 deg/s,
cmd heading: 320.800899 deg,
new cmd heading: 318.398367 deg.
2025-06-11T21:01:51.135Z,1749675711.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557100 target range: 9.220592 and range: 4.80 m.
2025-06-11T21:01:51.258Z,1749675711.258 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.243191
2025-06-11T21:01:51.515Z,1749675711.515 [DAT](INFO): DAT read: 21:01:52.3181 LVL= 23664, 18705, 12882, 24963, AGC= 40, IDX= 427,-0.19, 0.670,-0.124, 2.199, 1.177, PHS=-0.419,-1.254, 1.019, RAW= 188.7, 6.6, CAL= 188.8, -2.2, ROT= 321.2, 2.2
2025-06-11T21:01:51.516Z,1749675711.516 [DAT](INFO): got valid direction response:
21:01:52.3181 LVL= 23664, 18705, 12882, 24963, AGC= 40, IDX= 427,-0.19, 0.670,-0.124, 2.199, 1.177, PHS=-0.419,-1.254, 1.019, RAW= 188.7, 6.6, CAL= 188.8, -2.2, ROT= 321.2, 2.2
2025-06-11T21:01:51.517Z,1749675711.517 [DAT](INFO): DAT read: Bearing 321.2, 2.2 (Local)
2025-06-11T21:01:51.517Z,1749675711.517 [DAT](INFO): Local bearing/azimuth received:
Bearing 321.2, 2.2 (Local)
2025-06-11T21:01:51.519Z,1749675711.519 [DAT](INFO): DAT read: Range 10 to 50 : 3.3 m (Round-trip 4.5 ms) speed 0.3 m/s
2025-06-11T21:01:51.519Z,1749675711.519 [DAT](INFO): DAT read: user:695>
2025-06-11T21:01:51.520Z,1749675711.520 [DAT](INFO): DAT read: Tx time:21:01:53.4094
2025-06-11T21:01:51.521Z,1749675711.521 [DAT](INFO): Ping request sent.
2025-06-11T21:01:51.521Z,1749675711.521 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:51.521Z,1749675711.521 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-11T21:01:51.522Z,1749675711.522 [DAT](INFO): direction in FSK: [0.778764,-0.626142,-0.038388]
2025-06-11T21:01:51.522Z,1749675711.522 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:51.523Z,1749675711.523 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:51.530Z,1749675711.530 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:51.530Z,1749675711.530 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:51.538Z,1749675711.538 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.016927
2025-06-11T21:01:51.643Z,1749675711.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 3.525887 s,
deltaX: -1.500000 m,
approachRate: -0.425425 m/s,
rangeRepo size: 4
2025-06-11T21:01:51.649Z,1749675711.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.271791 m,
bearing: 290.201802 deg,
lat: 36.906386 deg,
lon: -122.115601 deg,
deltaT: 13.858876 s,
deltaX: -5.948802 m,
approachRate: -0.429241 m/s,
posRepo size: 4
2025-06-11T21:01:51.650Z,1749675711.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.27 m. 9.22 m.
2025-06-11T21:01:51.657Z,1749675711.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 3.279070 m,
bearing: 323.409586 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.377938 deg/s,
cmd heading: 318.398366 deg,
new cmd heading: 318.985047 deg.
2025-06-11T21:01:51.658Z,1749675711.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.567339 target range: 9.220592 and range: 3.30 m.
2025-06-11T21:01:51.762Z,1749675711.762 [DAT](INFO): DAT read: TxSync time:21:01:53.4086
2025-06-11T21:01:51.763Z,1749675711.763 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.242055
2025-06-11T21:01:51.949Z,1749675711.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:51.956Z,1749675711.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:51.958Z,1749675711.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 3.137885 m,
bearing: 322.806940 deg,
approach rate: -0.456348 m/s,
LOS rate: -2.035513 deg/s,
cmd heading: 318.985052 deg,
new cmd heading: 317.096489 deg.
2025-06-11T21:01:51.959Z,1749675711.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534378 target range: 9.220592 and range: 3.30 m.
2025-06-11T21:01:52.014Z,1749675712.014 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.492822
2025-06-11T21:01:52.265Z,1749675712.265 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.744027
2025-06-11T21:01:52.362Z,1749675712.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:52.373Z,1749675712.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 2.938108 m,
bearing: 321.899380 deg,
approach rate: -0.486975 m/s,
LOS rate: -2.362586 deg/s,
cmd heading: 317.096477 deg,
new cmd heading: 314.191281 deg.
2025-06-11T21:01:52.374Z,1749675712.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483672 target range: 9.220592 and range: 3.30 m.
2025-06-11T21:01:52.517Z,1749675712.517 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.995975
2025-06-11T21:01:52.715Z,1749675712.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:52.718Z,1749675712.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 2.778830 m,
bearing: 321.091640 deg,
approach rate: -0.450824 m/s,
LOS rate: -2.417210 deg/s,
cmd heading: 314.191270 deg,
new cmd heading: 311.630945 deg.
2025-06-11T21:01:52.719Z,1749675712.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.438986 target range: 9.220592 and range: 3.30 m.
2025-06-11T21:01:52.770Z,1749675712.770 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.249110
2025-06-11T21:01:53.021Z,1749675713.021 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.500043
2025-06-11T21:01:53.185Z,1749675713.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:53.196Z,1749675713.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 2.577766 m,
bearing: 319.952231 deg,
approach rate: -0.430585 m/s,
LOS rate: -2.630235 deg/s,
cmd heading: 311.630933 deg,
new cmd heading: 307.951396 deg.
2025-06-11T21:01:53.199Z,1749675713.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374766 target range: 9.220592 and range: 3.30 m.
2025-06-11T21:01:53.273Z,1749675713.273 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.752114
2025-06-11T21:01:53.525Z,1749675713.525 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.003923
2025-06-11T21:01:53.619Z,1749675713.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:53.622Z,1749675713.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 2.373549 m,
bearing: 318.719109 deg,
approach rate: -0.467378 m/s,
LOS rate: -3.064735 deg/s,
cmd heading: 307.951400 deg,
new cmd heading: 303.940620 deg.
2025-06-11T21:01:53.623Z,1749675713.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304765 target range: 9.220592 and range: 3.30 m.
2025-06-11T21:01:53.777Z,1749675713.777 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.255977
2025-06-11T21:01:53.963Z,1749675713.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:53.969Z,1749675713.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:53.976Z,1749675713.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 2.219254 m,
bearing: 317.673892 deg,
approach rate: -0.440567 m/s,
LOS rate: -3.191787 deg/s,
cmd heading: 303.940631 deg,
new cmd heading: 300.590979 deg.
2025-06-11T21:01:53.977Z,1749675713.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.246302 target range: 9.220592 and range: 3.30 m.
2025-06-11T21:01:54.030Z,1749675714.030 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.508880
2025-06-11T21:01:54.281Z,1749675714.281 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.760133
2025-06-11T21:01:54.374Z,1749675714.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:54.377Z,1749675714.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 2.044261 m,
bearing: 316.307108 deg,
approach rate: -0.432684 m/s,
LOS rate: -3.668425 deg/s,
cmd heading: 300.590970 deg,
new cmd heading: 296.148961 deg.
2025-06-11T21:01:54.378Z,1749675714.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168775 target range: 9.220592 and range: 3.30 m.
2025-06-11T21:01:54.533Z,1749675714.533 [DAT](INFO): DAT read: Rx Time:21:01:55.8168
2025-06-11T21:01:54.533Z,1749675714.533 [DAT](INFO): Rx dataTimestamp_ set to:1749675714.533022
2025-06-11T21:01:54.534Z,1749675714.534 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.013114
2025-06-11T21:01:54.773Z,1749675714.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.22 m.
2025-06-11T21:01:54.775Z,1749675714.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.220592 m,
nav range: 1.882219 m,
bearing: 314.875694 deg,
approach rate: -0.406336 m/s,
LOS rate: -3.898011 deg/s,
cmd heading: 296.148970 deg,
new cmd heading: 291.495775 deg.
2025-06-11T21:01:54.776Z,1749675714.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087561 target range: 9.220592 and range: 3.30 m.
2025-06-11T21:01:54.785Z,1749675714.785 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.264095
2025-06-11T21:01:55.043Z,1749675715.043 [DAT](INFO): DAT read: 21:01:55.8168 LVL= 18064, 28225, 12274, 29011, AGC= 30, IDX= 430,-0.16, 3.027, 3.087,-1.180,-1.958, PHS=-1.210,-1.191, 0.775, RAW= 210.5, 16.2, CAL= 215.5, 19.6, ROT= 294.5, -19.6
2025-06-11T21:01:55.044Z,1749675715.044 [DAT](INFO): got valid direction response:
21:01:55.8168 LVL= 18064, 28225, 12274, 29011, AGC= 30, IDX= 430,-0.16, 3.027, 3.087,-1.180,-1.958, PHS=-1.210,-1.191, 0.775, RAW= 210.5, 16.2, CAL= 215.5, 19.6, ROT= 294.5, -19.6
2025-06-11T21:01:55.045Z,1749675715.045 [DAT](INFO): DAT read: Bearing 294.5, -19.6 (Local)
2025-06-11T21:01:55.045Z,1749675715.045 [DAT](INFO): Local bearing/azimuth received:
Bearing 294.5, -19.6 (Local)
2025-06-11T21:01:55.047Z,1749675715.047 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.1 m/s
2025-06-11T21:01:55.048Z,1749675715.048 [DAT](INFO): DAT read: user:696>
2025-06-11T21:01:55.049Z,1749675715.049 [DAT](INFO): DAT read: Tx time:21:01:56.9094
2025-06-11T21:01:55.049Z,1749675715.049 [DAT](INFO): Ping request sent.
2025-06-11T21:01:55.049Z,1749675715.049 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:55.049Z,1749675715.049 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-11T21:01:55.050Z,1749675715.050 [DAT](INFO): direction in FSK: [0.390665,-0.857236,0.335452]
2025-06-11T21:01:55.051Z,1749675715.051 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:55.051Z,1749675715.051 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:55.054Z,1749675715.054 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:55.054Z,1749675715.054 [DAT](INFO): publishing direction and range info
2025-06-11T21:01:55.058Z,1749675715.058 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.008621
2025-06-11T21:01:55.234Z,1749675715.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 3.528025 s,
deltaX: -0.900000 m,
approachRate: -0.255100 m/s,
rangeRepo size: 4
2025-06-11T21:01:55.250Z,1749675715.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.379382 m,
bearing: 258.795720 deg,
lat: 36.906379 deg,
lon: -122.115608 deg,
deltaT: 17.386901 s,
deltaX: -6.841210 m,
approachRate: -0.393469 m/s,
posRepo size: 4
2025-06-11T21:01:55.257Z,1749675715.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.40 m.
2025-06-11T21:01:55.258Z,1749675715.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-11T21:01:55.289Z,1749675715.289 [DAT](INFO): DAT read: TxSync time:21:01:56.9086
2025-06-11T21:01:55.290Z,1749675715.290 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.240723
2025-06-11T21:01:55.541Z,1749675715.541 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.491849
2025-06-11T21:01:55.797Z,1749675715.797 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.747369
2025-06-11T21:01:56.046Z,1749675716.046 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.996173
2025-06-11T21:01:56.299Z,1749675716.299 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.249774
2025-06-11T21:01:56.376Z,1749675716.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:56.549Z,1749675716.549 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.499812
2025-06-11T21:01:56.801Z,1749675716.801 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.751858
2025-06-11T21:01:57.053Z,1749675717.053 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.003717
2025-06-11T21:01:57.307Z,1749675717.307 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.257772
2025-06-11T21:01:57.557Z,1749675717.557 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.507931
2025-06-11T21:01:57.809Z,1749675717.809 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.759753
2025-06-11T21:01:58.062Z,1749675718.062 [DAT](INFO): DAT read: Rx Time:21:01:59.3164
2025-06-11T21:01:58.063Z,1749675718.063 [DAT](INFO): Rx dataTimestamp_ set to:1749675718.062444
2025-06-11T21:01:58.063Z,1749675718.063 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.014305
2025-06-11T21:01:58.315Z,1749675718.315 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.265933
2025-06-11T21:01:58.484Z,1749675718.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:01:58.566Z,1749675718.566 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (Round-trip 2.8 ms) speed -0.1 m/s
2025-06-11T21:01:58.567Z,1749675718.567 [DAT](INFO): DAT read: user:697>
2025-06-11T21:01:58.567Z,1749675718.567 [DAT](INFO): DAT read: Tx time:21:02:00.4094
2025-06-11T21:01:58.568Z,1749675718.568 [DAT](INFO): Ping request sent.
2025-06-11T21:01:58.568Z,1749675718.568 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:01:58.568Z,1749675718.568 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-06-11T21:01:58.568Z,1749675718.568 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:58.569Z,1749675718.569 [DAT](INFO): publishing transmit ping time
2025-06-11T21:01:58.570Z,1749675718.570 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.001936
2025-06-11T21:01:58.817Z,1749675718.817 [DAT](INFO): DAT read: TxSync time:21:02:00.4086
2025-06-11T21:01:58.818Z,1749675718.818 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.249866
2025-06-11T21:01:58.825Z,1749675718.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 3.528037 s,
deltaX: -0.300000 m,
approachRate: -0.085033 m/s,
rangeRepo size: 4
2025-06-11T21:01:59.070Z,1749675719.070 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.502045
2025-06-11T21:01:59.324Z,1749675719.324 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.755419
2025-06-11T21:01:59.573Z,1749675719.573 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.004878
2025-06-11T21:01:59.825Z,1749675719.825 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.257004
2025-06-11T21:01:59.956Z,1749675719.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:02:00.078Z,1749675720.078 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.510118
2025-06-11T21:02:00.332Z,1749675720.332 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.763318
2025-06-11T21:02:00.507Z,1749675720.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:02:00.585Z,1749675720.585 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.017577
2025-06-11T21:02:00.837Z,1749675720.837 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.268995
2025-06-11T21:02:00.961Z,1749675720.961 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:02:01.089Z,1749675721.089 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.520907
2025-06-11T21:02:01.344Z,1749675721.344 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.775420
2025-06-11T21:02:01.593Z,1749675721.593 [DAT](INFO): DAT read: Rx Time:21:02:02.8169
2025-06-11T21:02:01.594Z,1749675721.594 [DAT](INFO): Rx dataTimestamp_ set to:1749675721.593304
2025-06-11T21:02:01.594Z,1749675721.594 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.026260
2025-06-11T21:02:01.845Z,1749675721.845 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.276882
2025-06-11T21:02:02.099Z,1749675722.099 [DAT](INFO): DAT read: Range 10 to 50 : 2.5 m (Round-trip 3.4 ms) speed -0.3 m/s
2025-06-11T21:02:02.100Z,1749675722.100 [DAT](INFO): DAT read: user:698>
2025-06-11T21:02:02.101Z,1749675722.101 [DAT](INFO): DAT read: Tx time:21:02:03.9095
2025-06-11T21:02:02.101Z,1749675722.101 [DAT](INFO): Ping request sent.
2025-06-11T21:02:02.101Z,1749675722.101 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:02.101Z,1749675722.101 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-06-11T21:02:02.101Z,1749675722.101 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:02.102Z,1749675722.102 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:02.104Z,1749675722.104 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.002484
2025-06-11T21:02:02.353Z,1749675722.353 [DAT](INFO): DAT read: TxSync time:21:02:03.9087
2025-06-11T21:02:02.356Z,1749675722.356 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.253916
2025-06-11T21:02:02.462Z,1749675722.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.500000 m,
deltaT: 3.533078 s,
deltaX: 0.400000 m,
approachRate: 0.113216 m/s,
rangeRepo size: 4
2025-06-11T21:02:02.601Z,1749675722.601 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.499747
2025-06-11T21:02:02.822Z,1749675722.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:02:02.824Z,1749675722.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.50 m.
2025-06-11T21:02:02.853Z,1749675722.853 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.751891
2025-06-11T21:02:03.105Z,1749675723.105 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.004035
2025-06-11T21:02:03.359Z,1749675723.359 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.257845
2025-06-11T21:02:03.609Z,1749675723.609 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.507798
2025-06-11T21:02:03.655Z,1749675723.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.50 m.
2025-06-11T21:02:03.861Z,1749675723.861 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.759740
2025-06-11T21:02:04.036Z,1749675724.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.50 m.
2025-06-11T21:02:04.114Z,1749675724.114 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.012635
2025-06-11T21:02:04.368Z,1749675724.368 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.266360
2025-06-11T21:02:04.499Z,1749675724.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.50 m.
2025-06-11T21:02:04.622Z,1749675724.622 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.520918
2025-06-11T21:02:04.842Z,1749675724.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:02:04.845Z,1749675724.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.50 m.
2025-06-11T21:02:04.869Z,1749675724.869 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.767857
2025-06-11T21:02:05.121Z,1749675725.121 [DAT](INFO): DAT read: Rx Time:21:02:06.3184
2025-06-11T21:02:05.121Z,1749675725.121 [DAT](INFO): Rx dataTimestamp_ set to:1749675725.120955
2025-06-11T21:02:05.122Z,1749675725.122 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.020790
2025-06-11T21:02:05.377Z,1749675725.377 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.274353
2025-06-11T21:02:05.631Z,1749675725.631 [DAT](INFO): DAT read: 21:02:06.3184 LVL= 22048, 27041, 14834, 30899, AGC= 37, IDX= 444, 0.14,-2.420, 0.010,-0.546,-0.757, PHS=-1.575, 0.815, 0.208, RAW= 284.1, 5.2, CAL= 287.6, 7.4, ROT= 222.4, -7.4
2025-06-11T21:02:05.632Z,1749675725.632 [DAT](INFO): got valid direction response:
21:02:06.3184 LVL= 22048, 27041, 14834, 30899, AGC= 37, IDX= 444, 0.14,-2.420, 0.010,-0.546,-0.757, PHS=-1.575, 0.815, 0.208, RAW= 284.1, 5.2, CAL= 287.6, 7.4, ROT= 222.4, -7.4
2025-06-11T21:02:05.633Z,1749675725.633 [DAT](INFO): DAT read: Bearing 222.4, -7.4 (Local)
2025-06-11T21:02:05.634Z,1749675725.634 [DAT](INFO): Local bearing/azimuth received:
Bearing 222.4, -7.4 (Local)
2025-06-11T21:02:05.635Z,1749675725.635 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (Round-trip 4.7 ms) speed -0.2 m/s
2025-06-11T21:02:05.636Z,1749675725.636 [DAT](INFO): DAT read: user:699>
2025-06-11T21:02:05.637Z,1749675725.637 [DAT](INFO): DAT read: Tx time:21:02:07.4095
2025-06-11T21:02:05.637Z,1749675725.637 [DAT](INFO): Ping request sent.
2025-06-11T21:02:05.637Z,1749675725.637 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:05.637Z,1749675725.637 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-11T21:02:05.638Z,1749675725.638 [DAT](INFO): direction in FSK: [-0.732305,-0.668686,0.128796]
2025-06-11T21:02:05.639Z,1749675725.639 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:05.639Z,1749675725.639 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:05.642Z,1749675725.642 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:05.642Z,1749675725.642 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:05.651Z,1749675725.651 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.013784
2025-06-11T21:02:05.785Z,1749675725.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 3.527242 s,
deltaX: 1.000000 m,
approachRate: 0.283508 m/s,
rangeRepo size: 4
2025-06-11T21:02:05.787Z,1749675725.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.470119 m,
bearing: 161.670768 deg,
lat: 36.906376 deg,
lon: -122.115608 deg,
deltaT: 10.588357 s,
deltaX: 1.090737 m,
approachRate: 0.103013 m/s,
posRepo size: 4
2025-06-11T21:02:05.792Z,1749675725.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m.
2025-06-11T21:02:05.877Z,1749675725.877 [DAT](INFO): DAT read: TxSync time:21:02:07.4087
2025-06-11T21:02:05.878Z,1749675725.878 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.240720
2025-06-11T21:02:06.129Z,1749675726.129 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.492427
2025-06-11T21:02:06.262Z,1749675726.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.50 m.
2025-06-11T21:02:06.381Z,1749675726.381 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.743807
2025-06-11T21:02:06.641Z,1749675726.641 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.003798
2025-06-11T21:02:06.655Z,1749675726.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m.
2025-06-11T21:02:06.893Z,1749675726.893 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.255815
2025-06-11T21:02:07.023Z,1749675727.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:02:07.025Z,1749675727.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.50 m.
2025-06-11T21:02:07.145Z,1749675727.145 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.507800
2025-06-11T21:02:07.399Z,1749675727.399 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.761961
2025-06-11T21:02:07.514Z,1749675727.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m.
2025-06-11T21:02:07.649Z,1749675727.649 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.012427
2025-06-11T21:02:07.849Z,1749675727.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.50 m.
2025-06-11T21:02:07.901Z,1749675727.901 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.264296
2025-06-11T21:02:08.153Z,1749675728.153 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.515721
2025-06-11T21:02:08.410Z,1749675728.410 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.771802
2025-06-11T21:02:08.657Z,1749675728.657 [DAT](INFO): DAT read: Rx Time:21:02:09.8195
2025-06-11T21:02:08.657Z,1749675728.657 [DAT](INFO): Rx dataTimestamp_ set to:1749675728.657177
2025-06-11T21:02:08.658Z,1749675728.658 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.021059
2025-06-11T21:02:08.662Z,1749675728.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m.
2025-06-11T21:02:08.909Z,1749675728.909 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.272231
2025-06-11T21:02:09.055Z,1749675729.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:02:09.057Z,1749675729.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.50 m.
2025-06-11T21:02:09.167Z,1749675729.167 [DAT](INFO): DAT read: 21:02:09.8195 LVL= 32752, 28785, 11298, 29491, AGC= 41, IDX= 440, 0.07, 2.772,-0.901,-1.868,-1.912, PHS=-1.510, 1.059, 0.041, RAW= 293.2, 3.7, CAL= 296.2, 5.3, ROT= 213.8, -5.3
2025-06-11T21:02:09.168Z,1749675729.168 [DAT](INFO): got valid direction response:
21:02:09.8195 LVL= 32752, 28785, 11298, 29491, AGC= 41, IDX= 440, 0.07, 2.772,-0.901,-1.868,-1.912, PHS=-1.510, 1.059, 0.041, RAW= 293.2, 3.7, CAL= 296.2, 5.3, ROT= 213.8, -5.3
2025-06-11T21:02:09.169Z,1749675729.169 [DAT](INFO): DAT read: Bearing 213.8, -5.3 (Local)
2025-06-11T21:02:09.169Z,1749675729.169 [DAT](INFO): Local bearing/azimuth received:
Bearing 213.8, -5.3 (Local)
2025-06-11T21:02:09.171Z,1749675729.171 [DAT](INFO): DAT read: Range 10 to 50 : 4.3 m (Round-trip 5.8 ms) speed -0.3 m/s
2025-06-11T21:02:09.171Z,1749675729.171 [DAT](INFO): DAT read: user:700>
2025-06-11T21:02:09.179Z,1749675729.179 [DAT](INFO): DAT read: Tx time:21:02:10.9095
2025-06-11T21:02:09.181Z,1749675729.181 [DAT](INFO): Ping request sent.
2025-06-11T21:02:09.181Z,1749675729.181 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:09.183Z,1749675729.183 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-11T21:02:09.185Z,1749675729.185 [DAT](INFO): direction in FSK: [-0.827432,-0.553917,0.092371]
2025-06-11T21:02:09.185Z,1749675729.185 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:09.186Z,1749675729.186 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:09.189Z,1749675729.189 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:09.189Z,1749675729.189 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:09.193Z,1749675729.193 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.012415
2025-06-11T21:02:09.413Z,1749675729.413 [DAT](INFO): DAT read: TxSync time:21:02:10.9087
2025-06-11T21:02:09.414Z,1749675729.414 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.233131
2025-06-11T21:02:09.562Z,1749675729.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.300000 m,
deltaT: 3.535795 s,
deltaX: 0.800000 m,
approachRate: 0.226258 m/s,
rangeRepo size: 4
2025-06-11T21:02:09.568Z,1749675729.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.263330 m,
bearing: 146.879282 deg,
lat: 36.906376 deg,
lon: -122.115608 deg,
deltaT: 3.535795 s,
deltaX: 0.793211 m,
approachRate: 0.224338 m/s,
posRepo size: 4
2025-06-11T21:02:09.568Z,1749675729.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.30 m.
2025-06-11T21:02:09.665Z,1749675729.665 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.484259
2025-06-11T21:02:09.878Z,1749675729.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.30 m.
2025-06-11T21:02:09.918Z,1749675729.918 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.736840
2025-06-11T21:02:10.169Z,1749675730.169 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.988165
2025-06-11T21:02:10.421Z,1749675730.421 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.240096
2025-06-11T21:02:10.673Z,1749675730.673 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.492173
2025-06-11T21:02:10.694Z,1749675730.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.30 m.
2025-06-11T21:02:10.926Z,1749675730.926 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.744899
2025-06-11T21:02:11.088Z,1749675731.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:02:11.090Z,1749675731.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.30 m.
2025-06-11T21:02:11.178Z,1749675731.178 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.996640
2025-06-11T21:02:11.429Z,1749675731.429 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.248124
2025-06-11T21:02:11.563Z,1749675731.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.30 m.
2025-06-11T21:02:11.681Z,1749675731.681 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.500250
2025-06-11T21:02:11.924Z,1749675731.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.30 m.
2025-06-11T21:02:11.934Z,1749675731.934 [DAT](INFO): DAT read: Rx Time:21:02:13.3208
2025-06-11T21:02:11.935Z,1749675731.935 [DAT](INFO): Rx dataTimestamp_ set to:1749675731.933996
2025-06-11T21:02:11.935Z,1749675731.935 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.754544
2025-06-11T21:02:12.185Z,1749675732.185 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.004153
2025-06-11T21:02:12.439Z,1749675732.439 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.257975
2025-06-11T21:02:12.695Z,1749675732.695 [DAT](INFO): DAT read: 21:02:13.3208 LVL= 27936, 27969, 12002, 29123, AGC= 47, IDX= 438, 0.24, 2.031,-1.703,-2.777,-2.723, PHS=-1.441, 1.067,-0.057, RAW= 296.6, 4.0, CAL= 299.7, 5.9, ROT= 210.3, -5.9
2025-06-11T21:02:12.697Z,1749675732.697 [DAT](INFO): got valid direction response:
21:02:13.3208 LVL= 27936, 27969, 12002, 29123, AGC= 47, IDX= 438, 0.24, 2.031,-1.703,-2.777,-2.723, PHS=-1.441, 1.067,-0.057, RAW= 296.6, 4.0, CAL= 299.7, 5.9, ROT= 210.3, -5.9
2025-06-11T21:02:12.698Z,1749675732.698 [DAT](INFO): DAT read: Bearing 210.3, -5.9 (Local)
2025-06-11T21:02:12.698Z,1749675732.698 [DAT](INFO): Local bearing/azimuth received:
Bearing 210.3, -5.9 (Local)
2025-06-11T21:02:12.700Z,1749675732.700 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (Round-trip 7.2 ms) speed -0.4 m/s
2025-06-11T21:02:12.701Z,1749675732.701 [DAT](INFO): DAT read: user:701>
2025-06-11T21:02:12.702Z,1749675732.702 [DAT](INFO): DAT read: Tx time:21:02:14.4095
2025-06-11T21:02:12.702Z,1749675732.702 [DAT](INFO): Ping request sent.
2025-06-11T21:02:12.702Z,1749675732.702 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:12.703Z,1749675732.703 [DAT](INFO): DAT read: TxSync time:21:02:14.4087
2025-06-11T21:02:12.703Z,1749675732.703 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-11T21:02:12.720Z,1749675732.720 [DAT](INFO): direction in FSK: [-0.858822,-0.501855,0.102793]
2025-06-11T21:02:12.721Z,1749675732.721 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:12.721Z,1749675732.721 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:12.732Z,1749675732.732 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:12.733Z,1749675732.733 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:12.741Z,1749675732.741 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.038879
2025-06-11T21:02:12.941Z,1749675732.941 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.239417
2025-06-11T21:02:12.967Z,1749675732.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 3.527781 s,
deltaX: 1.100000 m,
approachRate: 0.311811 m/s,
rangeRepo size: 4
2025-06-11T21:02:12.969Z,1749675732.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.353957 m,
bearing: 143.172219 deg,
lat: 36.906376 deg,
lon: -122.115608 deg,
deltaT: 3.527781 s,
deltaX: 1.090627 m,
approachRate: 0.309154 m/s,
posRepo size: 4
2025-06-11T21:02:12.970Z,1749675732.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.40 m.
2025-06-11T21:02:13.193Z,1749675733.193 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.490792
2025-06-11T21:02:13.280Z,1749675733.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:02:13.445Z,1749675733.445 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.742678
2025-06-11T21:02:13.697Z,1749675733.697 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.995123
2025-06-11T21:02:13.950Z,1749675733.950 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.247737
2025-06-11T21:02:14.202Z,1749675734.202 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.499874
2025-06-11T21:02:14.453Z,1749675734.453 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.750716
2025-06-11T21:02:14.705Z,1749675734.705 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.003015
2025-06-11T21:02:14.957Z,1749675734.957 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.255316
2025-06-11T21:02:15.209Z,1749675735.209 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.507140
2025-06-11T21:02:15.290Z,1749675735.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:02:15.461Z,1749675735.461 [DAT](INFO): DAT read: Rx Time:21:02:16.8226
2025-06-11T21:02:15.461Z,1749675735.461 [DAT](INFO): Rx dataTimestamp_ set to:1749675735.461171
2025-06-11T21:02:15.462Z,1749675735.462 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.760022
2025-06-11T21:02:15.713Z,1749675735.713 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.010823
2025-06-11T21:02:15.969Z,1749675735.969 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.266277
2025-06-11T21:02:16.223Z,1749675736.223 [DAT](INFO): DAT read: 21:02:16.8226 LVL= 31968, 27441, 16290, 32755, AGC= 47, IDX= 455, 0.37, 1.742,-2.113, 3.081,-3.129, PHS=-1.324, 1.064,-0.075, RAW= 298.5, 3.3, CAL= 301.5, 4.8, ROT= 208.5, -4.8
2025-06-11T21:02:16.224Z,1749675736.224 [DAT](INFO): got valid direction response:
21:02:16.8226 LVL= 31968, 27441, 16290, 32755, AGC= 47, IDX= 455, 0.37, 1.742,-2.113, 3.081,-3.129, PHS=-1.324, 1.064,-0.075, RAW= 298.5, 3.3, CAL= 301.5, 4.8, ROT= 208.5, -4.8
2025-06-11T21:02:16.226Z,1749675736.226 [DAT](INFO): DAT read: Bearing 208.5, -4.8 (Local)
2025-06-11T21:02:16.226Z,1749675736.226 [DAT](INFO): Local bearing/azimuth received:
Bearing 208.5, -4.8 (Local)
2025-06-11T21:02:16.227Z,1749675736.227 [DAT](INFO): DAT read: Range 10 to 50 : 6.6 m (Round-trip 8.8 ms) speed -0.4 m/s
2025-06-11T21:02:16.228Z,1749675736.228 [DAT](INFO): DAT read: user:702>
2025-06-11T21:02:16.229Z,1749675736.229 [DAT](INFO): DAT read: Tx time:21:02:17.9112
2025-06-11T21:02:16.229Z,1749675736.229 [DAT](INFO): Ping request sent.
2025-06-11T21:02:16.230Z,1749675736.230 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:16.230Z,1749675736.230 [DAT](INFO): DAT read: TxSync time:21:02:17.9104
2025-06-11T21:02:16.231Z,1749675736.231 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-11T21:02:16.232Z,1749675736.232 [DAT](INFO): direction in FSK: [-0.875735,-0.475485,0.083678]
2025-06-11T21:02:16.232Z,1749675736.232 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:16.233Z,1749675736.233 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:16.236Z,1749675736.236 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:16.236Z,1749675736.236 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:16.239Z,1749675736.239 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.009708
2025-06-11T21:02:16.469Z,1749675736.469 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.239088
2025-06-11T21:02:16.503Z,1749675736.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.600000 m,
deltaT: 3.528202 s,
deltaX: 1.200000 m,
approachRate: 0.340117 m/s,
rangeRepo size: 4
2025-06-11T21:02:16.505Z,1749675736.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.543755 m,
bearing: 142.006143 deg,
lat: 36.906376 deg,
lon: -122.115608 deg,
deltaT: 3.528202 s,
deltaX: 1.189797 m,
approachRate: 0.337225 m/s,
posRepo size: 4
2025-06-11T21:02:16.505Z,1749675736.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 6.60 m. Rolling out.
2025-06-11T21:02:16.506Z,1749675736.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-06-11T21:02:16.535Z,1749675736.535 [DockingStepper](INFO): Changing to mode: 1
2025-06-11T21:02:16.540Z,1749675736.540 [DockingStepper](INFO): Standby mode.
2025-06-11T21:02:16.605Z,1749675736.605 [DockingStepper](INFO): Commanding positive:54500
2025-06-11T21:02:16.721Z,1749675736.721 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.491171
2025-06-11T21:02:16.929Z,1749675736.929 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-11T21:02:16.930Z,1749675736.930 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-11T21:02:16.930Z,1749675736.930 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-11T21:02:16.937Z,1749675736.937 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 6.600000 m (mode 5.000000 count ).
2025-06-11T21:02:16.937Z,1749675736.937 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-11T21:02:16.937Z,1749675736.937 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-11T21:02:16.938Z,1749675736.938 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-06-11T21:02:16.939Z,1749675736.939 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-11T21:02:16.939Z,1749675736.939 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-06-11T21:02:16.949Z,1749675736.949 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 6.600000 m (mode 5.000000 count ).
2025-06-11T21:02:16.949Z,1749675736.949 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-06-11T21:02:16.949Z,1749675736.949 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-06-11T21:02:16.951Z,1749675736.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.54 m.
2025-06-11T21:02:16.973Z,1749675736.973 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.743514
2025-06-11T21:02:17.225Z,1749675737.225 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.995159
2025-06-11T21:02:17.291Z,1749675737.291 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-11T21:02:17.291Z,1749675737.291 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-11T21:02:17.291Z,1749675737.291 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-06-11T21:02:17.292Z,1749675737.292 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-06-11T21:02:17.294Z,1749675737.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.54 m.
2025-06-11T21:02:17.477Z,1749675737.477 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.247343
2025-06-11T21:02:17.717Z,1749675737.717 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-11T21:02:17.717Z,1749675737.717 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-11T21:02:17.718Z,1749675737.718 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-06-11T21:02:17.718Z,1749675737.718 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-06-11T21:02:17.720Z,1749675737.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.54 m.
2025-06-11T21:02:17.729Z,1749675737.729 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.499348
2025-06-11T21:02:17.981Z,1749675737.981 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.751215
2025-06-11T21:02:18.113Z,1749675738.113 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-11T21:02:18.114Z,1749675738.114 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-11T21:02:18.114Z,1749675738.114 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-11T21:02:18.114Z,1749675738.114 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-11T21:02:18.114Z,1749675738.114 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-06-11T21:02:18.115Z,1749675738.115 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-11T21:02:18.115Z,1749675738.115 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-06-11T21:02:18.115Z,1749675738.115 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-11T21:02:18.117Z,1749675738.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.54 m.
2025-06-11T21:02:18.233Z,1749675738.233 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.003310
2025-06-11T21:02:18.485Z,1749675738.485 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.255263
2025-06-11T21:02:18.640Z,1749675738.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.54 m.
2025-06-11T21:02:18.737Z,1749675738.737 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.507908
2025-06-11T21:02:18.989Z,1749675738.989 [DAT](INFO): DAT read: Rx Time:21:02:20.3261
2025-06-11T21:02:18.989Z,1749675738.989 [DAT](INFO): Rx dataTimestamp_ set to:1749675738.989137
2025-06-11T21:02:18.990Z,1749675738.990 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.760439
2025-06-11T21:02:18.993Z,1749675738.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.54 m.
2025-06-11T21:02:19.241Z,1749675739.241 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.011373
2025-06-11T21:02:19.341Z,1749675739.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.54 m.
2025-06-11T21:02:19.511Z,1749675739.511 [DAT](INFO): DAT read: 21:02:20.3261 LVL= 32752, 28913, 18866, 32755, AGC= 52, IDX= 459, 0.38, 1.855,-2.259, 3.056, 3.072, PHS=-1.129, 0.999,-0.019, RAW= 298.6, 1.6, CAL= 301.3, 2.2, ROT= 208.7, -2.2
2025-06-11T21:02:19.512Z,1749675739.512 [DAT](INFO): got valid direction response:
21:02:20.3261 LVL= 32752, 28913, 18866, 32755, AGC= 52, IDX= 459, 0.38, 1.855,-2.259, 3.056, 3.072, PHS=-1.129, 0.999,-0.019, RAW= 298.6, 1.6, CAL= 301.3, 2.2, ROT= 208.7, -2.2
2025-06-11T21:02:19.513Z,1749675739.513 [DAT](INFO): DAT read: Bearing 208.7, -2.2 (Local)
2025-06-11T21:02:19.514Z,1749675739.514 [DAT](INFO): Local bearing/azimuth received:
Bearing 208.7, -2.2 (Local)
2025-06-11T21:02:19.515Z,1749675739.515 [DAT](INFO): DAT read: Range 10 to 50 : 8.1 m (Round-trip 10.8 ms) speed -0.4 m/s
2025-06-11T21:02:19.517Z,1749675739.517 [DAT](INFO): DAT read: user:703>
2025-06-11T21:02:19.518Z,1749675739.518 [DAT](INFO): DAT read: Tx time:21:02:21.4096
2025-06-11T21:02:19.518Z,1749675739.518 [DAT](INFO): Ping request sent.
2025-06-11T21:02:19.518Z,1749675739.518 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:19.518Z,1749675739.518 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-11T21:02:19.519Z,1749675739.519 [DAT](INFO): direction in FSK: [-0.876500,-0.479869,0.038388]
2025-06-11T21:02:19.520Z,1749675739.520 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:19.520Z,1749675739.520 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:19.523Z,1749675739.523 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:19.523Z,1749675739.523 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:19.530Z,1749675739.530 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.011881
2025-06-11T21:02:19.745Z,1749675739.745 [DAT](INFO): DAT read: TxSync time:21:02:21.4088
2025-06-11T21:02:19.746Z,1749675739.746 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.228027
2025-06-11T21:02:19.827Z,1749675739.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 3.277052 s,
deltaX: 1.500000 m,
approachRate: 0.457729 m/s,
rangeRepo size: 4
2025-06-11T21:02:19.833Z,1749675739.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.031028 m,
bearing: 142.194469 deg,
lat: 36.906376 deg,
lon: -122.115610 deg,
deltaT: 3.277052 s,
deltaX: 1.487273 m,
approachRate: 0.453845 m/s,
posRepo size: 4
2025-06-11T21:02:19.834Z,1749675739.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.03 m.
2025-06-11T21:02:19.997Z,1749675739.997 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.478673
2025-06-11T21:02:20.132Z,1749675740.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.03 m.
2025-06-11T21:02:20.253Z,1749675740.253 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.734400
2025-06-11T21:02:20.501Z,1749675740.501 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.982750
2025-06-11T21:02:20.554Z,1749675740.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.03 m.
2025-06-11T21:02:20.753Z,1749675740.753 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.234746
2025-06-11T21:02:20.982Z,1749675740.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.03 m.
2025-06-11T21:02:21.005Z,1749675741.005 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.486733
2025-06-11T21:02:21.257Z,1749675741.257 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.738979
2025-06-11T21:02:21.431Z,1749675741.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.03 m.
2025-06-11T21:02:21.511Z,1749675741.511 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.992482
2025-06-11T21:02:21.769Z,1749675741.769 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.250661
2025-06-11T21:02:21.959Z,1749675741.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.03 m.
2025-06-11T21:02:22.022Z,1749675742.022 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.503177
2025-06-11T21:02:22.244Z,1749675742.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.03 m.
2025-06-11T21:02:22.273Z,1749675742.273 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.754639
2025-06-11T21:02:22.525Z,1749675742.525 [DAT](INFO): DAT read: Rx Time:21:02:23.8267
2025-06-11T21:02:22.525Z,1749675742.525 [DAT](INFO): Rx dataTimestamp_ set to:1749675742.525165
2025-06-11T21:02:22.526Z,1749675742.526 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.007936
2025-06-11T21:02:22.701Z,1749675742.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.03 m.
2025-06-11T21:02:22.777Z,1749675742.777 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.258676
2025-06-11T21:02:23.037Z,1749675743.037 [DAT](INFO): DAT read: 21:02:23.8267 LVL= 30960, 24241, 19090, 32755, AGC= 56, IDX= 449,-0.48,-1.026, 1.173,-0.123,-0.078, PHS=-0.860, 1.298,-0.048, RAW= 308.1, -4.2, CAL= 311.8, -5.8, ROT= 198.2, 5.8
2025-06-11T21:02:23.038Z,1749675743.038 [DAT](INFO): got valid direction response:
21:02:23.8267 LVL= 30960, 24241, 19090, 32755, AGC= 56, IDX= 449,-0.48,-1.026, 1.173,-0.123,-0.078, PHS=-0.860, 1.298,-0.048, RAW= 308.1, -4.2, CAL= 311.8, -5.8, ROT= 198.2, 5.8
2025-06-11T21:02:23.039Z,1749675743.039 [DAT](INFO): DAT read: Bearing 198.2, 5.8 (Local)
2025-06-11T21:02:23.039Z,1749675743.039 [DAT](INFO): Local bearing/azimuth received:
Bearing 198.2, 5.8 (Local)
2025-06-11T21:02:23.041Z,1749675743.041 [DAT](INFO): DAT read: Range 10 to 50 : 9.6 m (Round-trip 12.9 ms) speed -0.5 m/s
2025-06-11T21:02:23.041Z,1749675743.041 [DAT](INFO): DAT read: user:704>
2025-06-11T21:02:23.042Z,1749675743.042 [DAT](INFO): DAT read: Tx time:21:02:24.9096
2025-06-11T21:02:23.042Z,1749675743.042 [DAT](INFO): Ping request sent.
2025-06-11T21:02:23.042Z,1749675743.042 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:23.043Z,1749675743.043 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-11T21:02:23.064Z,1749675743.064 [DAT](INFO): direction in FSK: [-0.945109,-0.310736,-0.101056]
2025-06-11T21:02:23.064Z,1749675743.064 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:23.065Z,1749675743.065 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:23.076Z,1749675743.076 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:23.076Z,1749675743.076 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:23.079Z,1749675743.079 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.036984
2025-06-11T21:02:23.211Z,1749675743.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 3.535236 s,
deltaX: 1.500000 m,
approachRate: 0.424300 m/s,
rangeRepo size: 4
2025-06-11T21:02:23.217Z,1749675743.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.518289 m,
bearing: 129.065625 deg,
lat: 36.906373 deg,
lon: -122.115613 deg,
deltaT: 3.535236 s,
deltaX: 1.487261 m,
approachRate: 0.420696 m/s,
posRepo size: 4
2025-06-11T21:02:23.218Z,1749675743.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-11T21:02:23.282Z,1749675743.282 [DAT](INFO): DAT read: TxSync time:21:02:24.9088
2025-06-11T21:02:23.283Z,1749675743.283 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.240327
2025-06-11T21:02:23.506Z,1749675743.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-11T21:02:23.533Z,1749675743.533 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.490404
2025-06-11T21:02:23.786Z,1749675743.786 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.743517
2025-06-11T21:02:23.943Z,1749675743.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-11T21:02:24.037Z,1749675744.037 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.994331
2025-06-11T21:02:24.289Z,1749675744.289 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.246283
2025-06-11T21:02:24.332Z,1749675744.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-11T21:02:24.541Z,1749675744.541 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.498365
2025-06-11T21:02:24.768Z,1749675744.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-11T21:02:24.793Z,1749675744.793 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.750331
2025-06-11T21:02:25.045Z,1749675745.045 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.002219
2025-06-11T21:02:25.128Z,1749675745.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-11T21:02:25.297Z,1749675745.297 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.254321
2025-06-11T21:02:25.549Z,1749675745.549 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.506283
2025-06-11T21:02:25.586Z,1749675745.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-11T21:02:25.801Z,1749675745.801 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.758315
2025-06-11T21:02:26.002Z,1749675746.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-11T21:02:26.054Z,1749675746.054 [DAT](INFO): DAT read: Rx Time:21:02:27.3293
2025-06-11T21:02:26.054Z,1749675746.054 [DAT](INFO): Rx dataTimestamp_ set to:1749675746.054040
2025-06-11T21:02:26.055Z,1749675746.055 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.012777
2025-06-11T21:02:26.305Z,1749675746.305 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.262354
2025-06-11T21:02:26.372Z,1749675746.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-11T21:02:26.573Z,1749675746.573 [DAT](INFO): DAT read: 21:02:27.3293 LVL= 28240, 25617, 16946, 32755, AGC= 58, IDX= 459,-0.21,-1.205, 1.038,-0.329,-0.278, PHS=-0.839, 1.363,-0.055, RAW= 309.4, -4.9, CAL= 313.2, -6.8, ROT= 196.8, 6.8
2025-06-11T21:02:26.574Z,1749675746.574 [DAT](INFO): got valid direction response:
21:02:27.3293 LVL= 28240, 25617, 16946, 32755, AGC= 58, IDX= 459,-0.21,-1.205, 1.038,-0.329,-0.278, PHS=-0.839, 1.363,-0.055, RAW= 309.4, -4.9, CAL= 313.2, -6.8, ROT= 196.8, 6.8
2025-06-11T21:02:26.577Z,1749675746.577 [DAT](INFO): DAT read: Bearing 196.8, 6.8 (Local)
2025-06-11T21:02:26.577Z,1749675746.577 [DAT](INFO): Local bearing/azimuth received:
Bearing 196.8, 6.8 (Local)
2025-06-11T21:02:26.579Z,1749675746.579 [DAT](INFO): DAT read: Range 10 to 50 : 11.6 m (Round-trip 15.5 ms) speed -0.5 m/s
2025-06-11T21:02:26.581Z,1749675746.581 [DAT](INFO): DAT read: user:705>
2025-06-11T21:02:26.581Z,1749675746.581 [DAT](INFO): DAT read: Tx time:21:02:28.4597
2025-06-11T21:02:26.582Z,1749675746.582 [DAT](INFO): Ping request sent.
2025-06-11T21:02:26.582Z,1749675746.582 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:26.582Z,1749675746.582 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-11T21:02:26.583Z,1749675746.583 [DAT](INFO): direction in FSK: [-0.950585,-0.286999,-0.118404]
2025-06-11T21:02:26.583Z,1749675746.583 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:26.584Z,1749675746.584 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:26.587Z,1749675746.587 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:26.587Z,1749675746.587 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:26.597Z,1749675746.597 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.015298
2025-06-11T21:02:26.809Z,1749675746.809 [DAT](INFO): DAT read: TxSync time:21:02:28.4588
2025-06-11T21:02:26.810Z,1749675746.810 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.228041
2025-06-11T21:02:26.871Z,1749675746.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 3.529551 s,
deltaX: 2.000000 m,
approachRate: 0.566644 m/s,
rangeRepo size: 4
2025-06-11T21:02:26.878Z,1749675746.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.501212 m,
bearing: 126.619768 deg,
lat: 36.906373 deg,
lon: -122.115616 deg,
deltaT: 3.529551 s,
deltaX: 1.982924 m,
approachRate: 0.561806 m/s,
posRepo size: 4
2025-06-11T21:02:26.878Z,1749675746.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:02:27.061Z,1749675747.061 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.478935
2025-06-11T21:02:27.174Z,1749675747.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:02:27.313Z,1749675747.313 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.730963
2025-06-11T21:02:27.565Z,1749675747.565 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.983133
2025-06-11T21:02:27.574Z,1749675747.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:02:27.817Z,1749675747.817 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.234835
2025-06-11T21:02:27.995Z,1749675747.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:02:28.069Z,1749675748.069 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.487455
2025-06-11T21:02:28.321Z,1749675748.321 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.738951
2025-06-11T21:02:28.389Z,1749675748.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:02:28.573Z,1749675748.573 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.991004
2025-06-11T21:02:28.825Z,1749675748.825 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.243284
2025-06-11T21:02:28.830Z,1749675748.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:02:29.077Z,1749675749.077 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.494953
2025-06-11T21:02:29.182Z,1749675749.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:02:29.332Z,1749675749.332 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.749993
2025-06-11T21:02:29.581Z,1749675749.581 [DAT](INFO): DAT read: Rx Time:21:02:30.8823
2025-06-11T21:02:29.581Z,1749675749.581 [DAT](INFO): Rx dataTimestamp_ set to:1749675749.581158
2025-06-11T21:02:29.582Z,1749675749.582 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.000199
2025-06-11T21:02:29.597Z,1749675749.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:02:29.834Z,1749675749.834 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.252570
2025-06-11T21:02:30.091Z,1749675750.091 [DAT](INFO): DAT read: 21:02:30.8823 LVL= 27280, 21089, 18866, 32755, AGC= 58, IDX= 457,-0.45, 1.840,-2.088, 2.688, 2.755, PHS=-0.827, 1.487,-0.069, RAW= 311.3, -5.8, CAL= 315.1, -8.1, ROT= 194.9, 8.1
2025-06-11T21:02:30.092Z,1749675750.092 [DAT](INFO): got valid direction response:
21:02:30.8823 LVL= 27280, 21089, 18866, 32755, AGC= 58, IDX= 457,-0.45, 1.840,-2.088, 2.688, 2.755, PHS=-0.827, 1.487,-0.069, RAW= 311.3, -5.8, CAL= 315.1, -8.1, ROT= 194.9, 8.1
2025-06-11T21:02:30.093Z,1749675750.093 [DAT](INFO): DAT read: Bearing 194.9, 8.1 (Local)
2025-06-11T21:02:30.093Z,1749675750.093 [DAT](INFO): Local bearing/azimuth received:
Bearing 194.9, 8.1 (Local)
2025-06-11T21:02:30.095Z,1749675750.095 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (Round-trip 18.4 ms) speed -0.7 m/s
2025-06-11T21:02:30.096Z,1749675750.096 [DAT](INFO): DAT read: user:706>
2025-06-11T21:02:30.096Z,1749675750.096 [DAT](INFO): DAT read: Tx time:21:02:32.0097
2025-06-11T21:02:30.097Z,1749675750.097 [DAT](INFO): Ping request sent.
2025-06-11T21:02:30.097Z,1749675750.097 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:30.097Z,1749675750.097 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-11T21:02:30.098Z,1749675750.098 [DAT](INFO): direction in FSK: [-0.956735,-0.254567,-0.140901]
2025-06-11T21:02:30.098Z,1749675750.098 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:30.099Z,1749675750.099 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:30.111Z,1749675750.111 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:30.111Z,1749675750.111 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:30.112Z,1749675750.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:02:30.123Z,1749675750.123 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.026524
2025-06-11T21:02:30.337Z,1749675750.337 [DAT](INFO): DAT read: TxSync time:21:02:32.0089
2025-06-11T21:02:30.338Z,1749675750.338 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.240789
2025-06-11T21:02:30.551Z,1749675750.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 3.526065 s,
deltaX: 2.200000 m,
approachRate: 0.623925 m/s,
rangeRepo size: 4
2025-06-11T21:02:30.559Z,1749675750.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.682380 m,
bearing: 124.762366 deg,
lat: 36.906371 deg,
lon: -122.115617 deg,
deltaT: 3.526065 s,
deltaX: 2.181168 m,
approachRate: 0.618584 m/s,
posRepo size: 4
2025-06-11T21:02:30.561Z,1749675750.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:02:30.589Z,1749675750.589 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.491945
2025-06-11T21:02:30.841Z,1749675750.841 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.743863
2025-06-11T21:02:31.021Z,1749675751.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:02:31.080Z,1749675751.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:02:31.093Z,1749675751.093 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.996075
2025-06-11T21:02:31.334Z,1749675751.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:02:31.345Z,1749675751.345 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.248000
2025-06-11T21:02:31.597Z,1749675751.597 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.499845
2025-06-11T21:02:31.757Z,1749675751.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:02:31.850Z,1749675751.850 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.753093
2025-06-11T21:02:32.086Z,1749675752.086 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:02:32.101Z,1749675752.101 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.004001
2025-06-11T21:02:32.201Z,1749675752.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:02:32.353Z,1749675752.353 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.255854
2025-06-11T21:02:32.551Z,1749675752.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:02:32.614Z,1749675752.614 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.517150
2025-06-11T21:02:32.865Z,1749675752.865 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.768068
2025-06-11T21:02:32.969Z,1749675752.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:02:33.117Z,1749675753.117 [DAT](INFO): DAT read: Rx Time:21:02:34.4352
2025-06-11T21:02:33.117Z,1749675753.117 [DAT](INFO): Rx dataTimestamp_ set to:1749675753.117131
2025-06-11T21:02:33.118Z,1749675753.118 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.021095
2025-06-11T21:02:33.369Z,1749675753.369 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.272137
2025-06-11T21:02:33.382Z,1749675753.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:02:33.627Z,1749675753.627 [DAT](INFO): DAT read: 21:02:34.4352 LVL= 31856, 28145, 23266, 32755, AGC= 62, IDX= 454, 0.31,-2.971,-0.605,-2.217,-2.099, PHS=-0.784, 1.541,-0.120, RAW= 313.9, -6.2, CAL= 317.8, -8.5, ROT= 192.3, 8.5
2025-06-11T21:02:33.630Z,1749675753.630 [DAT](INFO): got valid direction response:
21:02:34.4352 LVL= 31856, 28145, 23266, 32755, AGC= 62, IDX= 454, 0.31,-2.971,-0.605,-2.217,-2.099, PHS=-0.784, 1.541,-0.120, RAW= 313.9, -6.2, CAL= 317.8, -8.5, ROT= 192.3, 8.5
2025-06-11T21:02:33.640Z,1749675753.640 [DAT](INFO): DAT read: Bearing 192.3, 8.5 (Local)
2025-06-11T21:02:33.640Z,1749675753.640 [DAT](INFO): Local bearing/azimuth received:
Bearing 192.3, 8.5 (Local)
2025-06-11T21:02:33.642Z,1749675753.642 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (Round-trip 21.3 ms) speed -0.7 m/s
2025-06-11T21:02:33.642Z,1749675753.642 [DAT](INFO): DAT read: user:707>
2025-06-11T21:02:33.643Z,1749675753.643 [DAT](INFO): DAT read: Tx time:21:02:35.5597
2025-06-11T21:02:33.643Z,1749675753.643 [DAT](INFO): Ping request sent.
2025-06-11T21:02:33.644Z,1749675753.644 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:33.644Z,1749675753.644 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-11T21:02:33.645Z,1749675753.645 [DAT](INFO): direction in FSK: [-0.966314,-0.210690,-0.147809]
2025-06-11T21:02:33.645Z,1749675753.645 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:33.646Z,1749675753.646 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:33.649Z,1749675753.649 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:33.649Z,1749675753.649 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:33.653Z,1749675753.653 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.008973
2025-06-11T21:02:33.818Z,1749675753.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 3.536358 s,
deltaX: 2.099999 m,
approachRate: 0.593831 m/s,
rangeRepo size: 4
2025-06-11T21:02:33.837Z,1749675753.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.764488 m,
bearing: 122.143579 deg,
lat: 36.906370 deg,
lon: -122.115619 deg,
deltaT: 3.536358 s,
deltaX: 2.082108 m,
approachRate: 0.588772 m/s,
posRepo size: 4
2025-06-11T21:02:33.839Z,1749675753.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.76 m.
2025-06-11T21:02:33.873Z,1749675753.873 [DAT](INFO): DAT read: TxSync time:21:02:35.5589
2025-06-11T21:02:33.874Z,1749675753.874 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.230213
2025-06-11T21:02:34.125Z,1749675754.125 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.481251
2025-06-11T21:02:34.187Z,1749675754.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.76 m.
2025-06-11T21:02:34.377Z,1749675754.377 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.733250
2025-06-11T21:02:34.584Z,1749675754.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.76 m.
2025-06-11T21:02:34.632Z,1749675754.632 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.987782
2025-06-11T21:02:34.885Z,1749675754.885 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.241199
2025-06-11T21:02:35.017Z,1749675755.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.76 m.
2025-06-11T21:02:35.137Z,1749675755.137 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.493262
2025-06-11T21:02:35.373Z,1749675755.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.76 m.
2025-06-11T21:02:35.389Z,1749675755.389 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.745275
2025-06-11T21:02:35.642Z,1749675755.642 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.998021
2025-06-11T21:02:35.785Z,1749675755.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.76 m.
2025-06-11T21:02:35.893Z,1749675755.893 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.249389
2025-06-11T21:02:36.145Z,1749675756.145 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.501058
2025-06-11T21:02:36.226Z,1749675756.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.76 m.
2025-06-11T21:02:36.397Z,1749675756.397 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.753105
2025-06-11T21:02:36.577Z,1749675756.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.76 m.
2025-06-11T21:02:36.650Z,1749675756.650 [DAT](INFO): DAT read: Rx Time:21:02:37.9884
2025-06-11T21:02:36.651Z,1749675756.651 [DAT](INFO): Rx dataTimestamp_ set to:1749675756.650493
2025-06-11T21:02:36.651Z,1749675756.651 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.007742
2025-06-11T21:02:36.903Z,1749675756.903 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.259046
2025-06-11T21:02:37.007Z,1749675757.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.76 m.
2025-06-11T21:02:37.174Z,1749675757.174 [DAT](INFO): DAT read: 21:02:37.9884 LVL= 22832, 18417, 20722, 32755, AGC= 64, IDX= 456,-0.26,-0.943, 1.278,-0.340,-0.145, PHS=-0.710, 1.470,-0.199, RAW= 317.0, -5.7, CAL= 320.6, -7.9, ROT= 189.4, 7.9
2025-06-11T21:02:37.175Z,1749675757.175 [DAT](INFO): got valid direction response:
21:02:37.9884 LVL= 22832, 18417, 20722, 32755, AGC= 64, IDX= 456,-0.26,-0.943, 1.278,-0.340,-0.145, PHS=-0.710, 1.470,-0.199, RAW= 317.0, -5.7, CAL= 320.6, -7.9, ROT= 189.4, 7.9
2025-06-11T21:02:37.198Z,1749675757.198 [DAT](INFO): DAT read: Bearing 189.4, 7.9 (Local)
2025-06-11T21:02:37.199Z,1749675757.199 [DAT](INFO): Local bearing/azimuth received:
Bearing 189.4, 7.9 (Local)
2025-06-11T21:02:37.200Z,1749675757.200 [DAT](INFO): DAT read: Range 10 to 50 : 18.4 m (Round-trip 24.6 ms) speed -0.6 m/s
2025-06-11T21:02:37.201Z,1749675757.201 [DAT](INFO): DAT read: user:708>
2025-06-11T21:02:37.202Z,1749675757.202 [DAT](INFO): DAT read: Tx time:21:02:39.1097
2025-06-11T21:02:37.202Z,1749675757.202 [DAT](INFO): Ping request sent.
2025-06-11T21:02:37.202Z,1749675757.202 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:37.203Z,1749675757.203 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-11T21:02:37.204Z,1749675757.204 [DAT](INFO): direction in FSK: [-0.977209,-0.161776,-0.137445]
2025-06-11T21:02:37.204Z,1749675757.204 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:37.204Z,1749675757.204 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:37.207Z,1749675757.207 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:37.209Z,1749675757.209 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:37.219Z,1749675757.219 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.016391
2025-06-11T21:02:37.405Z,1749675757.405 [DAT](INFO): DAT read: TxSync time:21:02:39.1089
2025-06-11T21:02:37.406Z,1749675757.406 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.203507
2025-06-11T21:02:37.430Z,1749675757.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.400000 m,
deltaT: 3.533404 s,
deltaX: 2.500000 m,
approachRate: 0.707533 m/s,
rangeRepo size: 4
2025-06-11T21:02:37.441Z,1749675757.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.243196 m,
bearing: 118.873525 deg,
lat: 36.906371 deg,
lon: -122.115619 deg,
deltaT: 3.533404 s,
deltaX: 2.478708 m,
approachRate: 0.701507 m/s,
posRepo size: 4
2025-06-11T21:02:37.441Z,1749675757.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:02:37.657Z,1749675757.657 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.455025
2025-06-11T21:02:37.902Z,1749675757.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:02:37.909Z,1749675757.909 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.706678
2025-06-11T21:02:38.161Z,1749675758.161 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.958591
2025-06-11T21:02:38.262Z,1749675758.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:02:38.413Z,1749675758.413 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.210472
2025-06-11T21:02:38.627Z,1749675758.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:02:38.666Z,1749675758.666 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.463205
2025-06-11T21:02:38.920Z,1749675758.920 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.717163
2025-06-11T21:02:39.053Z,1749675759.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:02:39.169Z,1749675759.169 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.966431
2025-06-11T21:02:39.421Z,1749675759.421 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.218801
2025-06-11T21:02:39.423Z,1749675759.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:02:39.673Z,1749675759.673 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.470503
2025-06-11T21:02:39.824Z,1749675759.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:02:39.928Z,1749675759.928 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.725291
2025-06-11T21:02:40.177Z,1749675760.177 [DAT](INFO): DAT read: Rx Time:21:02:41.5418
2025-06-11T21:02:40.177Z,1749675760.177 [DAT](INFO): Rx dataTimestamp_ set to:1749675760.177078
2025-06-11T21:02:40.178Z,1749675760.178 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.975595
2025-06-11T21:02:40.270Z,1749675760.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:02:40.429Z,1749675760.429 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.226518
2025-06-11T21:02:40.618Z,1749675760.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:02:40.685Z,1749675760.685 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.481229
2025-06-11T21:02:40.961Z,1749675760.961 [DAT](INFO): DAT read: 21:02:41.5418 LVL= 24208, 22337, 23138, 32755, AGC= 67, IDX= 458,-0.35,-0.141, 2.064, 0.320, 0.675, PHS=-0.728, 1.435,-0.358, RAW= 320.8, -3.5, CAL= 323.7, -4.9, ROT= 186.3, 4.9
2025-06-11T21:02:40.965Z,1749675760.965 [DAT](INFO): got valid direction response:
21:02:41.5418 LVL= 24208, 22337, 23138, 32755, AGC= 67, IDX= 458,-0.35,-0.141, 2.064, 0.320, 0.675, PHS=-0.728, 1.435,-0.358, RAW= 320.8, -3.5, CAL= 323.7, -4.9, ROT= 186.3, 4.9
2025-06-11T21:02:40.968Z,1749675760.968 [DAT](INFO): DAT read: Bearing 186.3, 4.9 (Local)
2025-06-11T21:02:40.969Z,1749675760.969 [DAT](INFO): Local bearing/azimuth received:
Bearing 186.3, 4.9 (Local)
2025-06-11T21:02:40.970Z,1749675760.970 [DAT](INFO): DAT read: Range 10 to 50 : 20.9 m (Round-trip 27.9 ms) speed -0.4 m/s
2025-06-11T21:02:40.971Z,1749675760.971 [DAT](INFO): DAT read: user:709>
2025-06-11T21:02:40.973Z,1749675760.973 [DAT](INFO): DAT read: Tx time:21:02:42.6598
2025-06-11T21:02:40.973Z,1749675760.973 [DAT](INFO): Ping request sent.
2025-06-11T21:02:40.973Z,1749675760.973 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:40.974Z,1749675760.974 [DAT](INFO): DAT read: TxSync time:21:02:42.6590
2025-06-11T21:02:40.974Z,1749675760.974 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-11T21:02:40.975Z,1749675760.975 [DAT](INFO): direction in FSK: [-0.990328,-0.109333,-0.085417]
2025-06-11T21:02:40.976Z,1749675760.976 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:40.976Z,1749675760.976 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:40.979Z,1749675760.979 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:40.979Z,1749675760.979 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:40.983Z,1749675760.983 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.009556
2025-06-11T21:02:41.146Z,1749675761.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.900000 m,
deltaT: 3.779615 s,
deltaX: 2.500000 m,
approachRate: 0.661443 m/s,
rangeRepo size: 4
2025-06-11T21:02:41.152Z,1749675761.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.721893 m,
bearing: 116.336498 deg,
lat: 36.906371 deg,
lon: -122.115619 deg,
deltaT: 3.779615 s,
deltaX: 2.478697 m,
approachRate: 0.655807 m/s,
posRepo size: 4
2025-06-11T21:02:41.152Z,1749675761.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.72 m.
2025-06-11T21:02:41.185Z,1749675761.185 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.211613
2025-06-11T21:02:41.437Z,1749675761.437 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.463521
2025-06-11T21:02:41.443Z,1749675761.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.72 m.
2025-06-11T21:02:41.689Z,1749675761.689 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.715542
2025-06-11T21:02:41.860Z,1749675761.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.72 m.
2025-06-11T21:02:41.943Z,1749675761.943 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.969654
2025-06-11T21:02:42.193Z,1749675762.193 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.219416
2025-06-11T21:02:42.287Z,1749675762.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.72 m.
2025-06-11T21:02:42.445Z,1749675762.445 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.471379
2025-06-11T21:02:42.669Z,1749675762.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.72 m.
2025-06-11T21:02:42.699Z,1749675762.699 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.725863
2025-06-11T21:02:42.952Z,1749675762.952 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.978129
2025-06-11T21:02:43.157Z,1749675763.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.72 m.
2025-06-11T21:02:43.205Z,1749675763.205 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.231503
2025-06-11T21:02:43.457Z,1749675763.457 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.483579
2025-06-11T21:02:43.470Z,1749675763.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.72 m.
2025-06-11T21:02:43.709Z,1749675763.709 [DAT](INFO): DAT read: Rx Time:21:02:45.0952
2025-06-11T21:02:43.709Z,1749675763.709 [DAT](INFO): Rx dataTimestamp_ set to:1749675763.709108
2025-06-11T21:02:43.710Z,1749675763.710 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.736609
2025-06-11T21:02:43.885Z,1749675763.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.72 m.
2025-06-11T21:02:43.965Z,1749675763.965 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.991384
2025-06-11T21:02:44.215Z,1749675764.215 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.240983
2025-06-11T21:02:44.371Z,1749675764.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.72 m.
2025-06-11T21:02:44.476Z,1749675764.476 [DAT](INFO): DAT read: 21:02:45.0952 LVL= 27024, 26177, 21138, 32755, AGC= 66, IDX= 460,-0.15, 0.162, 2.390, 0.649, 0.979, PHS=-0.730, 1.458,-0.333, RAW= 320.2, -4.0, CAL= 323.2, -5.5, ROT= 186.8, 5.5
2025-06-11T21:02:44.477Z,1749675764.477 [DAT](INFO): got valid direction response:
21:02:45.0952 LVL= 27024, 26177, 21138, 32755, AGC= 66, IDX= 460,-0.15, 0.162, 2.390, 0.649, 0.979, PHS=-0.730, 1.458,-0.333, RAW= 320.2, -4.0, CAL= 323.2, -5.5, ROT= 186.8, 5.5
2025-06-11T21:02:44.478Z,1749675764.478 [DAT](INFO): DAT read: Bearing 186.8, 5.5 (Local)
2025-06-11T21:02:44.479Z,1749675764.479 [DAT](INFO): Local bearing/azimuth received:
Bearing 186.8, 5.5 (Local)
2025-06-11T21:02:44.484Z,1749675764.484 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (Round-trip 31.2 ms) speed -0.5 m/s
2025-06-11T21:02:44.485Z,1749675764.485 [DAT](INFO): DAT read: user:710>
2025-06-11T21:02:44.486Z,1749675764.486 [DAT](INFO): DAT read: Tx time:21:02:46.2098
2025-06-11T21:02:44.486Z,1749675764.486 [DAT](INFO): Ping request sent.
2025-06-11T21:02:44.486Z,1749675764.486 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:44.487Z,1749675764.487 [DAT](INFO): DAT read: TxSync time:21:02:46.2090
2025-06-11T21:02:44.488Z,1749675764.488 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-11T21:02:44.489Z,1749675764.489 [DAT](INFO): direction in FSK: [-0.988394,-0.117859,-0.095846]
2025-06-11T21:02:44.489Z,1749675764.489 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:44.489Z,1749675764.489 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:44.517Z,1749675764.517 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:44.517Z,1749675764.517 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:44.524Z,1749675764.524 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.038018
2025-06-11T21:02:44.717Z,1749675764.717 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.230425
2025-06-11T21:02:44.740Z,1749675764.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.400000 m,
deltaT: 3.531705 s,
deltaX: 2.500000 m,
approachRate: 0.707873 m/s,
rangeRepo size: 4
2025-06-11T21:02:44.742Z,1749675764.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.200266 m,
bearing: 116.730782 deg,
lat: 36.906370 deg,
lon: -122.115619 deg,
deltaT: 3.531705 s,
deltaX: 2.478373 m,
approachRate: 0.701750 m/s,
posRepo size: 4
2025-06-11T21:02:44.742Z,1749675764.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:02:44.972Z,1749675764.972 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.484606
2025-06-11T21:02:45.191Z,1749675765.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:02:45.223Z,1749675765.223 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.736285
2025-06-11T21:02:45.474Z,1749675765.474 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.987517
2025-06-11T21:02:45.570Z,1749675765.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:02:45.725Z,1749675765.725 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.238406
2025-06-11T21:02:45.980Z,1749675765.980 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.492702
2025-06-11T21:02:46.030Z,1749675766.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:02:46.229Z,1749675766.229 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.742507
2025-06-11T21:02:46.459Z,1749675766.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:02:46.489Z,1749675766.489 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.002919
2025-06-11T21:02:46.741Z,1749675766.741 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.254436
2025-06-11T21:02:46.782Z,1749675766.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:02:46.996Z,1749675766.996 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.508692
2025-06-11T21:02:47.187Z,1749675767.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:02:47.246Z,1749675767.246 [DAT](INFO): DAT read: Rx Time:21:02:48.6484
2025-06-11T21:02:47.246Z,1749675767.246 [DAT](INFO): Rx dataTimestamp_ set to:1749675767.245933
2025-06-11T21:02:47.247Z,1749675767.247 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.760364
2025-06-11T21:02:47.497Z,1749675767.497 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.010324
2025-06-11T21:02:47.567Z,1749675767.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:02:47.751Z,1749675767.751 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.264964
2025-06-11T21:02:47.976Z,1749675767.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:02:48.030Z,1749675768.030 [DAT](INFO): DAT read: 21:02:48.6484 LVL= 26480, 24033, 24130, 32755, AGC= 66, IDX= 460,-0.10,-1.490, 0.644,-1.168,-0.825, PHS=-0.577, 1.516,-0.347, RAW= 324.2, -6.0, CAL= 327.3, -8.3, ROT= 182.7, 8.3
2025-06-11T21:02:48.038Z,1749675768.038 [DAT](INFO): got valid direction response:
21:02:48.6484 LVL= 26480, 24033, 24130, 32755, AGC= 66, IDX= 460,-0.10,-1.490, 0.644,-1.168,-0.825, PHS=-0.577, 1.516,-0.347, RAW= 324.2, -6.0, CAL= 327.3, -8.3, ROT= 182.7, 8.3
2025-06-11T21:02:48.050Z,1749675768.050 [DAT](INFO): DAT read: Bearing 182.7, 8.3 (Local)
2025-06-11T21:02:48.051Z,1749675768.051 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.7, 8.3 (Local)
2025-06-11T21:02:48.066Z,1749675768.066 [DAT](INFO): DAT read: Range 10 to 50 : 25.7 m (Round-trip 34.3 ms) speed -0.8 m/s
2025-06-11T21:02:48.067Z,1749675768.067 [DAT](INFO): DAT read: user:711>
2025-06-11T21:02:48.073Z,1749675768.073 [DAT](INFO): DAT read: Tx time:21:02:49.7599
2025-06-11T21:02:48.074Z,1749675768.074 [DAT](INFO): Ping request sent.
2025-06-11T21:02:48.074Z,1749675768.074 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:48.075Z,1749675768.075 [DAT](INFO): DAT read: TxSync time:21:02:49.7591
2025-06-11T21:02:48.092Z,1749675768.092 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-11T21:02:48.093Z,1749675768.093 [DAT](INFO): direction in FSK: [-0.988427,-0.046613,-0.144356]
2025-06-11T21:02:48.093Z,1749675768.093 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:48.093Z,1749675768.093 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:48.102Z,1749675768.102 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:48.102Z,1749675768.102 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:48.116Z,1749675768.116 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.033621
2025-06-11T21:02:48.257Z,1749675768.257 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.182854
2025-06-11T21:02:48.412Z,1749675768.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.700001 m,
deltaT: 3.540069 s,
deltaX: 2.300001 m,
approachRate: 0.649705 m/s,
rangeRepo size: 4
2025-06-11T21:02:48.414Z,1749675768.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.480507 m,
bearing: 112.488063 deg,
lat: 36.906371 deg,
lon: -122.115619 deg,
deltaT: 3.540069 s,
deltaX: 2.280241 m,
approachRate: 0.644123 m/s,
posRepo size: 4
2025-06-11T21:02:48.415Z,1749675768.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.48 m.
2025-06-11T21:02:48.509Z,1749675768.509 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.434942
2025-06-11T21:02:48.761Z,1749675768.761 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.686935
2025-06-11T21:02:48.793Z,1749675768.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.48 m.
2025-06-11T21:02:49.013Z,1749675769.013 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.939475
2025-06-11T21:02:49.212Z,1749675769.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.48 m.
2025-06-11T21:02:49.266Z,1749675769.266 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.191608
2025-06-11T21:02:49.517Z,1749675769.517 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.442872
2025-06-11T21:02:49.584Z,1749675769.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.48 m.
2025-06-11T21:02:49.769Z,1749675769.769 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.694855
2025-06-11T21:02:50.023Z,1749675770.023 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.948861
2025-06-11T21:02:50.145Z,1749675770.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.48 m.
2025-06-11T21:02:50.273Z,1749675770.273 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.198802
2025-06-11T21:02:50.419Z,1749675770.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.48 m.
2025-06-11T21:02:50.525Z,1749675770.525 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.451174
2025-06-11T21:02:50.777Z,1749675770.777 [DAT](INFO): DAT read: Rx Time:21:02:52.2017
2025-06-11T21:02:50.777Z,1749675770.777 [DAT](INFO): Rx dataTimestamp_ set to:1749675770.777146
2025-06-11T21:02:50.778Z,1749675770.778 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.704018
2025-06-11T21:02:50.833Z,1749675770.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.48 m.
2025-06-11T21:02:51.029Z,1749675771.029 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.954829
2025-06-11T21:02:51.243Z,1749675771.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.48 m.
2025-06-11T21:02:51.283Z,1749675771.283 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.208481
2025-06-11T21:02:51.539Z,1749675771.539 [DAT](INFO): DAT read: 21:02:52.2017 LVL= 19952, 19953, 22962, 32755, AGC= 65, IDX= 462, 0.04,-0.611, 1.367,-0.309,-0.056, PHS=-0.466, 1.470,-0.255, RAW= 324.3, -8.2, CAL= 327.6, -11.2, ROT= 182.4, 11.2
2025-06-11T21:02:51.544Z,1749675771.544 [DAT](INFO): got valid direction response:
21:02:52.2017 LVL= 19952, 19953, 22962, 32755, AGC= 65, IDX= 462, 0.04,-0.611, 1.367,-0.309,-0.056, PHS=-0.466, 1.470,-0.255, RAW= 324.3, -8.2, CAL= 327.6, -11.2, ROT= 182.4, 11.2
2025-06-11T21:02:51.545Z,1749675771.545 [DAT](INFO): DAT read: Bearing 182.4, 11.2 (Local)
2025-06-11T21:02:51.545Z,1749675771.545 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.4, 11.2 (Local)
2025-06-11T21:02:51.547Z,1749675771.547 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m (Round-trip 37.6 ms) speed -0.7 m/s
2025-06-11T21:02:51.547Z,1749675771.547 [DAT](INFO): DAT read: user:712>
2025-06-11T21:02:51.549Z,1749675771.549 [DAT](INFO): DAT read: Tx time:21:02:53.3099
2025-06-11T21:02:51.549Z,1749675771.549 [DAT](INFO): Ping request sent.
2025-06-11T21:02:51.549Z,1749675771.549 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:51.550Z,1749675771.550 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-11T21:02:51.551Z,1749675771.551 [DAT](INFO): direction in FSK: [-0.980095,-0.041078,-0.194234]
2025-06-11T21:02:51.551Z,1749675771.551 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:51.551Z,1749675771.551 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:51.555Z,1749675771.555 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:51.555Z,1749675771.555 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:51.559Z,1749675771.559 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.009469
2025-06-11T21:02:51.654Z,1749675771.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.200001 m,
deltaT: 3.526694 s,
deltaX: 2.500000 m,
approachRate: 0.708879 m/s,
rangeRepo size: 4
2025-06-11T21:02:51.660Z,1749675771.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.959200 m,
bearing: 112.509599 deg,
lat: 36.906373 deg,
lon: -122.115619 deg,
deltaT: 3.526694 s,
deltaX: 2.478693 m,
approachRate: 0.702838 m/s,
posRepo size: 4
2025-06-11T21:02:51.661Z,1749675771.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:02:51.785Z,1749675771.785 [DAT](INFO): DAT read: TxSync time:21:02:53.3091
2025-06-11T21:02:51.786Z,1749675771.786 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.236378
2025-06-11T21:02:52.037Z,1749675772.037 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.487362
2025-06-11T21:02:52.041Z,1749675772.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:02:52.289Z,1749675772.289 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.739364
2025-06-11T21:02:52.437Z,1749675772.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:02:52.541Z,1749675772.541 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.991768
2025-06-11T21:02:52.793Z,1749675772.793 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.243348
2025-06-11T21:02:52.839Z,1749675772.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:02:53.046Z,1749675773.046 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.496754
2025-06-11T21:02:53.255Z,1749675773.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:02:53.297Z,1749675773.297 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.747384
2025-06-11T21:02:53.549Z,1749675773.549 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.999263
2025-06-11T21:02:53.631Z,1749675773.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:02:53.803Z,1749675773.803 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.253486
2025-06-11T21:02:54.032Z,1749675774.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:02:54.055Z,1749675774.055 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.505082
2025-06-11T21:02:54.305Z,1749675774.305 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.755357
2025-06-11T21:02:54.481Z,1749675774.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:02:54.558Z,1749675774.558 [DAT](INFO): DAT read: Rx Time:21:02:55.7551
2025-06-11T21:02:54.558Z,1749675774.558 [DAT](INFO): Rx dataTimestamp_ set to:1749675774.557823
2025-06-11T21:02:54.559Z,1749675774.559 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.009545
2025-06-11T21:02:54.809Z,1749675774.809 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.259438
2025-06-11T21:02:54.848Z,1749675774.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:02:55.068Z,1749675775.068 [DAT](INFO): DAT read: 21:02:55.7551 LVL= 20752, 18833, 19890, 32755, AGC= 66, IDX= 465,-0.09, 0.437, 2.577, 0.651, 1.095, PHS=-0.570, 1.529,-0.447, RAW= 327.0, -5.1, CAL= 329.6, -7.0, ROT= 180.4, 7.0
2025-06-11T21:02:55.069Z,1749675775.069 [DAT](INFO): got valid direction response:
21:02:55.7551 LVL= 20752, 18833, 19890, 32755, AGC= 66, IDX= 465,-0.09, 0.437, 2.577, 0.651, 1.095, PHS=-0.570, 1.529,-0.447, RAW= 327.0, -5.1, CAL= 329.6, -7.0, ROT= 180.4, 7.0
2025-06-11T21:02:55.071Z,1749675775.071 [DAT](INFO): DAT read: Bearing 180.4, 7.0 (Local)
2025-06-11T21:02:55.071Z,1749675775.071 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.4, 7.0 (Local)
2025-06-11T21:02:55.074Z,1749675775.074 [DAT](INFO): DAT read: Range 10 to 50 : 30.8 m (Round-trip 41.1 ms) speed -0.5 m/s
2025-06-11T21:02:55.075Z,1749675775.075 [DAT](INFO): DAT read: user:713>
2025-06-11T21:02:55.077Z,1749675775.077 [DAT](INFO): DAT read: Tx time:21:02:56.8599
2025-06-11T21:02:55.077Z,1749675775.077 [DAT](INFO): Ping request sent.
2025-06-11T21:02:55.077Z,1749675775.077 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:55.078Z,1749675775.078 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-11T21:02:55.079Z,1749675775.079 [DAT](INFO): direction in FSK: [-0.992522,-0.006929,-0.121869]
2025-06-11T21:02:55.110Z,1749675775.110 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:55.110Z,1749675775.110 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:55.182Z,1749675775.182 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:55.183Z,1749675775.183 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:55.195Z,1749675775.195 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.117465
2025-06-11T21:02:55.313Z,1749675775.313 [DAT](INFO): DAT read: TxSync time:21:02:56.8591
2025-06-11T21:02:55.314Z,1749675775.314 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.236772
2025-06-11T21:02:55.445Z,1749675775.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.799999 m,
deltaT: 3.529176 s,
deltaX: 2.599998 m,
approachRate: 0.736715 m/s,
rangeRepo size: 4
2025-06-11T21:02:55.447Z,1749675775.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.537264 m,
bearing: 110.833628 deg,
lat: 36.906378 deg,
lon: -122.115617 deg,
deltaT: 3.529176 s,
deltaX: 2.578064 m,
approachRate: 0.730500 m/s,
posRepo size: 4
2025-06-11T21:02:55.460Z,1749675775.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.54 m.
2025-06-11T21:02:55.566Z,1749675775.566 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.488568
2025-06-11T21:02:55.817Z,1749675775.817 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.739813
2025-06-11T21:02:55.822Z,1749675775.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.54 m.
2025-06-11T21:02:56.069Z,1749675776.069 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.991754
2025-06-11T21:02:56.266Z,1749675776.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.54 m.
2025-06-11T21:02:56.322Z,1749675776.322 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.244603
2025-06-11T21:02:56.573Z,1749675776.573 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.495733
2025-06-11T21:02:56.620Z,1749675776.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.54 m.
2025-06-11T21:02:56.825Z,1749675776.825 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.747824
2025-06-11T21:02:56.989Z,1749675776.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.54 m.
2025-06-11T21:02:57.078Z,1749675777.078 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.000576
2025-06-11T21:02:57.329Z,1749675777.329 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.251760
2025-06-11T21:02:57.411Z,1749675777.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.54 m.
2025-06-11T21:02:57.581Z,1749675777.581 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.503750
2025-06-11T21:02:57.796Z,1749675777.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.54 m.
2025-06-11T21:02:57.833Z,1749675777.833 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.756105
2025-06-11T21:02:58.085Z,1749675778.085 [DAT](INFO): DAT read: Rx Time:21:02:59.3084
2025-06-11T21:02:58.085Z,1749675778.085 [DAT](INFO): Rx dataTimestamp_ set to:1749675778.084960
2025-06-11T21:02:58.086Z,1749675778.086 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.008797
2025-06-11T21:02:58.266Z,1749675778.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.54 m.
2025-06-11T21:02:58.338Z,1749675778.338 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.260335
2025-06-11T21:02:58.595Z,1749675778.595 [DAT](INFO): DAT read: 21:02:59.3084 LVL= 22608, 22945, 30066, 32755, AGC= 67, IDX= 466,-0.19,-0.280, 1.905,-0.040, 0.370, PHS=-0.562, 1.582,-0.413, RAW= 326.4, -5.9, CAL= 329.3, -8.1, ROT= 180.7, 8.1
2025-06-11T21:02:58.596Z,1749675778.596 [DAT](INFO): got valid direction response:
21:02:59.3084 LVL= 22608, 22945, 30066, 32755, AGC= 67, IDX= 466,-0.19,-0.280, 1.905,-0.040, 0.370, PHS=-0.562, 1.582,-0.413, RAW= 326.4, -5.9, CAL= 329.3, -8.1, ROT= 180.7, 8.1
2025-06-11T21:02:58.597Z,1749675778.597 [DAT](INFO): DAT read: Bearing 180.7, 8.1 (Local)
2025-06-11T21:02:58.597Z,1749675778.597 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.7, 8.1 (Local)
2025-06-11T21:02:58.599Z,1749675778.599 [DAT](INFO): DAT read: Range 10 to 50 : 33.2 m (Round-trip 44.3 ms) speed -0.7 m/s
2025-06-11T21:02:58.599Z,1749675778.599 [DAT](INFO): DAT read: user:714>
2025-06-11T21:02:58.606Z,1749675778.606 [DAT](INFO): DAT read: Tx time:21:03:00.4100
2025-06-11T21:02:58.606Z,1749675778.606 [DAT](INFO): Ping request sent.
2025-06-11T21:02:58.607Z,1749675778.607 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:02:58.607Z,1749675778.607 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-11T21:02:58.608Z,1749675778.608 [DAT](INFO): direction in FSK: [-0.989950,-0.012095,-0.140901]
2025-06-11T21:02:58.608Z,1749675778.608 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:58.609Z,1749675778.609 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:58.632Z,1749675778.632 [DAT](INFO): publishing transmit ping time
2025-06-11T21:02:58.632Z,1749675778.632 [DAT](INFO): publishing direction and range info
2025-06-11T21:02:58.635Z,1749675778.635 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.028794
2025-06-11T21:02:58.666Z,1749675778.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.200001 m,
deltaT: 3.526933 s,
deltaX: 2.400002 m,
approachRate: 0.680478 m/s,
rangeRepo size: 4
2025-06-11T21:02:58.672Z,1749675778.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.916355 m,
bearing: 111.005114 deg,
lat: 36.906380 deg,
lon: -122.115617 deg,
deltaT: 3.526933 s,
deltaX: 2.379091 m,
approachRate: 0.674550 m/s,
posRepo size: 4
2025-06-11T21:02:58.674Z,1749675778.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:02:58.841Z,1749675778.841 [DAT](INFO): DAT read: TxSync time:21:03:00.4092
2025-06-11T21:02:58.842Z,1749675778.842 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.235310
2025-06-11T21:02:59.001Z,1749675779.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:02:59.093Z,1749675779.093 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.486808
2025-06-11T21:02:59.345Z,1749675779.345 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.738234
2025-06-11T21:02:59.429Z,1749675779.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:02:59.597Z,1749675779.597 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.990163
2025-06-11T21:02:59.818Z,1749675779.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:02:59.864Z,1749675779.864 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.256720
2025-06-11T21:03:00.118Z,1749675780.118 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.510176
2025-06-11T21:03:00.297Z,1749675780.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:03:00.365Z,1749675780.365 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.758860
2025-06-11T21:03:00.617Z,1749675780.617 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.010114
2025-06-11T21:03:00.650Z,1749675780.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:03:00.870Z,1749675780.870 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.262568
2025-06-11T21:03:01.036Z,1749675781.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:03:01.121Z,1749675781.121 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.514200
2025-06-11T21:03:01.373Z,1749675781.373 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.766151
2025-06-11T21:03:01.453Z,1749675781.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:03:01.625Z,1749675781.625 [DAT](INFO): DAT read: Rx Time:21:03:02.8617
2025-06-11T21:03:01.625Z,1749675781.625 [DAT](INFO): Rx dataTimestamp_ set to:1749675781.625048
2025-06-11T21:03:01.626Z,1749675781.626 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.019316
2025-06-11T21:03:01.845Z,1749675781.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:03:01.877Z,1749675781.877 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.270259
2025-06-11T21:03:02.146Z,1749675782.146 [DAT](INFO): DAT read: 21:03:02.8617 LVL= 23648, 27057, 20626, 32755, AGC= 67, IDX= 451, 0.00, 2.475,-1.490, 2.703,-3.140, PHS=-0.580, 1.697,-0.443, RAW= 326.9, -6.1, CAL= 329.7, -8.5, ROT= 180.3, 8.5
2025-06-11T21:03:02.148Z,1749675782.148 [DAT](INFO): got valid direction response:
21:03:02.8617 LVL= 23648, 27057, 20626, 32755, AGC= 67, IDX= 451, 0.00, 2.475,-1.490, 2.703,-3.140, PHS=-0.580, 1.697,-0.443, RAW= 326.9, -6.1, CAL= 329.7, -8.5, ROT= 180.3, 8.5
2025-06-11T21:03:02.149Z,1749675782.149 [DAT](INFO): DAT read: Bearing 180.3, 8.5 (Local)
2025-06-11T21:03:02.149Z,1749675782.149 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.3, 8.5 (Local)
2025-06-11T21:03:02.151Z,1749675782.151 [DAT](INFO): DAT read: Range 10 to 50 : 35.6 m (Round-trip 47.5 ms) speed -0.4 m/s
2025-06-11T21:03:02.151Z,1749675782.151 [DAT](INFO): DAT read: user:715>
2025-06-11T21:03:02.160Z,1749675782.160 [DAT](INFO): DAT read: Tx time:21:03:03.9600
2025-06-11T21:03:02.161Z,1749675782.161 [DAT](INFO): Ping request sent.
2025-06-11T21:03:02.161Z,1749675782.161 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:03:02.161Z,1749675782.161 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-11T21:03:02.162Z,1749675782.162 [DAT](INFO): direction in FSK: [-0.989002,-0.005178,-0.147809]
2025-06-11T21:03:02.162Z,1749675782.162 [DAT](INFO): publishing transmit ping time
2025-06-11T21:03:02.163Z,1749675782.163 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:02.194Z,1749675782.194 [DAT](INFO): publishing transmit ping time
2025-06-11T21:03:02.194Z,1749675782.194 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:02.206Z,1749675782.206 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:03:02.264Z,1749675782.264 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.090261
2025-06-11T21:03:02.381Z,1749675782.381 [DAT](INFO): DAT read: TxSync time:21:03:03.9592
2025-06-11T21:03:02.382Z,1749675782.382 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.221012
2025-06-11T21:03:02.593Z,1749675782.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.599998 m,
deltaT: 3.540996 s,
deltaX: 2.399998 m,
approachRate: 0.677775 m/s,
rangeRepo size: 4
2025-06-11T21:03:02.595Z,1749675782.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.295704 m,
bearing: 111.028119 deg,
lat: 36.906380 deg,
lon: -122.115617 deg,
deltaT: 3.540996 s,
deltaX: 2.379349 m,
approachRate: 0.671943 m/s,
posRepo size: 4
2025-06-11T21:03:02.600Z,1749675782.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.30 m.
2025-06-11T21:03:02.635Z,1749675782.635 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.473966
2025-06-11T21:03:02.885Z,1749675782.885 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.723992
2025-06-11T21:03:02.907Z,1749675782.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.30 m.
2025-06-11T21:03:03.137Z,1749675783.137 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.976426
2025-06-11T21:03:03.208Z,1749675783.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:03:03.371Z,1749675783.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.30 m.
2025-06-11T21:03:03.405Z,1749675783.405 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.244157
2025-06-11T21:03:03.657Z,1749675783.657 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.496124
2025-06-11T21:03:03.726Z,1749675783.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.30 m.
2025-06-11T21:03:03.912Z,1749675783.912 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.750969
2025-06-11T21:03:04.115Z,1749675784.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.30 m.
2025-06-11T21:03:04.161Z,1749675784.161 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.999913
2025-06-11T21:03:04.413Z,1749675784.413 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.251870
2025-06-11T21:03:04.651Z,1749675784.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.30 m.
2025-06-11T21:03:04.665Z,1749675784.665 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.504088
2025-06-11T21:03:04.918Z,1749675784.918 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.756697
2025-06-11T21:03:04.946Z,1749675784.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.30 m.
2025-06-11T21:03:05.169Z,1749675785.169 [DAT](INFO): DAT read: Rx Time:21:03:06.4151
2025-06-11T21:03:05.169Z,1749675785.169 [DAT](INFO): Rx dataTimestamp_ set to:1749675785.168939
2025-06-11T21:03:05.170Z,1749675785.170 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.008885
2025-06-11T21:03:05.411Z,1749675785.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.30 m.
2025-06-11T21:03:05.421Z,1749675785.421 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.260020
2025-06-11T21:03:05.682Z,1749675785.682 [DAT](INFO): DAT read: 21:03:06.4151 LVL= 31328, 27905, 23650, 32755, AGC= 69, IDX= 453, 0.01,-0.379, 1.694,-0.232, 0.168, PHS=-0.459, 1.573,-0.403, RAW= 328.6, -7.1, CAL= 331.4, -9.8, ROT= 178.6, 9.8
2025-06-11T21:03:05.683Z,1749675785.683 [DAT](INFO): got valid direction response:
21:03:06.4151 LVL= 31328, 27905, 23650, 32755, AGC= 69, IDX= 453, 0.01,-0.379, 1.694,-0.232, 0.168, PHS=-0.459, 1.573,-0.403, RAW= 328.6, -7.1, CAL= 331.4, -9.8, ROT= 178.6, 9.8
2025-06-11T21:03:05.685Z,1749675785.685 [DAT](INFO): DAT read: Bearing 178.6, 9.8 (Local)
2025-06-11T21:03:05.685Z,1749675785.685 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.6, 9.8 (Local)
2025-06-11T21:03:05.686Z,1749675785.686 [DAT](INFO): DAT read: Range 10 to 50 : 38.1 m (Round-trip 50.8 ms) speed -0.6 m/s
2025-06-11T21:03:05.687Z,1749675785.687 [DAT](INFO): DAT read: user:716>
2025-06-11T21:03:05.701Z,1749675785.701 [DAT](INFO): DAT read: Tx time:21:03:07.5101
2025-06-11T21:03:05.701Z,1749675785.701 [DAT](INFO): Ping request sent.
2025-06-11T21:03:05.701Z,1749675785.701 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:03:05.701Z,1749675785.701 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-11T21:03:05.702Z,1749675785.702 [DAT](INFO): direction in FSK: [-0.985114,0.024076,-0.170209]
2025-06-11T21:03:05.703Z,1749675785.703 [DAT](INFO): publishing transmit ping time
2025-06-11T21:03:05.703Z,1749675785.703 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:05.710Z,1749675785.710 [DAT](INFO): publishing transmit ping time
2025-06-11T21:03:05.710Z,1749675785.710 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:05.722Z,1749675785.722 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.021027
2025-06-11T21:03:05.829Z,1749675785.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.099998 m,
deltaT: 3.542966 s,
deltaX: 2.500000 m,
approachRate: 0.705624 m/s,
rangeRepo size: 4
2025-06-11T21:03:05.831Z,1749675785.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.774529 m,
bearing: 109.226588 deg,
lat: 36.906380 deg,
lon: -122.115614 deg,
deltaT: 3.542966 s,
deltaX: 2.478825 m,
approachRate: 0.699647 m/s,
posRepo size: 4
2025-06-11T21:03:05.831Z,1749675785.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:03:05.926Z,1749675785.926 [DAT](INFO): DAT read: TxSync time:21:03:07.5093
2025-06-11T21:03:05.927Z,1749675785.927 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.225940
2025-06-11T21:03:06.177Z,1749675786.177 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.475968
2025-06-11T21:03:06.295Z,1749675786.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:03:06.433Z,1749675786.433 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.731204
2025-06-11T21:03:06.681Z,1749675786.681 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.979885
2025-06-11T21:03:06.703Z,1749675786.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:03:06.935Z,1749675786.935 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.233505
2025-06-11T21:03:07.071Z,1749675787.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:03:07.185Z,1749675787.185 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.483776
2025-06-11T21:03:07.437Z,1749675787.437 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.735744
2025-06-11T21:03:07.540Z,1749675787.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:03:07.689Z,1749675787.689 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.987768
2025-06-11T21:03:07.869Z,1749675787.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.77 m.
2025-06-11T21:03:07.941Z,1749675787.941 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.240226
2025-06-11T21:03:08.193Z,1749675788.193 [DAT](INFO): DAT read: Rx Time:21:03:09.6933
2025-06-11T21:03:08.194Z,1749675788.194 [DAT](INFO): Rx dataTimestamp_ set to:1749675788.193608
2025-06-11T21:03:08.195Z,1749675788.195 [DAT](INFO): DAT read: Bearing 176.2, 11.3 (Local)
2025-06-11T21:03:08.196Z,1749675788.196 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.2, 11.3 (Local)
2025-06-11T21:03:08.198Z,1749675788.198 [DAT](INFO): DAT read: Range 10 to 50 : 40.5 m (trip time 27.0 ms) speed -0.8
2025-06-11T21:03:08.203Z,1749675788.203 [DAT](INFO): DAT read: 21:03:09.6933 LVL= 25328, 21633, 21426, 31539, AGC= 67, IDX= 198, 0.15, 3.017,-1.194, 3.063,-2.797, PHS=-0.381, 1.650,-0.426, RAW= 331.1, -8.2, CAL= 333.8, -11.3, ROT= 176.2, 11.3
2025-06-11T21:03:08.208Z,1749675788.208 [DAT](INFO): got valid direction response:
21:03:09.6933 LVL= 25328, 21633, 21426, 31539, AGC= 67, IDX= 198, 0.15, 3.017,-1.194, 3.063,-2.797, PHS=-0.381, 1.650,-0.426, RAW= 331.1, -8.2, CAL= 333.8, -11.3, ROT= 176.2, 11.3
2025-06-11T21:03:08.208Z,1749675788.208 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-11T21:03:08.209Z,1749675788.209 [DAT](INFO): direction in FSK: [-0.978459,0.064989,-0.195946]
2025-06-11T21:03:08.209Z,1749675788.209 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:08.213Z,1749675788.213 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.511904
2025-06-11T21:03:08.378Z,1749675788.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.500000 m,
deltaT: 2.521368 s,
deltaX: 2.400002 m,
approachRate: 0.951865 m/s,
rangeRepo size: 4
2025-06-11T21:03:08.385Z,1749675788.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.154404 m,
bearing: 106.657292 deg,
lat: 36.906381 deg,
lon: -122.115614 deg,
deltaT: 2.521368 s,
deltaX: 2.379875 m,
approachRate: 0.943883 m/s,
posRepo size: 4
2025-06-11T21:03:08.385Z,1749675788.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-06-11T21:03:08.446Z,1749675788.446 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.744624
2025-06-11T21:03:08.697Z,1749675788.697 [DAT](INFO): DAT read: Rx Time:21:03:10.1935
2025-06-11T21:03:08.698Z,1749675788.698 [DAT](INFO): Rx dataTimestamp_ set to:1749675788.697614
2025-06-11T21:03:08.699Z,1749675788.699 [DAT](INFO): DAT read: Bearing 176.9, 9.6 (Local)
2025-06-11T21:03:08.709Z,1749675788.709 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.9, 9.6 (Local)
2025-06-11T21:03:08.711Z,1749675788.711 [DAT](INFO): DAT read: Range 10 to 50 : 40.8 m (trip time 27.2 ms) speed -0.6
2025-06-11T21:03:08.751Z,1749675788.751 [DAT](INFO): DAT read: 21:03:10.1935 LVL= 29248, 20161, 23026, 32755, AGC= 71, IDX= 488,-0.22,-0.173, 1.858,-0.103, 0.341, PHS=-0.425, 1.564,-0.447, RAW= 330.5, -7.0, CAL= 333.1, -9.6, ROT= 176.9, 9.6
2025-06-11T21:03:08.759Z,1749675788.759 [DAT](INFO): got valid direction response:
21:03:10.1935 LVL= 29248, 20161, 23026, 32755, AGC= 71, IDX= 488,-0.22,-0.173, 1.858,-0.103, 0.341, PHS=-0.425, 1.564,-0.447, RAW= 330.5, -7.0, CAL= 333.1, -9.6, ROT= 176.9, 9.6
2025-06-11T21:03:08.759Z,1749675788.759 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-11T21:03:08.764Z,1749675788.764 [DAT](INFO): direction in FSK: [-0.984553,0.053321,-0.166769]
2025-06-11T21:03:08.765Z,1749675788.765 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:08.772Z,1749675788.772 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.071103
2025-06-11T21:03:08.837Z,1749675788.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.799999 m,
deltaT: 0.504006 s,
deltaX: 0.299999 m,
approachRate: 0.595230 m/s,
rangeRepo size: 4
2025-06-11T21:03:08.839Z,1749675788.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.451843 m,
bearing: 107.419318 deg,
lat: 36.906386 deg,
lon: -122.115614 deg,
deltaT: 0.504006 s,
deltaX: 0.297440 m,
approachRate: 0.590151 m/s,
posRepo size: 4
2025-06-11T21:03:08.839Z,1749675788.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:03:08.950Z,1749675788.950 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.248761
2025-06-11T21:03:09.118Z,1749675789.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:03:09.202Z,1749675789.202 [DAT](INFO): DAT read: Rx Time:21:03:10.6938
2025-06-11T21:03:09.202Z,1749675789.202 [DAT](INFO): Rx dataTimestamp_ set to:1749675789.201737
2025-06-11T21:03:09.203Z,1749675789.203 [DAT](INFO): DAT read: Bearing 176.7, 9.3 (Local)
2025-06-11T21:03:09.204Z,1749675789.204 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.7, 9.3 (Local)
2025-06-11T21:03:09.206Z,1749675789.206 [DAT](INFO): DAT read: Range 10 to 50 : 41.3 m (trip time 27.5 ms) speed -0.5
2025-06-11T21:03:09.211Z,1749675789.211 [DAT](INFO): DAT read: 21:03:10.6938 LVL= 29680, 26417, 26018, 32755, AGC= 70, IDX= 507, 0.19, 2.193,-2.035, 2.253, 2.715, PHS=-0.435, 1.580,-0.466, RAW= 330.8, -6.8, CAL= 333.3, -9.3, ROT= 176.7, 9.3
2025-06-11T21:03:09.212Z,1749675789.212 [DAT](INFO): got valid direction response:
21:03:10.6938 LVL= 29680, 26417, 26018, 32755, AGC= 70, IDX= 507, 0.19, 2.193,-2.035, 2.253, 2.715, PHS=-0.435, 1.580,-0.466, RAW= 330.8, -6.8, CAL= 333.3, -9.3, ROT= 176.7, 9.3
2025-06-11T21:03:09.212Z,1749675789.212 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-11T21:03:09.213Z,1749675789.213 [DAT](INFO): direction in FSK: [-0.985219,0.056807,-0.161604]
2025-06-11T21:03:09.214Z,1749675789.214 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:09.227Z,1749675789.227 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.525739
2025-06-11T21:03:09.453Z,1749675789.453 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.751807
2025-06-11T21:03:09.593Z,1749675789.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.299999 m,
deltaT: 0.504123 s,
deltaX: 0.500000 m,
approachRate: 0.991821 m/s,
rangeRepo size: 4
2025-06-11T21:03:09.595Z,1749675789.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.947800 m,
bearing: 107.223681 deg,
lat: 36.906393 deg,
lon: -122.115605 deg,
deltaT: 0.504123 s,
deltaX: 0.495956 m,
approachRate: 0.983800 m/s,
posRepo size: 4
2025-06-11T21:03:09.595Z,1749675789.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.95 m.
2025-06-11T21:03:09.707Z,1749675789.707 [DAT](INFO): DAT read: Rx Time:21:03:11.1940
2025-06-11T21:03:09.707Z,1749675789.707 [DAT](INFO): Rx dataTimestamp_ set to:1749675789.706944
2025-06-11T21:03:09.710Z,1749675789.710 [DAT](INFO): DAT read: Bearing 176.4, 10.7 (Local)
2025-06-11T21:03:09.710Z,1749675789.710 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.4, 10.7 (Local)
2025-06-11T21:03:09.714Z,1749675789.714 [DAT](INFO): DAT read: Range 10 to 50 : 41.6 m (trip time 27.7 ms) speed -0.8
2025-06-11T21:03:09.721Z,1749675789.721 [DAT](INFO): DAT read: 21:03:11.1940 LVL= 24048, 22897, 23538, 32755, AGC= 70, IDX= 509,-0.14,-1.312, 0.696,-1.259,-0.839, PHS=-0.385, 1.582,-0.423, RAW= 330.9, -7.9, CAL= 333.6, -10.7, ROT= 176.4, 10.7
2025-06-11T21:03:09.722Z,1749675789.722 [DAT](INFO): got valid direction response:
21:03:11.1940 LVL= 24048, 22897, 23538, 32755, AGC= 70, IDX= 509,-0.14,-1.312, 0.696,-1.259,-0.839, PHS=-0.385, 1.582,-0.423, RAW= 330.9, -7.9, CAL= 333.6, -10.7, ROT= 176.4, 10.7
2025-06-11T21:03:09.723Z,1749675789.723 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-11T21:03:09.725Z,1749675789.725 [DAT](INFO): direction in FSK: [-0.980674,0.061699,-0.185667]
2025-06-11T21:03:09.725Z,1749675789.725 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:09.758Z,1749675789.758 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=4.057017
2025-06-11T21:03:09.957Z,1749675789.957 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=4.255925
2025-06-11T21:03:10.031Z,1749675790.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.599998 m,
deltaT: 0.505207 s,
deltaX: 0.299999 m,
approachRate: 0.593814 m/s,
rangeRepo size: 4
2025-06-11T21:03:10.044Z,1749675790.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.245239 m,
bearing: 106.883814 deg,
lat: 36.906394 deg,
lon: -122.115605 deg,
deltaT: 0.505207 s,
deltaX: 0.297440 m,
approachRate: 0.588748 m/s,
posRepo size: 4
2025-06-11T21:03:10.044Z,1749675790.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.25 m.
2025-06-11T21:03:10.209Z,1749675790.209 [DAT](INFO): DAT read: Rx Time:21:03:11.6943
2025-06-11T21:03:10.210Z,1749675790.210 [DAT](INFO): Rx dataTimestamp_ set to:1749675790.209632
2025-06-11T21:03:10.211Z,1749675790.211 [DAT](INFO): DAT read: Bearing 176.1, 10.7 (Local)
2025-06-11T21:03:10.212Z,1749675790.212 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, 10.7 (Local)
2025-06-11T21:03:10.214Z,1749675790.214 [DAT](INFO): DAT read: Range 10 to 50 : 42.0 m (trip time 28.0 ms) speed -0.7
2025-06-11T21:03:10.219Z,1749675790.219 [DAT](INFO): DAT read: 21:03:11.6943 LVL= 28512, 22401, 25154, 32755, AGC= 70, IDX= 496, 0.15, 1.919,-2.337, 1.959, 2.390, PHS=-0.384, 1.603,-0.434, RAW= 331.2, -7.9, CAL= 333.9, -10.7, ROT= 176.1, 10.7
2025-06-11T21:03:10.221Z,1749675790.221 [DAT](INFO): got valid direction response:
21:03:11.6943 LVL= 28512, 22401, 25154, 32755, AGC= 70, IDX= 496, 0.15, 1.919,-2.337, 1.959, 2.390, PHS=-0.384, 1.603,-0.434, RAW= 331.2, -7.9, CAL= 333.9, -10.7, ROT= 176.1, 10.7
2025-06-11T21:03:10.221Z,1749675790.221 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-11T21:03:10.222Z,1749675790.222 [DAT](INFO): direction in FSK: [-0.980337,0.066833,-0.185667]
2025-06-11T21:03:10.222Z,1749675790.222 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:10.226Z,1749675790.226 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.524989
2025-06-11T21:03:10.461Z,1749675790.461 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.759832
2025-06-11T21:03:10.490Z,1749675790.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.000000 m,
deltaT: 0.502688 s,
deltaX: 0.400002 m,
approachRate: 0.795725 m/s,
rangeRepo size: 4
2025-06-11T21:03:10.525Z,1749675790.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.641964 m,
bearing: 106.593100 deg,
lat: 36.906396 deg,
lon: -122.115605 deg,
deltaT: 0.502688 s,
deltaX: 0.396725 m,
approachRate: 0.789207 m/s,
posRepo size: 4
2025-06-11T21:03:10.525Z,1749675790.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.64 m.
2025-06-11T21:03:10.714Z,1749675790.714 [DAT](INFO): DAT read: Rx Time:21:03:12.1945
2025-06-11T21:03:10.714Z,1749675790.714 [DAT](INFO): Rx dataTimestamp_ set to:1749675790.714172
2025-06-11T21:03:10.716Z,1749675790.716 [DAT](INFO): DAT read: Bearing 176.1, 10.9 (Local)
2025-06-11T21:03:10.716Z,1749675790.716 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, 10.9 (Local)
2025-06-11T21:03:10.718Z,1749675790.718 [DAT](INFO): DAT read: Range 10 to 50 : 42.3 m (trip time 28.2 ms) speed -0.8
2025-06-11T21:03:10.725Z,1749675790.725 [DAT](INFO): DAT read: 21:03:12.1945 LVL= 32752, 27665, 21810, 31395, AGC= 67, IDX= 2,-0.40,-0.152, 1.879,-0.113, 0.316, PHS=-0.379, 1.611,-0.431, RAW= 331.3, -8.0, CAL= 333.9, -10.9, ROT= 176.1, 10.9
2025-06-11T21:03:10.727Z,1749675790.727 [DAT](INFO): got valid direction response:
21:03:12.1945 LVL= 32752, 27665, 21810, 31395, AGC= 67, IDX= 2,-0.40,-0.152, 1.879,-0.113, 0.316, PHS=-0.379, 1.611,-0.431, RAW= 331.3, -8.0, CAL= 333.9, -10.9, ROT= 176.1, 10.9
2025-06-11T21:03:10.727Z,1749675790.727 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-11T21:03:10.731Z,1749675790.731 [DAT](INFO): direction in FSK: [-0.979685,0.066788,-0.189095]
2025-06-11T21:03:10.733Z,1749675790.733 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:10.737Z,1749675790.737 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.036185
2025-06-11T21:03:10.873Z,1749675790.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.299999 m,
deltaT: 0.504540 s,
deltaX: 0.299999 m,
approachRate: 0.594599 m/s,
rangeRepo size: 4
2025-06-11T21:03:10.875Z,1749675790.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.939407 m,
bearing: 106.588878 deg,
lat: 36.906396 deg,
lon: -122.115605 deg,
deltaT: 0.504540 s,
deltaX: 0.297443 m,
approachRate: 0.589534 m/s,
posRepo size: 4
2025-06-11T21:03:10.875Z,1749675790.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-06-11T21:03:10.965Z,1749675790.965 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=5.263876
2025-06-11T21:03:11.218Z,1749675791.218 [DAT](INFO): DAT read: Rx Time:21:03:12.6947
2025-06-11T21:03:11.218Z,1749675791.218 [DAT](INFO): Rx dataTimestamp_ set to:1749675791.217798
2025-06-11T21:03:11.219Z,1749675791.219 [DAT](INFO): DAT read: Bearing 175.5, 9.7 (Local)
2025-06-11T21:03:11.220Z,1749675791.220 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.5, 9.7 (Local)
2025-06-11T21:03:11.222Z,1749675791.222 [DAT](INFO): DAT read: Range 10 to 50 : 42.6 m (trip time 28.4 ms) speed -0.4
2025-06-11T21:03:11.227Z,1749675791.227 [DAT](INFO): DAT read: 21:03:12.6947 LVL= 23024, 24657, 21778, 32755, AGC= 69, IDX= 484,-0.12, 0.637, 2.624, 0.647, 1.115, PHS=-0.390, 1.556,-0.471, RAW= 332.0, -7.1, CAL= 334.5, -9.7, ROT= 175.5, 9.7
2025-06-11T21:03:11.228Z,1749675791.228 [DAT](INFO): got valid direction response:
21:03:12.6947 LVL= 23024, 24657, 21778, 32755, AGC= 69, IDX= 484,-0.12, 0.637, 2.624, 0.647, 1.115, PHS=-0.390, 1.556,-0.471, RAW= 332.0, -7.1, CAL= 334.5, -9.7, ROT= 175.5, 9.7
2025-06-11T21:03:11.228Z,1749675791.228 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-11T21:03:11.229Z,1749675791.229 [DAT](INFO): direction in FSK: [-0.982665,0.077337,-0.168489]
2025-06-11T21:03:11.230Z,1749675791.230 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:11.237Z,1749675791.237 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=5.536395
2025-06-11T21:03:11.322Z,1749675791.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.599998 m,
deltaT: 0.503626 s,
deltaX: 0.299999 m,
approachRate: 0.595679 m/s,
rangeRepo size: 4
2025-06-11T21:03:11.328Z,1749675791.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.236912 m,
bearing: 106.031698 deg,
lat: 36.906398 deg,
lon: -122.115605 deg,
deltaT: 0.503626 s,
deltaX: 0.297504 m,
approachRate: 0.590725 m/s,
posRepo size: 4
2025-06-11T21:03:11.330Z,1749675791.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.24 m.
2025-06-11T21:03:11.469Z,1749675791.469 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=5.768054
2025-06-11T21:03:11.722Z,1749675791.722 [DAT](INFO): DAT read: Rx Time:21:03:13.1948
2025-06-11T21:03:11.722Z,1749675791.722 [DAT](INFO): Rx dataTimestamp_ set to:1749675791.721708
2025-06-11T21:03:11.723Z,1749675791.723 [DAT](INFO): DAT read: Bearing 176.2, 9.0 (Local)
2025-06-11T21:03:11.724Z,1749675791.724 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.2, 9.0 (Local)
2025-06-11T21:03:11.726Z,1749675791.726 [DAT](INFO): DAT read: Range 10 to 50 : 42.8 m (trip time 28.5 ms) speed -0.7
2025-06-11T21:03:11.731Z,1749675791.731 [DAT](INFO): DAT read: 21:03:13.1948 LVL= 32752, 27585, 32754, 32755, AGC= 69, IDX= 501, 0.14, 1.480,-2.765, 1.516, 1.995, PHS=-0.428, 1.570,-0.483, RAW= 331.3, -6.6, CAL= 333.8, -9.0, ROT= 176.2, 9.0
2025-06-11T21:03:11.748Z,1749675791.748 [DAT](INFO): got valid direction response:
21:03:13.1948 LVL= 32752, 27585, 32754, 32755, AGC= 69, IDX= 501, 0.14, 1.480,-2.765, 1.516, 1.995, PHS=-0.428, 1.570,-0.483, RAW= 331.3, -6.6, CAL= 333.8, -9.0, ROT= 176.2, 9.0
2025-06-11T21:03:11.749Z,1749675791.749 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-11T21:03:11.750Z,1749675791.750 [DAT](INFO): direction in FSK: [-0.985517,0.065458,-0.156434]
2025-06-11T21:03:11.750Z,1749675791.750 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:11.753Z,1749675791.753 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=6.052376
2025-06-11T21:03:11.790Z,1749675791.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.799999 m,
deltaT: 0.503910 s,
deltaX: 0.200001 m,
approachRate: 0.396898 m/s,
rangeRepo size: 4
2025-06-11T21:03:11.803Z,1749675791.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.435207 m,
bearing: 106.800586 deg,
lat: 36.906398 deg,
lon: -122.115605 deg,
deltaT: 0.503910 s,
deltaX: 0.198296 m,
approachRate: 0.393514 m/s,
posRepo size: 4
2025-06-11T21:03:11.808Z,1749675791.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-06-11T21:03:11.973Z,1749675791.973 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=6.271856
2025-06-11T21:03:12.089Z,1749675792.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-06-11T21:03:12.226Z,1749675792.226 [DAT](INFO): DAT read: Rx Time:21:03:13.6953
2025-06-11T21:03:12.226Z,1749675792.226 [DAT](INFO): Rx dataTimestamp_ set to:1749675792.225724
2025-06-11T21:03:12.227Z,1749675792.227 [DAT](INFO): DAT read: Bearing 176.6, 9.5 (Local)
2025-06-11T21:03:12.228Z,1749675792.228 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.6, 9.5 (Local)
2025-06-11T21:03:12.230Z,1749675792.230 [DAT](INFO): DAT read: Range 10 to 50 : 43.5 m (trip time 29.0 ms) speed -0.5
2025-06-11T21:03:12.235Z,1749675792.235 [DAT](INFO): DAT read: 21:03:13.6953 LVL= 28368, 22737, 22850, 32755, AGC= 68, IDX= 505,-0.43, 1.326,-2.925, 1.383, 1.837, PHS=-0.422, 1.568,-0.457, RAW= 330.9, -6.9, CAL= 333.4, -9.5, ROT= 176.6, 9.5
2025-06-11T21:03:12.236Z,1749675792.236 [DAT](INFO): got valid direction response:
21:03:13.6953 LVL= 28368, 22737, 22850, 32755, AGC= 68, IDX= 505,-0.43, 1.326,-2.925, 1.383, 1.837, PHS=-0.422, 1.568,-0.457, RAW= 330.9, -6.9, CAL= 333.4, -9.5, ROT= 176.6, 9.5
2025-06-11T21:03:12.237Z,1749675792.237 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-11T21:03:12.238Z,1749675792.238 [DAT](INFO): direction in FSK: [-0.984550,0.058493,-0.165048]
2025-06-11T21:03:12.238Z,1749675792.238 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:12.241Z,1749675792.241 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=6.540386
2025-06-11T21:03:12.477Z,1749675792.477 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=6.775640
2025-06-11T21:03:12.552Z,1749675792.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.500000 m,
deltaT: 0.504016 s,
deltaX: 0.700001 m,
approachRate: 1.388846 m/s,
rangeRepo size: 4
2025-06-11T21:03:12.554Z,1749675792.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.129303 m,
bearing: 107.230634 deg,
lat: 36.906398 deg,
lon: -122.115604 deg,
deltaT: 0.504016 s,
deltaX: 0.694096 m,
approachRate: 1.377130 m/s,
posRepo size: 4
2025-06-11T21:03:12.555Z,1749675792.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:03:12.730Z,1749675792.730 [DAT](INFO): DAT read: Rx Time:21:03:14.1954
2025-06-11T21:03:12.730Z,1749675792.730 [DAT](INFO): Rx dataTimestamp_ set to:1749675792.729814
2025-06-11T21:03:12.731Z,1749675792.731 [DAT](INFO): DAT read: Bearing 177.1, 9.2 (Local)
2025-06-11T21:03:12.732Z,1749675792.732 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 9.2 (Local)
2025-06-11T21:03:12.734Z,1749675792.734 [DAT](INFO): DAT read: Range 10 to 50 : 43.7 m (trip time 29.1 ms) speed -0.7
2025-06-11T21:03:12.740Z,1749675792.740 [DAT](INFO): DAT read: 21:03:14.1954 LVL= 28816, 26289, 25074, 32755, AGC= 69, IDX= 506,-0.01, 0.226, 2.270, 0.303, 0.754, PHS=-0.439, 1.563,-0.454, RAW= 330.4, -6.7, CAL= 332.9, -9.2, ROT= 177.1, 9.2
2025-06-11T21:03:12.741Z,1749675792.741 [DAT](INFO): got valid direction response:
21:03:14.1954 LVL= 28816, 26289, 25074, 32755, AGC= 69, IDX= 506,-0.01, 0.226, 2.270, 0.303, 0.754, PHS=-0.439, 1.563,-0.454, RAW= 330.4, -6.7, CAL= 332.9, -9.2, ROT= 177.1, 9.2
2025-06-11T21:03:12.741Z,1749675792.741 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-11T21:03:12.743Z,1749675792.743 [DAT](INFO): direction in FSK: [-0.985872,0.049942,-0.159881]
2025-06-11T21:03:12.748Z,1749675792.748 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:12.751Z,1749675792.751 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=7.050350
2025-06-11T21:03:12.937Z,1749675792.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.700001 m,
deltaT: 0.504090 s,
deltaX: 0.200001 m,
approachRate: 0.396756 m/s,
rangeRepo size: 4
2025-06-11T21:03:12.942Z,1749675792.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.327599 m,
bearing: 107.773947 deg,
lat: 36.906397 deg,
lon: -122.115604 deg,
deltaT: 0.504090 s,
deltaX: 0.198296 m,
approachRate: 0.393373 m/s,
posRepo size: 4
2025-06-11T21:03:12.943Z,1749675792.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.33 m.
2025-06-11T21:03:12.981Z,1749675792.981 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=7.279984
2025-06-11T21:03:13.233Z,1749675793.233 [DAT](INFO): DAT read: Rx Time:21:03:14.6958
2025-06-11T21:03:13.234Z,1749675793.234 [DAT](INFO): Rx dataTimestamp_ set to:1749675793.233640
2025-06-11T21:03:13.235Z,1749675793.235 [DAT](INFO): DAT read: Bearing 176.7, 9.5 (Local)
2025-06-11T21:03:13.236Z,1749675793.236 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.7, 9.5 (Local)
2025-06-11T21:03:13.238Z,1749675793.238 [DAT](INFO): DAT read: Range 10 to 50 : 44.1 m (trip time 29.4 ms) speed -0.5
2025-06-11T21:03:13.243Z,1749675793.243 [DAT](INFO): DAT read: 21:03:14.6958 LVL= 28128, 21297, 25890, 32755, AGC= 69, IDX= 509, 0.49, 1.059, 3.105, 1.118, 1.574, PHS=-0.427, 1.579,-0.458, RAW= 330.8, -6.9, CAL= 333.3, -9.5, ROT= 176.7, 9.5
2025-06-11T21:03:13.244Z,1749675793.244 [DAT](INFO): got valid direction response:
21:03:14.6958 LVL= 28128, 21297, 25890, 32755, AGC= 69, IDX= 509, 0.49, 1.059, 3.105, 1.118, 1.574, PHS=-0.427, 1.579,-0.458, RAW= 330.8, -6.9, CAL= 333.3, -9.5, ROT= 176.7, 9.5
2025-06-11T21:03:13.244Z,1749675793.244 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-11T21:03:13.245Z,1749675793.245 [DAT](INFO): direction in FSK: [-0.984650,0.056775,-0.165048]
2025-06-11T21:03:13.246Z,1749675793.246 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:13.255Z,1749675793.255 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=7.554299
2025-06-11T21:03:13.352Z,1749675793.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.099998 m,
deltaT: 0.503826 s,
deltaX: 0.399998 m,
approachRate: 0.793920 m/s,
rangeRepo size: 4
2025-06-11T21:03:13.354Z,1749675793.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.724377 m,
bearing: 107.354003 deg,
lat: 36.906394 deg,
lon: -122.115604 deg,
deltaT: 0.503826 s,
deltaX: 0.396778 m,
approachRate: 0.787530 m/s,
posRepo size: 4
2025-06-11T21:03:13.355Z,1749675793.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.72 m.
2025-06-11T21:03:13.486Z,1749675793.486 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=7.784411
2025-06-11T21:03:13.738Z,1749675793.738 [DAT](INFO): DAT read: Rx Time:21:03:15.1958
2025-06-11T21:03:13.738Z,1749675793.738 [DAT](INFO): Rx dataTimestamp_ set to:1749675793.737834
2025-06-11T21:03:13.739Z,1749675793.739 [DAT](INFO): DAT read: Bearing 176.9, 9.3 (Local)
2025-06-11T21:03:13.740Z,1749675793.740 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.9, 9.3 (Local)
2025-06-11T21:03:13.742Z,1749675793.742 [DAT](INFO): DAT read: Range 10 to 50 : 44.3 m (trip time 29.5 ms) speed -0.5
2025-06-11T21:03:13.747Z,1749675793.747 [DAT](INFO): DAT read: 21:03:15.1958 LVL= 28512, 27473, 24402, 32755, AGC= 70, IDX= 511,-0.07,-0.875, 1.153,-0.804,-0.355, PHS=-0.432, 1.555,-0.452, RAW= 330.5, -6.8, CAL= 333.1, -9.3, ROT= 176.9, 9.3
2025-06-11T21:03:13.748Z,1749675793.748 [DAT](INFO): got valid direction response:
21:03:15.1958 LVL= 28512, 27473, 24402, 32755, AGC= 70, IDX= 511,-0.07,-0.875, 1.153,-0.804,-0.355, PHS=-0.432, 1.555,-0.452, RAW= 330.5, -6.8, CAL= 333.1, -9.3, ROT= 176.9, 9.3
2025-06-11T21:03:13.748Z,1749675793.748 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-11T21:03:13.749Z,1749675793.749 [DAT](INFO): direction in FSK: [-0.985412,0.053368,-0.161604]
2025-06-11T21:03:13.750Z,1749675793.750 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:13.757Z,1749675793.757 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=8.056419
2025-06-11T21:03:13.769Z,1749675793.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.299999 m,
deltaT: 0.504194 s,
deltaX: 0.200001 m,
approachRate: 0.396674 m/s,
rangeRepo size: 4
2025-06-11T21:03:13.771Z,1749675793.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.922672 m,
bearing: 107.544165 deg,
lat: 36.906393 deg,
lon: -122.115604 deg,
deltaT: 0.504194 s,
deltaX: 0.198296 m,
approachRate: 0.393292 m/s,
posRepo size: 4
2025-06-11T21:03:13.772Z,1749675793.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-06-11T21:03:13.989Z,1749675793.989 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=8.287969
2025-06-11T21:03:14.140Z,1749675794.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m.
2025-06-11T21:03:14.242Z,1749675794.242 [DAT](INFO): DAT read: Rx Time:21:03:15.6962
2025-06-11T21:03:14.243Z,1749675794.243 [DAT](INFO): Rx dataTimestamp_ set to:1749675794.242683
2025-06-11T21:03:14.245Z,1749675794.245 [DAT](INFO): DAT read: Bearing 176.5, 9.1 (Local)
2025-06-11T21:03:14.246Z,1749675794.246 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.5, 9.1 (Local)
2025-06-11T21:03:14.249Z,1749675794.249 [DAT](INFO): DAT read: Range 10 to 50 : 44.9 m (trip time 29.9 ms) speed -0.8
2025-06-11T21:03:14.255Z,1749675794.255 [DAT](INFO): DAT read: 21:03:15.6962 LVL= 29664, 25841, 24434, 32755, AGC= 69, IDX= 2, 0.33, 0.927, 2.966, 0.980, 1.449, PHS=-0.434, 1.564,-0.472, RAW= 330.9, -6.6, CAL= 333.5, -9.1, ROT= 176.5, 9.1
2025-06-11T21:03:14.262Z,1749675794.262 [DAT](INFO): got valid direction response:
21:03:15.6962 LVL= 29664, 25841, 24434, 32755, AGC= 69, IDX= 2, 0.33, 0.927, 2.966, 0.980, 1.449, PHS=-0.434, 1.564,-0.472, RAW= 330.9, -6.6, CAL= 333.5, -9.1, ROT= 176.5, 9.1
2025-06-11T21:03:14.263Z,1749675794.263 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-11T21:03:14.273Z,1749675794.273 [DAT](INFO): direction in FSK: [-0.985572,0.060280,-0.158158]
2025-06-11T21:03:14.273Z,1749675794.273 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:14.282Z,1749675794.282 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=8.581163
2025-06-11T21:03:14.493Z,1749675794.493 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=8.791749
2025-06-11T21:03:14.583Z,1749675794.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.900002 m,
deltaT: 0.504849 s,
deltaX: 0.600002 m,
approachRate: 1.188479 m/s,
rangeRepo size: 4
2025-06-11T21:03:14.585Z,1749675794.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.517727 m,
bearing: 107.092850 deg,
lat: 36.906393 deg,
lon: -122.115604 deg,
deltaT: 0.504849 s,
deltaX: 0.595055 m,
approachRate: 1.178678 m/s,
posRepo size: 4
2025-06-11T21:03:14.585Z,1749675794.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m.
2025-06-11T21:03:14.745Z,1749675794.745 [DAT](INFO): DAT read: Rx Time:21:03:16.1963
2025-06-11T21:03:14.746Z,1749675794.746 [DAT](INFO): Rx dataTimestamp_ set to:1749675794.745694
2025-06-11T21:03:14.747Z,1749675794.747 [DAT](INFO): DAT read: Bearing 177.6, 8.9 (Local)
2025-06-11T21:03:14.748Z,1749675794.748 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.6, 8.9 (Local)
2025-06-11T21:03:14.750Z,1749675794.750 [DAT](INFO): DAT read: Range 10 to 50 : 45.0 m (trip time 30.0 ms) speed -0.6
2025-06-11T21:03:14.755Z,1749675794.755 [DAT](INFO): DAT read: 21:03:16.1963 LVL= 31792, 27505, 25762, 32755, AGC= 69, IDX= 484,-0.11,-1.984, 0.088,-1.884,-1.433, PHS=-0.463, 1.568,-0.454, RAW= 329.8, -6.5, CAL= 332.4, -8.9, ROT= 177.6, 8.9
2025-06-11T21:03:14.756Z,1749675794.756 [DAT](INFO): got valid direction response:
21:03:16.1963 LVL= 31792, 27505, 25762, 32755, AGC= 69, IDX= 484,-0.11,-1.984, 0.088,-1.884,-1.433, PHS=-0.463, 1.568,-0.454, RAW= 329.8, -6.5, CAL= 332.4, -8.9, ROT= 177.6, 8.9
2025-06-11T21:03:14.756Z,1749675794.756 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-11T21:03:14.757Z,1749675794.757 [DAT](INFO): direction in FSK: [-0.987093,0.041371,-0.154710]
2025-06-11T21:03:14.758Z,1749675794.758 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:14.762Z,1749675794.762 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=9.061470
2025-06-11T21:03:14.965Z,1749675794.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.000000 m,
deltaT: 0.503011 s,
deltaX: 0.099998 m,
approachRate: 0.198800 m/s,
rangeRepo size: 4
2025-06-11T21:03:14.967Z,1749675794.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.616875 m,
bearing: 108.150838 deg,
lat: 36.906392 deg,
lon: -122.115605 deg,
deltaT: 0.503011 s,
deltaX: 0.099148 m,
approachRate: 0.197109 m/s,
posRepo size: 4
2025-06-11T21:03:14.967Z,1749675794.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.62 m.
2025-06-11T21:03:14.997Z,1749675794.997 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=9.295909
2025-06-11T21:03:15.249Z,1749675795.249 [DAT](INFO): DAT read: Rx Time:21:03:16.6965
2025-06-11T21:03:15.250Z,1749675795.250 [DAT](INFO): Rx dataTimestamp_ set to:1749675795.249634
2025-06-11T21:03:15.251Z,1749675795.251 [DAT](INFO): DAT read: Bearing 177.2, 9.1 (Local)
2025-06-11T21:03:15.252Z,1749675795.252 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.2, 9.1 (Local)
2025-06-11T21:03:15.254Z,1749675795.254 [DAT](INFO): DAT read: Range 10 to 50 : 45.3 m (trip time 30.2 ms) speed -0.7
2025-06-11T21:03:15.259Z,1749675795.259 [DAT](INFO): DAT read: 21:03:16.6965 LVL= 26560, 24561, 23538, 32755, AGC= 68, IDX= 502, 0.28, 0.051, 2.100, 0.132, 0.584, PHS=-0.445, 1.562,-0.455, RAW= 330.2, -6.6, CAL= 332.8, -9.1, ROT= 177.2, 9.1
2025-06-11T21:03:15.260Z,1749675795.260 [DAT](INFO): got valid direction response:
21:03:16.6965 LVL= 26560, 24561, 23538, 32755, AGC= 68, IDX= 502, 0.28, 0.051, 2.100, 0.132, 0.584, PHS=-0.445, 1.562,-0.455, RAW= 330.2, -6.6, CAL= 332.8, -9.1, ROT= 177.2, 9.1
2025-06-11T21:03:15.260Z,1749675795.260 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-11T21:03:15.261Z,1749675795.261 [DAT](INFO): direction in FSK: [-0.986235,0.048235,-0.158158]
2025-06-11T21:03:15.261Z,1749675795.261 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:15.274Z,1749675795.274 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=9.572729
2025-06-11T21:03:15.358Z,1749675795.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.299999 m,
deltaT: 0.503940 s,
deltaX: 0.299999 m,
approachRate: 0.595307 m/s,
rangeRepo size: 4
2025-06-11T21:03:15.364Z,1749675795.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.914326 m,
bearing: 107.717510 deg,
lat: 36.906392 deg,
lon: -122.115605 deg,
deltaT: 0.503940 s,
deltaX: 0.297451 m,
approachRate: 0.590251 m/s,
posRepo size: 4
2025-06-11T21:03:15.365Z,1749675795.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-06-11T21:03:15.501Z,1749675795.501 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=9.799872
2025-06-11T21:03:15.753Z,1749675795.753 [DAT](INFO): DAT read: Rx Time:21:03:17.1967
2025-06-11T21:03:15.754Z,1749675795.754 [DAT](INFO): Rx dataTimestamp_ set to:1749675795.753638
2025-06-11T21:03:15.755Z,1749675795.755 [DAT](INFO): DAT read: Bearing 177.7, 8.4 (Local)
2025-06-11T21:03:15.756Z,1749675795.756 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.7, 8.4 (Local)
2025-06-11T21:03:15.758Z,1749675795.758 [DAT](INFO): DAT read: Range 10 to 50 : 45.6 m (trip time 30.4 ms) speed -0.4
2025-06-11T21:03:15.763Z,1749675795.763 [DAT](INFO): DAT read: 21:03:17.1967 LVL= 25152, 22065, 25186, 32755, AGC= 70, IDX= 504,-0.13,-2.438,-0.403,-2.339,-1.882, PHS=-0.468, 1.526,-0.460, RAW= 329.8, -6.1, CAL= 332.3, -8.4, ROT= 177.7, 8.4
2025-06-11T21:03:15.765Z,1749675795.765 [DAT](INFO): got valid direction response:
21:03:17.1967 LVL= 25152, 22065, 25186, 32755, AGC= 70, IDX= 504,-0.13,-2.438,-0.403,-2.339,-1.882, PHS=-0.468, 1.526,-0.460, RAW= 329.8, -6.1, CAL= 332.3, -8.4, ROT= 177.7, 8.4
2025-06-11T21:03:15.765Z,1749675795.765 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-11T21:03:15.766Z,1749675795.766 [DAT](INFO): direction in FSK: [-0.988475,0.039701,-0.146083]
2025-06-11T21:03:15.766Z,1749675795.766 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:15.794Z,1749675795.794 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=10.093109
2025-06-11T21:03:15.867Z,1749675795.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.599998 m,
deltaT: 0.504004 s,
deltaX: 0.299999 m,
approachRate: 0.595232 m/s,
rangeRepo size: 4
2025-06-11T21:03:15.873Z,1749675795.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.211773 m,
bearing: 108.230067 deg,
lat: 36.906392 deg,
lon: -122.115606 deg,
deltaT: 0.504004 s,
deltaX: 0.297447 m,
approachRate: 0.590168 m/s,
posRepo size: 4
2025-06-11T21:03:15.873Z,1749675795.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-06-11T21:03:16.005Z,1749675796.005 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=10.304035
2025-06-11T21:03:16.242Z,1749675796.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:03:16.244Z,1749675796.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-06-11T21:03:16.257Z,1749675796.257 [DAT](INFO): DAT read: Rx Time:21:03:17.6970
2025-06-11T21:03:16.258Z,1749675796.258 [DAT](INFO): Rx dataTimestamp_ set to:1749675796.257588
2025-06-11T21:03:16.259Z,1749675796.259 [DAT](INFO): DAT read: Bearing 177.4, 9.0 (Local)
2025-06-11T21:03:16.260Z,1749675796.260 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.4, 9.0 (Local)
2025-06-11T21:03:16.262Z,1749675796.262 [DAT](INFO): DAT read: Range 10 to 50 : 46.1 m (trip time 30.7 ms) speed -0.6
2025-06-11T21:03:16.267Z,1749675796.267 [DAT](INFO): DAT read: 21:03:17.6970 LVL= 32624, 24273, 26866, 32755, AGC= 70, IDX= 507, 0.19, 0.852, 2.918, 0.943, 1.395, PHS=-0.455, 1.570,-0.455, RAW= 330.0, -6.6, CAL= 332.6, -9.0, ROT= 177.4, 9.0
2025-06-11T21:03:16.269Z,1749675796.269 [DAT](INFO): got valid direction response:
21:03:17.6970 LVL= 32624, 24273, 26866, 32755, AGC= 70, IDX= 507, 0.19, 0.852, 2.918, 0.943, 1.395, PHS=-0.455, 1.570,-0.455, RAW= 330.0, -6.6, CAL= 332.6, -9.0, ROT= 177.4, 9.0
2025-06-11T21:03:16.269Z,1749675796.269 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-11T21:03:16.270Z,1749675796.270 [DAT](INFO): direction in FSK: [-0.986672,0.044805,-0.156434]
2025-06-11T21:03:16.270Z,1749675796.270 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:16.274Z,1749675796.274 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=10.573060
2025-06-11T21:03:16.509Z,1749675796.509 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=10.807855
2025-06-11T21:03:16.621Z,1749675796.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.099998 m,
deltaT: 0.503950 s,
deltaX: 0.500000 m,
approachRate: 0.992162 m/s,
rangeRepo size: 4
2025-06-11T21:03:16.623Z,1749675796.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.707603 m,
bearing: 107.786414 deg,
lat: 36.906392 deg,
lon: -122.115607 deg,
deltaT: 0.503950 s,
deltaX: 0.495831 m,
approachRate: 0.983888 m/s,
posRepo size: 4
2025-06-11T21:03:16.623Z,1749675796.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.71 m.
2025-06-11T21:03:16.762Z,1749675796.762 [DAT](INFO): DAT read: Rx Time:21:03:18.1972
2025-06-11T21:03:16.762Z,1749675796.762 [DAT](INFO): Rx dataTimestamp_ set to:1749675796.761839
2025-06-11T21:03:16.763Z,1749675796.763 [DAT](INFO): DAT read: Bearing 176.8, 10.6 (Local)
2025-06-11T21:03:16.764Z,1749675796.764 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, 10.6 (Local)
2025-06-11T21:03:16.766Z,1749675796.766 [DAT](INFO): DAT read: Range 10 to 50 : 46.4 m (trip time 30.9 ms) speed -0.3
2025-06-11T21:03:16.771Z,1749675796.771 [DAT](INFO): DAT read: 21:03:18.1972 LVL= 27344, 22001, 24370, 32755, AGC= 71, IDX= 509,-0.26,-1.363, 0.643,-1.292,-0.880, PHS=-0.395, 1.570,-0.415, RAW= 330.5, -7.7, CAL= 333.2, -10.6, ROT= 176.8, 10.6
2025-06-11T21:03:16.772Z,1749675796.772 [DAT](INFO): got valid direction response:
21:03:18.1972 LVL= 27344, 22001, 24370, 32755, AGC= 71, IDX= 509,-0.26,-1.363, 0.643,-1.292,-0.880, PHS=-0.395, 1.570,-0.415, RAW= 330.5, -7.7, CAL= 333.2, -10.6, ROT= 176.8, 10.6
2025-06-11T21:03:16.772Z,1749675796.772 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-11T21:03:16.773Z,1749675796.773 [DAT](INFO): direction in FSK: [-0.981403,0.054869,-0.183951]
2025-06-11T21:03:16.774Z,1749675796.774 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:16.785Z,1749675796.785 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=11.084260
2025-06-11T21:03:17.013Z,1749675797.013 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=11.311889
2025-06-11T21:03:17.029Z,1749675797.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.400002 m,
deltaT: 0.504251 s,
deltaX: 0.300003 m,
approachRate: 0.594948 m/s,
rangeRepo size: 4
2025-06-11T21:03:17.031Z,1749675797.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.005054 m,
bearing: 107.108105 deg,
lat: 36.906392 deg,
lon: -122.115607 deg,
deltaT: 0.504251 s,
deltaX: 0.297451 m,
approachRate: 0.589887 m/s,
posRepo size: 4
2025-06-11T21:03:17.031Z,1749675797.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-06-11T21:03:17.265Z,1749675797.265 [DAT](INFO): DAT read: Rx Time:21:03:18.6975
2025-06-11T21:03:17.266Z,1749675797.266 [DAT](INFO): Rx dataTimestamp_ set to:1749675797.265574
2025-06-11T21:03:17.267Z,1749675797.267 [DAT](INFO): DAT read: Bearing 168.9, 14.7 (Local)
2025-06-11T21:03:17.267Z,1749675797.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.9, 14.7 (Local)
2025-06-11T21:03:17.270Z,1749675797.270 [DAT](INFO): DAT read: Range 10 to 50 : 46.8 m (trip time 31.2 ms) speed -0.6
2025-06-11T21:03:17.275Z,1749675797.275 [DAT](INFO): DAT read: 21:03:18.6975 LVL= 32752, 24529, 32754, 32755, AGC= 70, IDX= 512, 0.11,-2.496,-1.336,-2.629,-2.334, PHS=-0.074, 1.045,-0.298, RAW= 339.0, -10.8, CAL= 341.1, -14.7, ROT= 168.9, 14.7
2025-06-11T21:03:17.277Z,1749675797.277 [DAT](INFO): got valid direction response:
21:03:18.6975 LVL= 32752, 24529, 32754, 32755, AGC= 70, IDX= 512, 0.11,-2.496,-1.336,-2.629,-2.334, PHS=-0.074, 1.045,-0.298, RAW= 339.0, -10.8, CAL= 341.1, -14.7, ROT= 168.9, 14.7
2025-06-11T21:03:17.277Z,1749675797.277 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-11T21:03:17.278Z,1749675797.278 [DAT](INFO): direction in FSK: [-0.949173,0.186220,-0.253758]
2025-06-11T21:03:17.278Z,1749675797.278 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:17.282Z,1749675797.282 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=11.580748
2025-06-11T21:03:17.439Z,1749675797.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.799999 m,
deltaT: 0.503735 s,
deltaX: 0.399998 m,
approachRate: 0.794064 m/s,
rangeRepo size: 4
2025-06-11T21:03:17.455Z,1749675797.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.401638 m,
bearing: 99.076021 deg,
lat: 36.906392 deg,
lon: -122.115607 deg,
deltaT: 0.503735 s,
deltaX: 0.396584 m,
approachRate: 0.787286 m/s,
posRepo size: 4
2025-06-11T21:03:17.461Z,1749675797.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.40 m.
2025-06-11T21:03:17.517Z,1749675797.517 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=11.815856
2025-06-11T21:03:17.769Z,1749675797.769 [DAT](INFO): DAT read: Rx Time:21:03:19.1977
2025-06-11T21:03:17.770Z,1749675797.770 [DAT](INFO): Rx dataTimestamp_ set to:1749675797.769552
2025-06-11T21:03:17.771Z,1749675797.771 [DAT](INFO): DAT read: Bearing 177.3, 11.1 (Local)
2025-06-11T21:03:17.771Z,1749675797.771 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.3, 11.1 (Local)
2025-06-11T21:03:17.774Z,1749675797.774 [DAT](INFO): DAT read: Range 10 to 50 : 47.1 m (trip time 31.4 ms) speed -0.8
2025-06-11T21:03:17.791Z,1749675797.791 [DAT](INFO): DAT read: 21:03:19.1977 LVL= 28368, 26065, 22882, 32755, AGC= 68, IDX= 2,-0.42,-0.813, 1.201,-0.719,-0.333, PHS=-0.392, 1.582,-0.389, RAW= 329.9, -8.2, CAL= 332.7, -11.1, ROT= 177.3, 11.1
2025-06-11T21:03:17.793Z,1749675797.793 [DAT](INFO): got valid direction response:
21:03:19.1977 LVL= 28368, 26065, 22882, 32755, AGC= 68, IDX= 2,-0.42,-0.813, 1.201,-0.719,-0.333, PHS=-0.392, 1.582,-0.389, RAW= 329.9, -8.2, CAL= 332.7, -11.1, ROT= 177.3, 11.1
2025-06-11T21:03:17.793Z,1749675797.793 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-11T21:03:17.795Z,1749675797.795 [DAT](INFO): direction in FSK: [-0.980203,0.046225,-0.192522]
2025-06-11T21:03:17.795Z,1749675797.795 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:17.798Z,1749675797.798 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=12.097346
2025-06-11T21:03:17.954Z,1749675797.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.099998 m,
deltaT: 0.503978 s,
deltaX: 0.299999 m,
approachRate: 0.595263 m/s,
rangeRepo size: 4
2025-06-11T21:03:17.968Z,1749675797.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.699085 m,
bearing: 107.532435 deg,
lat: 36.906394 deg,
lon: -122.115608 deg,
deltaT: 0.503978 s,
deltaX: 0.297447 m,
approachRate: 0.590199 m/s,
posRepo size: 4
2025-06-11T21:03:17.969Z,1749675797.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m.
2025-06-11T21:03:18.023Z,1749675798.023 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=12.321455
2025-06-11T21:03:18.275Z,1749675798.275 [DAT](INFO): DAT read: Rx Time:21:03:19.6979
2025-06-11T21:03:18.275Z,1749675798.275 [DAT](INFO): Rx dataTimestamp_ set to:1749675798.275180
2025-06-11T21:03:18.278Z,1749675798.278 [DAT](INFO): DAT read: Bearing 177.5, 8.8 (Local)
2025-06-11T21:03:18.278Z,1749675798.278 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.5, 8.8 (Local)
2025-06-11T21:03:18.280Z,1749675798.280 [DAT](INFO): DAT read: Range 10 to 50 : 47.4 m (trip time 31.6 ms) speed -0.8
2025-06-11T21:03:18.285Z,1749675798.285 [DAT](INFO): DAT read: 21:03:19.6979 LVL= 32752, 25809, 32754, 32755, AGC= 70, IDX= 484, 0.07,-0.868, 1.222,-0.773,-0.313, PHS=-0.467, 1.582,-0.463, RAW= 329.9, -6.4, CAL= 332.5, -8.8, ROT= 177.5, 8.8
2025-06-11T21:03:18.286Z,1749675798.286 [DAT](INFO): got valid direction response:
21:03:19.6979 LVL= 32752, 25809, 32754, 32755, AGC= 70, IDX= 484, 0.07,-0.868, 1.222,-0.773,-0.313, PHS=-0.467, 1.582,-0.463, RAW= 329.9, -6.4, CAL= 332.5, -8.8, ROT= 177.5, 8.8
2025-06-11T21:03:18.287Z,1749675798.287 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-11T21:03:18.288Z,1749675798.288 [DAT](INFO): direction in FSK: [-0.987288,0.043106,-0.152986]
2025-06-11T21:03:18.288Z,1749675798.288 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:18.305Z,1749675798.305 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=12.590537
2025-06-11T21:03:18.325Z,1749675798.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.400002 m,
deltaT: 0.505628 s,
deltaX: 0.300003 m,
approachRate: 0.593328 m/s,
rangeRepo size: 4
2025-06-11T21:03:18.327Z,1749675798.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.996532 m,
bearing: 107.663811 deg,
lat: 36.906394 deg,
lon: -122.115608 deg,
deltaT: 0.505628 s,
deltaX: 0.297447 m,
approachRate: 0.588273 m/s,
posRepo size: 4
2025-06-11T21:03:18.327Z,1749675798.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-06-11T21:03:18.525Z,1749675798.525 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=12.823839
2025-06-11T21:03:18.739Z,1749675798.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-06-11T21:03:18.778Z,1749675798.778 [DAT](INFO): DAT read: Rx Time:21:03:20.1981
2025-06-11T21:03:18.779Z,1749675798.779 [DAT](INFO): Rx dataTimestamp_ set to:1749675798.778829
2025-06-11T21:03:18.783Z,1749675798.783 [DAT](INFO): DAT read: Bearing 177.2, 11.2 (Local)
2025-06-11T21:03:18.783Z,1749675798.783 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.2, 11.2 (Local)
2025-06-11T21:03:18.786Z,1749675798.786 [DAT](INFO): DAT read: Range 10 to 50 : 47.7 m (trip time 31.8 ms) speed -0.4
2025-06-11T21:03:18.794Z,1749675798.794 [DAT](INFO): DAT read: 21:03:20.1981 LVL= 24944, 23969, 25842, 32755, AGC= 70, IDX= 486,-0.50,-2.662,-0.681,-2.572,-2.193, PHS=-0.381, 1.559,-0.383, RAW= 330.0, -8.2, CAL= 332.8, -11.2, ROT= 177.2, 11.2
2025-06-11T21:03:18.795Z,1749675798.795 [DAT](INFO): got valid direction response:
21:03:20.1981 LVL= 24944, 23969, 25842, 32755, AGC= 70, IDX= 486,-0.50,-2.662,-0.681,-2.572,-2.193, PHS=-0.381, 1.559,-0.383, RAW= 330.0, -8.2, CAL= 332.8, -11.2, ROT= 177.2, 11.2
2025-06-11T21:03:18.799Z,1749675798.799 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-11T21:03:18.805Z,1749675798.805 [DAT](INFO): direction in FSK: [-0.979784,0.047919,-0.194234]
2025-06-11T21:03:18.805Z,1749675798.805 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:18.815Z,1749675798.815 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=13.113495
2025-06-11T21:03:19.029Z,1749675799.029 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=13.327831
2025-06-11T21:03:19.105Z,1749675799.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.700001 m,
deltaT: 0.503649 s,
deltaX: 0.299999 m,
approachRate: 0.595651 m/s,
rangeRepo size: 4
2025-06-11T21:03:19.107Z,1749675799.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.293976 m,
bearing: 107.205127 deg,
lat: 36.906397 deg,
lon: -122.115608 deg,
deltaT: 0.503649 s,
deltaX: 0.297443 m,
approachRate: 0.590577 m/s,
posRepo size: 4
2025-06-11T21:03:19.108Z,1749675799.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.29 m.
2025-06-11T21:03:19.281Z,1749675799.281 [DAT](INFO): DAT read: Rx Time:21:03:20.6985
2025-06-11T21:03:19.282Z,1749675799.282 [DAT](INFO): Rx dataTimestamp_ set to:1749675799.281652
2025-06-11T21:03:19.283Z,1749675799.283 [DAT](INFO): DAT read: Bearing 177.8, 9.7 (Local)
2025-06-11T21:03:19.284Z,1749675799.284 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.8, 9.7 (Local)
2025-06-11T21:03:19.286Z,1749675799.286 [DAT](INFO): DAT read: Range 10 to 50 : 48.3 m (trip time 32.2 ms) speed -0.5
2025-06-11T21:03:19.291Z,1749675799.291 [DAT](INFO): DAT read: 21:03:20.6985 LVL= 24816, 27793, 27938, 32755, AGC= 70, IDX= 505, 0.02,-1.720, 0.298,-1.609,-1.197, PHS=-0.435, 1.542,-0.415, RAW= 329.5, -7.1, CAL= 332.2, -9.7, ROT= 177.8, 9.7
2025-06-11T21:03:19.292Z,1749675799.292 [DAT](INFO): got valid direction response:
21:03:20.6985 LVL= 24816, 27793, 27938, 32755, AGC= 70, IDX= 505, 0.02,-1.720, 0.298,-1.609,-1.197, PHS=-0.435, 1.542,-0.415, RAW= 329.5, -7.1, CAL= 332.2, -9.7, ROT= 177.8, 9.7
2025-06-11T21:03:19.292Z,1749675799.292 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-11T21:03:19.293Z,1749675799.293 [DAT](INFO): direction in FSK: [-0.984977,0.037839,-0.168489]
2025-06-11T21:03:19.294Z,1749675799.294 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:19.304Z,1749675799.304 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=13.603341
2025-06-11T21:03:19.537Z,1749675799.537 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=13.833948
2025-06-11T21:03:19.569Z,1749675799.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.299999 m,
deltaT: 0.502823 s,
deltaX: 0.599998 m,
approachRate: 1.193260 m/s,
rangeRepo size: 4
2025-06-11T21:03:19.571Z,1749675799.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.888977 m,
bearing: 107.815252 deg,
lat: 36.906394 deg,
lon: -122.115608 deg,
deltaT: 0.502823 s,
deltaX: 0.595001 m,
approachRate: 1.183321 m/s,
posRepo size: 4
2025-06-11T21:03:19.571Z,1749675799.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.89 m.
2025-06-11T21:03:19.786Z,1749675799.786 [DAT](INFO): DAT read: Rx Time:21:03:21.1987
2025-06-11T21:03:19.787Z,1749675799.787 [DAT](INFO): Rx dataTimestamp_ set to:1749675799.786726
2025-06-11T21:03:19.789Z,1749675799.789 [DAT](INFO): DAT read: Bearing 178.3, 7.9 (Local)
2025-06-11T21:03:19.790Z,1749675799.790 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.3, 7.9 (Local)
2025-06-11T21:03:19.792Z,1749675799.792 [DAT](INFO): DAT read: Range 10 to 50 : 48.6 m (trip time 32.4 ms) speed -0.2
2025-06-11T21:03:19.831Z,1749675799.831 [DAT](INFO): DAT read: 21:03:21.1987 LVL= 27760, 25585, 23346, 32755, AGC= 70, IDX= 507,-0.45, 1.917,-2.283, 2.042, 2.507, PHS=-0.502, 1.540,-0.468, RAW= 329.2, -5.7, CAL= 331.7, -7.9, ROT= 178.3, 7.9
2025-06-11T21:03:19.850Z,1749675799.850 [DAT](INFO): got valid direction response:
21:03:21.1987 LVL= 27760, 25585, 23346, 32755, AGC= 70, IDX= 507,-0.45, 1.917,-2.283, 2.042, 2.507, PHS=-0.502, 1.540,-0.468, RAW= 329.2, -5.7, CAL= 331.7, -7.9, ROT= 178.3, 7.9
2025-06-11T21:03:19.860Z,1749675799.860 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-11T21:03:19.861Z,1749675799.861 [DAT](INFO): direction in FSK: [-0.990073,0.029385,-0.137445]
2025-06-11T21:03:19.861Z,1749675799.861 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:19.885Z,1749675799.885 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=14.183911
2025-06-11T21:03:20.027Z,1749675800.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.599998 m,
deltaT: 0.505074 s,
deltaX: 0.299999 m,
approachRate: 0.593971 m/s,
rangeRepo size: 4
2025-06-11T21:03:20.033Z,1749675800.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.186424 m,
bearing: 108.362499 deg,
lat: 36.906392 deg,
lon: -122.115608 deg,
deltaT: 0.505074 s,
deltaX: 0.297447 m,
approachRate: 0.588918 m/s,
posRepo size: 4
2025-06-11T21:03:20.034Z,1749675800.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.19 m.
2025-06-11T21:03:20.037Z,1749675800.037 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=14.335859
2025-06-11T21:03:20.290Z,1749675800.290 [DAT](INFO): DAT read: Rx Time:21:03:21.6990
2025-06-11T21:03:20.290Z,1749675800.290 [DAT](INFO): Rx dataTimestamp_ set to:1749675800.289705
2025-06-11T21:03:20.291Z,1749675800.291 [DAT](INFO): DAT read: Bearing 178.0, 8.3 (Local)
2025-06-11T21:03:20.292Z,1749675800.292 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.0, 8.3 (Local)
2025-06-11T21:03:20.294Z,1749675800.294 [DAT](INFO): DAT read: Range 10 to 50 : 49.1 m (trip time 32.7 ms) speed -0.7
2025-06-11T21:03:20.299Z,1749675800.299 [DAT](INFO): DAT read: 21:03:21.6990 LVL= 23536, 21905, 20514, 30163, AGC= 71, IDX= 510,-0.02,-3.123,-1.046,-3.008,-2.550, PHS=-0.485, 1.551,-0.461, RAW= 329.4, -6.0, CAL= 332.0, -8.3, ROT= 178.0, 8.3
2025-06-11T21:03:20.306Z,1749675800.306 [DAT](INFO): got valid direction response:
21:03:21.6990 LVL= 23536, 21905, 20514, 30163, AGC= 71, IDX= 510,-0.02,-3.123,-1.046,-3.008,-2.550, PHS=-0.485, 1.551,-0.461, RAW= 329.4, -6.0, CAL= 332.0, -8.3, ROT= 178.0, 8.3
2025-06-11T21:03:20.307Z,1749675800.307 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-11T21:03:20.326Z,1749675800.326 [DAT](INFO): direction in FSK: [-0.988923,0.034534,-0.144356]
2025-06-11T21:03:20.326Z,1749675800.326 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:20.330Z,1749675800.330 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=14.628712
2025-06-11T21:03:20.405Z,1749675800.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.099998 m,
deltaT: 0.502979 s,
deltaX: 0.500000 m,
approachRate: 0.994077 m/s,
rangeRepo size: 4
2025-06-11T21:03:20.407Z,1749675800.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.682220 m,
bearing: 108.070992 deg,
lat: 36.906391 deg,
lon: -122.115608 deg,
deltaT: 0.502979 s,
deltaX: 0.495796 m,
approachRate: 0.985720 m/s,
posRepo size: 4
2025-06-11T21:03:20.407Z,1749675800.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m.
2025-06-11T21:03:20.541Z,1749675800.541 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=14.840251
2025-06-11T21:03:20.793Z,1749675800.793 [DAT](INFO): DAT read: Rx Time:21:03:22.1992
2025-06-11T21:03:20.794Z,1749675800.794 [DAT](INFO): Rx dataTimestamp_ set to:1749675800.793605
2025-06-11T21:03:20.795Z,1749675800.795 [DAT](INFO): DAT read: Bearing 176.7, 10.2 (Local)
2025-06-11T21:03:20.796Z,1749675800.796 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.7, 10.2 (Local)
2025-06-11T21:03:20.798Z,1749675800.798 [DAT](INFO): DAT read: Range 10 to 50 : 49.4 m (trip time 32.9 ms) speed -0.3
2025-06-11T21:03:20.803Z,1749675800.803 [DAT](INFO): DAT read: 21:03:22.1992 LVL= 28432, 30529, 27106, 32755, AGC= 71, IDX= 511, 0.35,-2.577,-0.629,-2.511,-2.099, PHS=-0.390, 1.517,-0.415, RAW= 330.6, -7.5, CAL= 333.3, -10.2, ROT= 176.7, 10.2
2025-06-11T21:03:20.804Z,1749675800.804 [DAT](INFO): got valid direction response:
21:03:22.1992 LVL= 28432, 30529, 27106, 32755, AGC= 71, IDX= 511, 0.35,-2.577,-0.629,-2.511,-2.099, PHS=-0.390, 1.517,-0.415, RAW= 330.6, -7.5, CAL= 333.3, -10.2, ROT= 176.7, 10.2
2025-06-11T21:03:20.804Z,1749675800.804 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-11T21:03:20.805Z,1749675800.805 [DAT](INFO): direction in FSK: [-0.982564,0.056654,-0.177085]
2025-06-11T21:03:20.806Z,1749675800.806 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:20.813Z,1749675800.813 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=15.112233
2025-06-11T21:03:20.854Z,1749675800.854 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -89, +70,A
2025-06-11T21:03:20.898Z,1749675800.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.400002 m,
deltaT: 0.503900 s,
deltaX: 0.300003 m,
approachRate: 0.595362 m/s,
rangeRepo size: 4
2025-06-11T21:03:20.909Z,1749675800.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.979671 m,
bearing: 106.727320 deg,
lat: 36.906391 deg,
lon: -122.115608 deg,
deltaT: 0.503900 s,
deltaX: 0.297451 m,
approachRate: 0.590298 m/s,
posRepo size: 4
2025-06-11T21:03:20.910Z,1749675800.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.98 m.
2025-06-11T21:03:21.045Z,1749675801.045 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=15.343899
2025-06-11T21:03:21.215Z,1749675801.215 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:03:21.238Z,1749675801.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.98 m.
2025-06-11T21:03:21.300Z,1749675801.300 [DAT](INFO): DAT read: Rx Time:21:03:22.6995
2025-06-11T21:03:21.300Z,1749675801.300 [DAT](INFO): Rx dataTimestamp_ set to:1749675801.300043
2025-06-11T21:03:21.303Z,1749675801.303 [DAT](INFO): DAT read: Bearing 177.2, 8.8 (Local)
2025-06-11T21:03:21.303Z,1749675801.303 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.2, 8.8 (Local)
2025-06-11T21:03:21.308Z,1749675801.308 [DAT](INFO): DAT read: Range 10 to 50 : 49.8 m (trip time 33.2 ms) speed -0.1
2025-06-11T21:03:21.324Z,1749675801.324 [DAT](INFO): DAT read: 21:03:22.6995 LVL= 32752, 28657, 22418, 31859, AGC= 69, IDX= 3,-0.09,-3.072,-1.044,-2.990,-2.536, PHS=-0.449, 1.539,-0.457, RAW= 330.2, -6.4, CAL= 332.8, -8.8, ROT= 177.2, 8.8
2025-06-11T21:03:21.325Z,1749675801.325 [DAT](INFO): got valid direction response:
21:03:22.6995 LVL= 32752, 28657, 22418, 31859, AGC= 69, IDX= 3,-0.09,-3.072,-1.044,-2.990,-2.536, PHS=-0.449, 1.539,-0.457, RAW= 330.2, -6.4, CAL= 332.8, -8.8, ROT= 177.2, 8.8
2025-06-11T21:03:21.326Z,1749675801.326 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-11T21:03:21.327Z,1749675801.327 [DAT](INFO): direction in FSK: [-0.987049,0.048275,-0.152986]
2025-06-11T21:03:21.327Z,1749675801.327 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:21.340Z,1749675801.340 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=15.639405
2025-06-11T21:03:21.551Z,1749675801.551 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=15.849516
2025-06-11T21:03:21.741Z,1749675801.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.799999 m,
deltaT: 0.506438 s,
deltaX: 0.399998 m,
approachRate: 0.789826 m/s,
rangeRepo size: 4
2025-06-11T21:03:21.743Z,1749675801.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.376324 m,
bearing: 107.387230 deg,
lat: 36.906391 deg,
lon: -122.115607 deg,
deltaT: 0.506438 s,
deltaX: 0.396652 m,
approachRate: 0.783220 m/s,
posRepo size: 4
2025-06-11T21:03:21.743Z,1749675801.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.38 m.
2025-06-11T21:03:21.802Z,1749675801.802 [DAT](INFO): DAT read: Rx Time:21:03:23.1996
2025-06-11T21:03:21.803Z,1749675801.803 [DAT](INFO): Rx dataTimestamp_ set to:1749675801.802690
2025-06-11T21:03:21.806Z,1749675801.806 [DAT](INFO): DAT read: Bearing 176.9, 9.9 (Local)
2025-06-11T21:03:21.806Z,1749675801.806 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.9, 9.9 (Local)
2025-06-11T21:03:21.809Z,1749675801.809 [DAT](INFO): DAT read: Range 10 to 50 : 50.0 m (trip time 33.3 ms) speed -0.6
2025-06-11T21:03:21.816Z,1749675801.816 [DAT](INFO): DAT read: 21:03:23.1996 LVL= 24000, 22353, 18994, 32755, AGC= 72, IDX= 500, 0.27,-2.221,-0.198,-2.150,-1.717, PHS=-0.416, 1.566,-0.436, RAW= 330.5, -7.2, CAL= 333.1, -9.9, ROT= 176.9, 9.9
2025-06-11T21:03:21.818Z,1749675801.818 [DAT](INFO): got valid direction response:
21:03:23.1996 LVL= 24000, 22353, 18994, 32755, AGC= 72, IDX= 500, 0.27,-2.221,-0.198,-2.150,-1.717, PHS=-0.416, 1.566,-0.436, RAW= 330.5, -7.2, CAL= 333.1, -9.9, ROT= 176.9, 9.9
2025-06-11T21:03:21.818Z,1749675801.818 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-11T21:03:21.825Z,1749675801.825 [DAT](INFO): direction in FSK: [-0.983668,0.053274,-0.171929]
2025-06-11T21:03:21.826Z,1749675801.826 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:21.834Z,1749675801.834 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=16.133347
2025-06-11T21:03:22.053Z,1749675802.053 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=16.351934
2025-06-11T21:03:22.063Z,1749675802.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.000000 m,
deltaT: 0.502647 s,
deltaX: 0.200001 m,
approachRate: 0.397895 m/s,
rangeRepo size: 4
2025-06-11T21:03:22.069Z,1749675802.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.574623 m,
bearing: 107.091258 deg,
lat: 36.906393 deg,
lon: -122.115607 deg,
deltaT: 0.502647 s,
deltaX: 0.198299 m,
approachRate: 0.394510 m/s,
posRepo size: 4
2025-06-11T21:03:22.070Z,1749675802.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.57 m.
2025-06-11T21:03:22.305Z,1749675802.305 [DAT](INFO): DAT read: Rx Time:21:03:23.6999
2025-06-11T21:03:22.306Z,1749675802.306 [DAT](INFO): Rx dataTimestamp_ set to:1749675802.305621
2025-06-11T21:03:22.307Z,1749675802.307 [DAT](INFO): DAT read: Bearing 176.6, 9.7 (Local)
2025-06-11T21:03:22.308Z,1749675802.308 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.6, 9.7 (Local)
2025-06-11T21:03:22.311Z,1749675802.311 [DAT](INFO): DAT read: Range 10 to 50 : 50.3 m (trip time 33.5 ms) speed -0.4
2025-06-11T21:03:22.315Z,1749675802.315 [DAT](INFO): DAT read: 21:03:23.6999 LVL= 28832, 26929, 26962, 32755, AGC= 71, IDX= 503,-0.17, 2.624,-1.695, 2.682, 3.115, PHS=-0.404, 1.520,-0.437, RAW= 330.8, -7.1, CAL= 333.4, -9.7, ROT= 176.6, 9.7
2025-06-11T21:03:22.317Z,1749675802.317 [DAT](INFO): got valid direction response:
21:03:23.6999 LVL= 28832, 26929, 26962, 32755, AGC= 71, IDX= 503,-0.17, 2.624,-1.695, 2.682, 3.115, PHS=-0.404, 1.520,-0.437, RAW= 330.8, -7.1, CAL= 333.4, -9.7, ROT= 176.6, 9.7
2025-06-11T21:03:22.318Z,1749675802.318 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-11T21:03:22.319Z,1749675802.319 [DAT](INFO): direction in FSK: [-0.983968,0.058458,-0.168489]
2025-06-11T21:03:22.319Z,1749675802.319 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:22.322Z,1749675802.322 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=16.621464
2025-06-11T21:03:22.490Z,1749675802.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.299999 m,
deltaT: 0.502931 s,
deltaX: 0.299999 m,
approachRate: 0.596502 m/s,
rangeRepo size: 4
2025-06-11T21:03:22.496Z,1749675802.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.872169 m,
bearing: 106.818940 deg,
lat: 36.906395 deg,
lon: -122.115607 deg,
deltaT: 0.502931 s,
deltaX: 0.297546 m,
approachRate: 0.591625 m/s,
posRepo size: 4
2025-06-11T21:03:22.497Z,1749675802.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.87 m.
2025-06-11T21:03:22.560Z,1749675802.560 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=16.858122
2025-06-11T21:03:22.809Z,1749675802.809 [DAT](INFO): DAT read: Rx Time:21:03:24.2000
2025-06-11T21:03:22.810Z,1749675802.810 [DAT](INFO): Rx dataTimestamp_ set to:1749675802.809582
2025-06-11T21:03:22.811Z,1749675802.811 [DAT](INFO): DAT read: Bearing 176.5, 9.4 (Local)
2025-06-11T21:03:22.812Z,1749675802.812 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.5, 9.4 (Local)
2025-06-11T21:03:22.814Z,1749675802.814 [DAT](INFO): DAT read: Range 10 to 50 : 50.4 m (trip time 33.6 ms) speed -0.8
2025-06-11T21:03:22.819Z,1749675802.819 [DAT](INFO): DAT read: 21:03:24.2000 LVL= 20784, 21841, 19378, 32755, AGC= 69, IDX= 504, 0.26, 2.902,-1.401, 2.953,-2.880, PHS=-0.413, 1.526,-0.452, RAW= 331.0, -6.8, CAL= 333.5, -9.4, ROT= 176.5, 9.4
2025-06-11T21:03:22.820Z,1749675802.820 [DAT](INFO): got valid direction response:
21:03:24.2000 LVL= 20784, 21841, 19378, 32755, AGC= 69, IDX= 504, 0.26, 2.902,-1.401, 2.953,-2.880, PHS=-0.413, 1.526,-0.452, RAW= 331.0, -6.8, CAL= 333.5, -9.4, ROT= 176.5, 9.4
2025-06-11T21:03:22.820Z,1749675802.820 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-11T21:03:22.821Z,1749675802.821 [DAT](INFO): direction in FSK: [-0.984732,0.060229,-0.163326]
2025-06-11T21:03:22.821Z,1749675802.821 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:22.825Z,1749675802.825 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=17.123999
2025-06-11T21:03:23.061Z,1749675803.061 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=17.359802
2025-06-11T21:03:23.085Z,1749675803.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.400002 m,
deltaT: 0.503961 s,
deltaX: 0.100002 m,
approachRate: 0.198433 m/s,
rangeRepo size: 4
2025-06-11T21:03:23.087Z,1749675803.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.971321 m,
bearing: 106.762102 deg,
lat: 36.906397 deg,
lon: -122.115607 deg,
deltaT: 0.503961 s,
deltaX: 0.099152 m,
approachRate: 0.196745 m/s,
posRepo size: 4
2025-06-11T21:03:23.087Z,1749675803.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.97 m.
2025-06-11T21:03:23.315Z,1749675803.315 [DAT](INFO): DAT read: Rx Time:21:03:24.7003
2025-06-11T21:03:23.315Z,1749675803.315 [DAT](INFO): Rx dataTimestamp_ set to:1749675803.315001
2025-06-11T21:03:23.317Z,1749675803.317 [DAT](INFO): DAT read: Bearing 176.3, 8.8 (Local)
2025-06-11T21:03:23.317Z,1749675803.317 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.3, 8.8 (Local)
2025-06-11T21:03:23.319Z,1749675803.319 [DAT](INFO): DAT read: Range 10 to 50 : 51.0 m (trip time 34.0 ms) speed -0.8
2025-06-11T21:03:23.325Z,1749675803.325 [DAT](INFO): DAT read: 21:03:24.7003 LVL= 28432, 25249, 25794, 32755, AGC= 73, IDX= 492,-0.11, 2.057,-2.226, 2.097, 2.570, PHS=-0.426, 1.534,-0.477, RAW= 331.3, -6.4, CAL= 333.7, -8.8, ROT= 176.3, 8.8
2025-06-11T21:03:23.327Z,1749675803.327 [DAT](INFO): got valid direction response:
21:03:24.7003 LVL= 28432, 25249, 25794, 32755, AGC= 73, IDX= 492,-0.11, 2.057,-2.226, 2.097, 2.570, PHS=-0.426, 1.534,-0.477, RAW= 331.3, -6.4, CAL= 333.7, -8.8, ROT= 176.3, 8.8
2025-06-11T21:03:23.327Z,1749675803.327 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-11T21:03:23.330Z,1749675803.330 [DAT](INFO): direction in FSK: [-0.986169,0.063772,-0.152986]
2025-06-11T21:03:23.330Z,1749675803.330 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:23.335Z,1749675803.335 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=17.634422
2025-06-11T21:03:23.569Z,1749675803.569 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=17.866911
2025-06-11T21:03:23.613Z,1749675803.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.000000 m,
deltaT: 0.505419 s,
deltaX: 0.599998 m,
approachRate: 1.187131 m/s,
rangeRepo size: 4
2025-06-11T21:03:23.615Z,1749675803.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.566334 m,
bearing: 106.650851 deg,
lat: 36.906397 deg,
lon: -122.115607 deg,
deltaT: 0.505419 s,
deltaX: 0.595013 m,
approachRate: 1.177266 m/s,
posRepo size: 4
2025-06-11T21:03:23.620Z,1749675803.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.57 m.
2025-06-11T21:03:23.818Z,1749675803.818 [DAT](INFO): DAT read: Rx Time:21:03:25.2004
2025-06-11T21:03:23.819Z,1749675803.819 [DAT](INFO): Rx dataTimestamp_ set to:1749675803.818460
2025-06-11T21:03:23.821Z,1749675803.821 [DAT](INFO): DAT read: Bearing 176.1, 10.0 (Local)
2025-06-11T21:03:23.821Z,1749675803.821 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, 10.0 (Local)
2025-06-11T21:03:23.825Z,1749675803.825 [DAT](INFO): DAT read: Range 10 to 50 : 51.2 m (trip time 34.1 ms) speed -1.3
2025-06-11T21:03:23.831Z,1749675803.831 [DAT](INFO): DAT read: 21:03:25.2004 LVL= 28640, 29921, 26450, 32755, AGC= 71, IDX= 493, 0.33, 2.388,-1.915, 2.426, 2.867, PHS=-0.391, 1.548,-0.444, RAW= 331.3, -7.3, CAL= 333.9, -10.0, ROT= 176.1, 10.0
2025-06-11T21:03:23.833Z,1749675803.833 [DAT](INFO): got valid direction response:
21:03:25.2004 LVL= 28640, 29921, 26450, 32755, AGC= 71, IDX= 493, 0.33, 2.388,-1.915, 2.426, 2.867, PHS=-0.391, 1.548,-0.444, RAW= 331.3, -7.3, CAL= 333.9, -10.0, ROT= 176.1, 10.0
2025-06-11T21:03:23.834Z,1749675803.834 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-11T21:03:23.835Z,1749675803.835 [DAT](INFO): direction in FSK: [-0.982527,0.066982,-0.173648]
2025-06-11T21:03:23.835Z,1749675803.835 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:23.842Z,1749675803.842 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=18.140850
2025-06-11T21:03:24.069Z,1749675804.069 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=18.367861
2025-06-11T21:03:24.111Z,1749675804.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.200001 m,
deltaT: 0.503459 s,
deltaX: 0.200001 m,
approachRate: 0.397253 m/s,
rangeRepo size: 4
2025-06-11T21:03:24.113Z,1749675804.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.764633 m,
bearing: 106.453126 deg,
lat: 36.906398 deg,
lon: -122.115608 deg,
deltaT: 0.503459 s,
deltaX: 0.198299 m,
approachRate: 0.393874 m/s,
posRepo size: 4
2025-06-11T21:03:24.113Z,1749675804.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:03:24.321Z,1749675804.321 [DAT](INFO): DAT read: Rx Time:21:03:25.7008
2025-06-11T21:03:24.322Z,1749675804.322 [DAT](INFO): Rx dataTimestamp_ set to:1749675804.321638
2025-06-11T21:03:24.323Z,1749675804.323 [DAT](INFO): DAT read: Bearing 174.8, 10.1 (Local)
2025-06-11T21:03:24.324Z,1749675804.324 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.8, 10.1 (Local)
2025-06-11T21:03:24.326Z,1749675804.326 [DAT](INFO): DAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed -0.9
2025-06-11T21:03:24.331Z,1749675804.331 [DAT](INFO): DAT read: 21:03:25.7008 LVL= 28016, 26897, 25890, 32755, AGC= 66, IDX= 497,-0.06, 1.657,-2.718, 1.640, 2.097, PHS=-0.353, 1.515,-0.460, RAW= 332.8, -7.4, CAL= 335.2, -10.1, ROT= 174.8, 10.1
2025-06-11T21:03:24.332Z,1749675804.332 [DAT](INFO): got valid direction response:
21:03:25.7008 LVL= 28016, 26897, 25890, 32755, AGC= 66, IDX= 497,-0.06, 1.657,-2.718, 1.640, 2.097, PHS=-0.353, 1.515,-0.460, RAW= 332.8, -7.4, CAL= 335.2, -10.1, ROT= 174.8, 10.1
2025-06-11T21:03:24.332Z,1749675804.332 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-11T21:03:24.333Z,1749675804.333 [DAT](INFO): direction in FSK: [-0.980451,0.089228,-0.175367]
2025-06-11T21:03:24.334Z,1749675804.334 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:24.338Z,1749675804.338 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=18.637014
2025-06-11T21:03:24.519Z,1749675804.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.799999 m,
deltaT: 0.503178 s,
deltaX: 0.599998 m,
approachRate: 1.192418 m/s,
rangeRepo size: 4
2025-06-11T21:03:24.526Z,1749675804.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.359673 m,
bearing: 105.151219 deg,
lat: 36.906398 deg,
lon: -122.115607 deg,
deltaT: 0.503178 s,
deltaX: 0.595039 m,
approachRate: 1.182562 m/s,
posRepo size: 4
2025-06-11T21:03:24.526Z,1749675804.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.36 m.
2025-06-11T21:03:24.576Z,1749675804.576 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=18.874262
2025-06-11T21:03:24.825Z,1749675804.825 [DAT](INFO): DAT read: Rx Time:21:03:26.2010
2025-06-11T21:03:24.826Z,1749675804.826 [DAT](INFO): Rx dataTimestamp_ set to:1749675804.825665
2025-06-11T21:03:24.827Z,1749675804.827 [DAT](INFO): DAT read: Bearing 176.8, 8.5 (Local)
2025-06-11T21:03:24.828Z,1749675804.828 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, 8.5 (Local)
2025-06-11T21:03:24.830Z,1749675804.830 [DAT](INFO): DAT read: Range 10 to 50 : 52.1 m (trip time 34.7 ms) speed -0.5
2025-06-11T21:03:24.838Z,1749675804.838 [DAT](INFO): DAT read: 21:03:26.2010 LVL= 32752, 26033, 32754, 32755, AGC= 70, IDX= 498, 0.36, 2.347,-1.873, 2.408, 2.891, PHS=-0.456, 1.566,-0.486, RAW= 330.7, -6.2, CAL= 333.2, -8.5, ROT= 176.8, 8.5
2025-06-11T21:03:24.839Z,1749675804.839 [DAT](INFO): got valid direction response:
21:03:26.2010 LVL= 32752, 26033, 32754, 32755, AGC= 70, IDX= 498, 0.36, 2.347,-1.873, 2.408, 2.891, PHS=-0.456, 1.566,-0.486, RAW= 330.7, -6.2, CAL= 333.2, -8.5, ROT= 176.8, 8.5
2025-06-11T21:03:24.840Z,1749675804.840 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-11T21:03:24.841Z,1749675804.841 [DAT](INFO): direction in FSK: [-0.987474,0.055208,-0.147809]
2025-06-11T21:03:24.841Z,1749675804.841 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:24.845Z,1749675804.845 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=19.143938
2025-06-11T21:03:25.010Z,1749675805.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.099998 m,
deltaT: 0.504027 s,
deltaX: 0.299999 m,
approachRate: 0.595205 m/s,
rangeRepo size: 4
2025-06-11T21:03:25.021Z,1749675805.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.657124 m,
bearing: 107.195012 deg,
lat: 36.906398 deg,
lon: -122.115607 deg,
deltaT: 0.504027 s,
deltaX: 0.297451 m,
approachRate: 0.590149 m/s,
posRepo size: 4
2025-06-11T21:03:25.021Z,1749675805.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-06-11T21:03:25.078Z,1749675805.078 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=19.376566
2025-06-11T21:03:25.305Z,1749675805.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.66 m.
2025-06-11T21:03:25.329Z,1749675805.329 [DAT](INFO): DAT read: Rx Time:21:03:26.7014
2025-06-11T21:03:25.330Z,1749675805.330 [DAT](INFO): Rx dataTimestamp_ set to:1749675805.329650
2025-06-11T21:03:25.331Z,1749675805.331 [DAT](INFO): DAT read: Bearing 175.8, 8.3 (Local)
2025-06-11T21:03:25.332Z,1749675805.332 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.8, 8.3 (Local)
2025-06-11T21:03:25.334Z,1749675805.334 [DAT](INFO): DAT read: Range 10 to 50 : 52.7 m (trip time 35.1 ms) speed -0.7
2025-06-11T21:03:25.339Z,1749675805.339 [DAT](INFO): DAT read: 21:03:26.7014 LVL= 29744, 29793, 29426, 32755, AGC= 68, IDX= 502,-0.09, 2.028,-2.307, 2.049, 2.535, PHS=-0.419, 1.488,-0.489, RAW= 331.8, -6.0, CAL= 334.2, -8.3, ROT= 175.8, 8.3
2025-06-11T21:03:25.341Z,1749675805.341 [DAT](INFO): got valid direction response:
21:03:26.7014 LVL= 29744, 29793, 29426, 32755, AGC= 68, IDX= 502,-0.09, 2.028,-2.307, 2.049, 2.535, PHS=-0.419, 1.488,-0.489, RAW= 331.8, -6.0, CAL= 334.2, -8.3, ROT= 175.8, 8.3
2025-06-11T21:03:25.341Z,1749675805.341 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-11T21:03:25.342Z,1749675805.342 [DAT](INFO): direction in FSK: [-0.986868,0.072471,-0.144356]
2025-06-11T21:03:25.342Z,1749675805.342 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:25.346Z,1749675805.346 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=19.645151
2025-06-11T21:03:25.584Z,1749675805.584 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=19.882174
2025-06-11T21:03:25.777Z,1749675805.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.700001 m,
deltaT: 0.503985 s,
deltaX: 0.600002 m,
approachRate: 1.190516 m/s,
rangeRepo size: 4
2025-06-11T21:03:25.779Z,1749675805.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.251972 m,
bearing: 106.183616 deg,
lat: 36.906400 deg,
lon: -122.115606 deg,
deltaT: 0.503985 s,
deltaX: 0.594849 m,
approachRate: 1.180290 m/s,
posRepo size: 4
2025-06-11T21:03:25.779Z,1749675805.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.25 m.
2025-06-11T21:03:25.835Z,1749675805.835 [DAT](INFO): DAT read: Rx Time:21:03:27.2015
2025-06-11T21:03:25.836Z,1749675805.836 [DAT](INFO): Rx dataTimestamp_ set to:1749675805.835399
2025-06-11T21:03:25.838Z,1749675805.838 [DAT](INFO): DAT read: Bearing 176.3, 9.6 (Local)
2025-06-11T21:03:25.838Z,1749675805.838 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.3, 9.6 (Local)
2025-06-11T21:03:25.842Z,1749675805.842 [DAT](INFO): DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.5
2025-06-11T21:03:25.854Z,1749675805.854 [DAT](INFO): DAT read: 21:03:27.2015 LVL= 27200, 26545, 20882, 32755, AGC= 70, IDX= 503, 0.24,-2.979,-0.997,-2.933,-2.487, PHS=-0.404, 1.538,-0.449, RAW= 331.1, -7.0, CAL= 333.7, -9.6, ROT= 176.3, 9.6
2025-06-11T21:03:25.868Z,1749675805.868 [DAT](INFO): got valid direction response:
21:03:27.2015 LVL= 27200, 26545, 20882, 32755, AGC= 70, IDX= 503, 0.24,-2.979,-0.997,-2.933,-2.487, PHS=-0.404, 1.538,-0.449, RAW= 331.1, -7.0, CAL= 333.7, -9.6, ROT= 176.3, 9.6
2025-06-11T21:03:25.870Z,1749675805.870 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-11T21:03:25.871Z,1749675805.871 [DAT](INFO): direction in FSK: [-0.983941,0.063628,-0.166769]
2025-06-11T21:03:25.880Z,1749675805.880 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:25.906Z,1749675805.906 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=20.204842
2025-06-11T21:03:26.085Z,1749675806.085 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=20.383659
2025-06-11T21:03:26.155Z,1749675806.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.799999 m,
deltaT: 0.505749 s,
deltaX: 0.099998 m,
approachRate: 0.197724 m/s,
rangeRepo size: 4
2025-06-11T21:03:26.185Z,1749675806.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.351120 m,
bearing: 106.640728 deg,
lat: 36.906400 deg,
lon: -122.115607 deg,
deltaT: 0.505749 s,
deltaX: 0.099148 m,
approachRate: 0.196042 m/s,
posRepo size: 4
2025-06-11T21:03:26.187Z,1749675806.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-06-11T21:03:26.337Z,1749675806.337 [DAT](INFO): DAT read: Rx Time:21:03:27.7018
2025-06-11T21:03:26.338Z,1749675806.338 [DAT](INFO): Rx dataTimestamp_ set to:1749675806.337583
2025-06-11T21:03:26.339Z,1749675806.339 [DAT](INFO): DAT read: Bearing 175.8, 7.9 (Local)
2025-06-11T21:03:26.340Z,1749675806.340 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.8, 7.9 (Local)
2025-06-11T21:03:26.342Z,1749675806.342 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed -0.5
2025-06-11T21:03:26.347Z,1749675806.347 [DAT](INFO): DAT read: 21:03:27.7018 LVL= 22368, 22993, 20290, 29939, AGC= 72, IDX= 506,-0.26, 1.890,-2.445, 1.910, 2.406, PHS=-0.428, 1.479,-0.499, RAW= 331.8, -5.7, CAL= 334.2, -7.9, ROT= 175.8, 7.9
2025-06-11T21:03:26.349Z,1749675806.349 [DAT](INFO): got valid direction response:
21:03:27.7018 LVL= 22368, 22993, 20290, 29939, AGC= 72, IDX= 506,-0.26, 1.890,-2.445, 1.910, 2.406, PHS=-0.428, 1.479,-0.499, RAW= 331.8, -5.7, CAL= 334.2, -7.9, ROT= 175.8, 7.9
2025-06-11T21:03:26.349Z,1749675806.349 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-11T21:03:26.350Z,1749675806.350 [DAT](INFO): direction in FSK: [-0.987849,0.072543,-0.137445]
2025-06-11T21:03:26.350Z,1749675806.350 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:26.354Z,1749675806.354 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=20.652870
2025-06-11T21:03:26.545Z,1749675806.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 53.299999 m,
deltaT: 0.502184 s,
deltaX: 0.500000 m,
approachRate: 0.995651 m/s,
rangeRepo size: 4
2025-06-11T21:03:26.547Z,1749675806.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.846844 m,
bearing: 106.185800 deg,
lat: 36.906401 deg,
lon: -122.115603 deg,
deltaT: 0.502184 s,
deltaX: 0.495724 m,
approachRate: 0.987136 m/s,
posRepo size: 4
2025-06-11T21:03:26.547Z,1749675806.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m.
2025-06-11T21:03:26.593Z,1749675806.593 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=20.890293
2025-06-11T21:03:26.841Z,1749675806.841 [DAT](INFO): DAT read: Rx Time:21:03:28.2019
2025-06-11T21:03:26.842Z,1749675806.842 [DAT](INFO): Rx dataTimestamp_ set to:1749675806.841555
2025-06-11T21:03:26.843Z,1749675806.843 [DAT](INFO): DAT read: Bearing 176.3, 7.1 (Local)
2025-06-11T21:03:26.843Z,1749675806.843 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.3, 7.1 (Local)
2025-06-11T21:03:26.846Z,1749675806.846 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed -0.3
2025-06-11T21:03:26.851Z,1749675806.851 [DAT](INFO): DAT read: 21:03:28.2019 LVL= 25408, 21489, 18690, 32755, AGC= 71, IDX= 507, 0.02, 2.441,-1.838, 2.477, 2.997, PHS=-0.468, 1.495,-0.523, RAW= 331.4, -5.1, CAL= 333.7, -7.1, ROT= 176.3, 7.1
2025-06-11T21:03:26.852Z,1749675806.852 [DAT](INFO): got valid direction response:
21:03:28.2019 LVL= 25408, 21489, 18690, 32755, AGC= 71, IDX= 507, 0.02, 2.441,-1.838, 2.477, 2.997, PHS=-0.468, 1.495,-0.523, RAW= 331.4, -5.1, CAL= 333.7, -7.1, ROT= 176.3, 7.1
2025-06-11T21:03:26.852Z,1749675806.852 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-11T21:03:26.853Z,1749675806.853 [DAT](INFO): direction in FSK: [-0.990264,0.064037,-0.123601]
2025-06-11T21:03:26.853Z,1749675806.853 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:26.857Z,1749675806.857 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=21.156082
2025-06-11T21:03:27.035Z,1749675807.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 53.400002 m,
deltaT: 0.503972 s,
deltaX: 0.100002 m,
approachRate: 0.198428 m/s,
rangeRepo size: 4
2025-06-11T21:03:27.046Z,1749675807.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.945995 m,
bearing: 106.688567 deg,
lat: 36.906398 deg,
lon: -122.115606 deg,
deltaT: 0.503972 s,
deltaX: 0.099152 m,
approachRate: 0.196740 m/s,
posRepo size: 4
2025-06-11T21:03:27.046Z,1749675807.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.95 m.
2025-06-11T21:03:27.094Z,1749675807.094 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=21.392563
2025-06-11T21:03:27.346Z,1749675807.346 [DAT](INFO): DAT read: Rx Time:21:03:28.7023
2025-06-11T21:03:27.347Z,1749675807.347 [DAT](INFO): Rx dataTimestamp_ set to:1749675807.345758
2025-06-11T21:03:27.353Z,1749675807.353 [DAT](INFO): DAT read: Bearing 175.3, 8.8 (Local)
2025-06-11T21:03:27.353Z,1749675807.353 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.3, 8.8 (Local)
2025-06-11T21:03:27.355Z,1749675807.355 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed -0.4
2025-06-11T21:03:27.360Z,1749675807.360 [DAT](INFO): DAT read: 21:03:28.7023 LVL= 30944, 23649, 30530, 32755, AGC= 71, IDX= 510, 0.45,-3.079,-1.179,-3.077,-2.602, PHS=-0.389, 1.470,-0.479, RAW= 332.3, -6.4, CAL= 334.7, -8.8, ROT= 175.3, 8.8
2025-06-11T21:03:27.361Z,1749675807.361 [DAT](INFO): got valid direction response:
21:03:28.7023 LVL= 30944, 23649, 30530, 32755, AGC= 71, IDX= 510, 0.45,-3.079,-1.179,-3.077,-2.602, PHS=-0.389, 1.470,-0.479, RAW= 332.3, -6.4, CAL= 334.7, -8.8, ROT= 175.3, 8.8
2025-06-11T21:03:27.362Z,1749675807.362 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-11T21:03:27.363Z,1749675807.363 [DAT](INFO): direction in FSK: [-0.984905,0.080974,-0.152986]
2025-06-11T21:03:27.363Z,1749675807.363 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:27.366Z,1749675807.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 53.400002 m,
deltaT: 0.504203 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:03:27.366Z,1749675807.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.95 m.
2025-06-11T21:03:27.375Z,1749675807.375 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=21.673738
2025-06-11T21:03:27.600Z,1749675807.600 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=21.898401
2025-06-11T21:03:27.766Z,1749675807.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.95 m.
2025-06-11T21:03:27.850Z,1749675807.850 [DAT](INFO): DAT read: Rx Time:21:03:29.2024
2025-06-11T21:03:27.850Z,1749675807.850 [DAT](INFO): Rx dataTimestamp_ set to:1749675807.849946
2025-06-11T21:03:27.852Z,1749675807.852 [DAT](INFO): DAT read: Bearing 194.0, 11.1 (Local)
2025-06-11T21:03:27.852Z,1749675807.852 [DAT](INFO): Local bearing/azimuth received:
Bearing 194.0, 11.1 (Local)
2025-06-11T21:03:27.855Z,1749675807.855 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed -0.9
2025-06-11T21:03:27.862Z,1749675807.862 [DAT](INFO): DAT read: 21:03:29.2024 LVL= 24992, 23009, 21554, 32755, AGC= 72, IDX= 512,-0.13,-2.544,-0.362,-1.768,-1.768, PHS=-0.688, 1.453,-0.003, RAW= 311.7, -8.1, CAL= 316.0, -11.1, ROT= 194.0, 11.1
2025-06-11T21:03:27.863Z,1749675807.863 [DAT](INFO): got valid direction response:
21:03:29.2024 LVL= 24992, 23009, 21554, 32755, AGC= 72, IDX= 512,-0.13,-2.544,-0.362,-1.768,-1.768, PHS=-0.688, 1.453,-0.003, RAW= 311.7, -8.1, CAL= 316.0, -11.1, ROT= 194.0, 11.1
2025-06-11T21:03:27.868Z,1749675807.868 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-11T21:03:27.869Z,1749675807.869 [DAT](INFO): direction in FSK: [-0.952144,-0.237396,-0.192522]
2025-06-11T21:03:27.870Z,1749675807.870 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:27.878Z,1749675807.878 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=22.176460
2025-06-11T21:03:28.101Z,1749675808.101 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=22.399780
2025-06-11T21:03:28.221Z,1749675808.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.200001 m,
deltaT: 0.504188 s,
deltaX: 0.799999 m,
approachRate: 1.586708 m/s,
rangeRepo size: 4
2025-06-11T21:03:28.223Z,1749675808.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 53.739346 m,
bearing: 124.338085 deg,
lat: 36.906398 deg,
lon: -122.115606 deg,
deltaT: 1.008391 s,
deltaX: 0.793350 m,
approachRate: 0.786749 m/s,
posRepo size: 4
2025-06-11T21:03:28.223Z,1749675808.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.74 m.
2025-06-11T21:03:28.356Z,1749675808.356 [DAT](INFO): DAT read: , 21554, 32755, AGC= 71, IDX= 499, 0.21,-2.751,-0.808,-2.763,-2.262, PHS=-0.401, 1.502,-0.504, RAW= 332.6, -6.2, CAL= 334.9, -8.5, ROT= 175.1, 8.5
2025-06-11T21:03:28.356Z,1749675808.356 [DAT](INFO): Local DAT time set to , 21554, 32755, AGC= 71, IDX= 499, 0.21,-2.751,-0.808,-2.763,-2.262, PHS=-0.401, 1.502,-0.504, RAW= 332.6, -6.2, CAL= 334.9, -8.5, ROT= 175.1, 8.5
2025-06-11T21:03:28.357Z,1749675808.357 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=22.655670
2025-06-11T21:03:28.552Z,1749675808.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.74 m.
2025-06-11T21:03:28.609Z,1749675808.609 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=22.906614
2025-06-11T21:03:28.857Z,1749675808.857 [DAT](INFO): DAT read: Rx Time:21:03:30.2029
2025-06-11T21:03:28.858Z,1749675808.858 [DAT](INFO): Rx dataTimestamp_ set to:1749675808.857624
2025-06-11T21:03:28.859Z,1749675808.859 [DAT](INFO): DAT read: Bearing 176.8, 4.3 (Local)
2025-06-11T21:03:28.860Z,1749675808.860 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, 4.3 (Local)
2025-06-11T21:03:28.862Z,1749675808.862 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (trip time 36.6 ms) speed -0.4
2025-06-11T21:03:28.867Z,1749675808.867 [DAT](INFO): DAT read: 21:03:30.2029 LVL= 24480, 20529, 22930, 32243, AGC= 71, IDX= 501,-0.38, 1.593,-2.713, 1.640, 2.215, PHS=-0.534, 1.402,-0.578, RAW= 331.1, -3.0, CAL= 333.2, -4.3, ROT= 176.8, 4.3
2025-06-11T21:03:28.868Z,1749675808.868 [DAT](INFO): got valid direction response:
21:03:30.2029 LVL= 24480, 20529, 22930, 32243, AGC= 71, IDX= 501,-0.38, 1.593,-2.713, 1.640, 2.215, PHS=-0.534, 1.402,-0.578, RAW= 331.1, -3.0, CAL= 333.2, -4.3, ROT= 176.8, 4.3
2025-06-11T21:03:28.868Z,1749675808.868 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-11T21:03:28.869Z,1749675808.869 [DAT](INFO): direction in FSK: [-0.995630,0.055664,-0.074979]
2025-06-11T21:03:28.869Z,1749675808.869 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:28.873Z,1749675808.873 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=23.172176
2025-06-11T21:03:29.050Z,1749675809.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.900002 m,
deltaT: 1.007678 s,
deltaX: 0.700001 m,
approachRate: 0.694667 m/s,
rangeRepo size: 4
2025-06-11T21:03:29.056Z,1749675809.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.433575 m,
bearing: 107.339116 deg,
lat: 36.906397 deg,
lon: -122.115605 deg,
deltaT: 1.007678 s,
deltaX: 0.694229 m,
approachRate: 0.688939 m/s,
posRepo size: 4
2025-06-11T21:03:29.057Z,1749675809.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.43 m.
2025-06-11T21:03:29.110Z,1749675809.110 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=23.408560
2025-06-11T21:03:29.350Z,1749675809.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.43 m.
2025-06-11T21:03:29.354Z,1749675809.354 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-11T20:53:29.3Z
2025-06-11T21:03:29.354Z,1749675809.354 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-11T21:03:29.355Z,1749675809.355 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T21:03:29.355Z,1749675809.355 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-11T21:03:29.355Z,1749675809.355 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T21:03:29.355Z,1749675809.355 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-11T21:03:29.361Z,1749675809.361 [DAT](INFO): DAT read: Rx Time:21:03:30.7032
2025-06-11T21:03:29.362Z,1749675809.362 [DAT](INFO): Rx dataTimestamp_ set to:1749675809.361599
2025-06-11T21:03:29.363Z,1749675809.363 [DAT](INFO): DAT read: Bearing 175.7, 7.3 (Local)
2025-06-11T21:03:29.364Z,1749675809.364 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.7, 7.3 (Local)
2025-06-11T21:03:29.366Z,1749675809.366 [DAT](INFO): DAT read: Range 10 to 50 : 55.4 m (trip time 36.9 ms) speed -0.6
2025-06-11T21:03:29.371Z,1749675809.371 [DAT](INFO): DAT read: 21:03:30.7032 LVL= 26608, 27233, 23106, 32755, AGC= 71, IDX= 504, 0.07, 2.536,-1.825, 2.547, 3.059, PHS=-0.435, 1.447,-0.515, RAW= 332.1, -5.2, CAL= 334.3, -7.3, ROT= 175.7, 7.3
2025-06-11T21:03:29.372Z,1749675809.372 [DAT](INFO): got valid direction response:
21:03:30.7032 LVL= 26608, 27233, 23106, 32755, AGC= 71, IDX= 504, 0.07, 2.536,-1.825, 2.547, 3.059, PHS=-0.435, 1.447,-0.515, RAW= 332.1, -5.2, CAL= 334.3, -7.3, ROT= 175.7, 7.3
2025-06-11T21:03:29.372Z,1749675809.372 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-11T21:03:29.373Z,1749675809.373 [DAT](INFO): direction in FSK: [-0.989102,0.074371,-0.127065]
2025-06-11T21:03:29.374Z,1749675809.374 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:29.377Z,1749675809.377 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=23.676357
2025-06-11T21:03:29.614Z,1749675809.614 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=23.912273
2025-06-11T21:03:29.797Z,1749675809.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 55.400002 m,
deltaT: 0.503975 s,
deltaX: 0.500000 m,
approachRate: 0.992113 m/s,
rangeRepo size: 4
2025-06-11T21:03:29.799Z,1749675809.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.929417 m,
bearing: 106.184017 deg,
lat: 36.906397 deg,
lon: -122.115605 deg,
deltaT: 0.503975 s,
deltaX: 0.495842 m,
approachRate: 0.983862 m/s,
posRepo size: 4
2025-06-11T21:03:29.800Z,1749675809.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.93 m.
2025-06-11T21:03:29.804Z,1749675809.804 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-11T21:03:29.804Z,1749675809.804 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-11T21:03:29.804Z,1749675809.804 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-11T21:03:29.804Z,1749675809.804 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T21:03:29.804Z,1749675809.804 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-11T21:03:29.870Z,1749675809.870 [DAT](INFO): DAT read: Rx Time:21:03:31.2034
2025-06-11T21:03:29.871Z,1749675809.871 [DAT](INFO): Rx dataTimestamp_ set to:1749675809.870571
2025-06-11T21:03:29.872Z,1749675809.872 [DAT](INFO): DAT read: Bearing 176.4, 6.5 (Local)
2025-06-11T21:03:29.873Z,1749675809.873 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.4, 6.5 (Local)
2025-06-11T21:03:29.875Z,1749675809.875 [DAT](INFO): DAT read: Range 10 to 50 : 55.7 m (trip time 37.1 ms) speed -0.4
2025-06-11T21:03:29.881Z,1749675809.881 [DAT](INFO): DAT read: 21:03:31.2034 LVL= 32752, 20385, 26066, 32755, AGC= 71, IDX= 505, 0.38, 2.431,-1.886, 2.471, 2.993, PHS=-0.474, 1.451,-0.526, RAW= 331.3, -4.7, CAL= 333.6, -6.5, ROT= 176.4, 6.5
2025-06-11T21:03:29.883Z,1749675809.883 [DAT](INFO): got valid direction response:
21:03:31.2034 LVL= 32752, 20385, 26066, 32755, AGC= 71, IDX= 505, 0.38, 2.431,-1.886, 2.471, 2.993, PHS=-0.474, 1.451,-0.526, RAW= 331.3, -4.7, CAL= 333.6, -6.5, ROT= 176.4, 6.5
2025-06-11T21:03:29.883Z,1749675809.883 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-11T21:03:29.885Z,1749675809.885 [DAT](INFO): direction in FSK: [-0.991611,0.062387,-0.113203]
2025-06-11T21:03:29.886Z,1749675809.886 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:29.895Z,1749675809.895 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=24.193459
2025-06-11T21:03:30.121Z,1749675810.121 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=24.419825
2025-06-11T21:03:30.374Z,1749675810.374 [DAT](INFO): DAT read: Rx Time:21:03:31.7036
2025-06-11T21:03:30.374Z,1749675810.374 [DAT](INFO): Rx dataTimestamp_ set to:1749675810.373711
2025-06-11T21:03:30.375Z,1749675810.375 [DAT](INFO): DAT read: Bearing 176.5, 6.1 (Local)
2025-06-11T21:03:30.376Z,1749675810.376 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.5, 6.1 (Local)
2025-06-11T21:03:30.378Z,1749675810.378 [DAT](INFO): DAT read: Range 10 to 50 : 56.0 m (trip time 37.3 ms) speed -0.4
2025-06-11T21:03:30.387Z,1749675810.387 [DAT](INFO): DAT read: 21:03:31.7036 LVL= 28624, 19793, 21570, 32755, AGC= 67, IDX= 508,-0.11, 0.979, 2.935, 1.018, 1.549, PHS=-0.482, 1.433,-0.534, RAW= 331.3, -4.4, CAL= 333.5, -6.1, ROT= 176.5, 6.1
2025-06-11T21:03:30.392Z,1749675810.392 [DAT](INFO): got valid direction response:
21:03:31.7036 LVL= 28624, 19793, 21570, 32755, AGC= 67, IDX= 508,-0.11, 0.979, 2.935, 1.018, 1.549, PHS=-0.482, 1.433,-0.534, RAW= 331.3, -4.4, CAL= 333.5, -6.1, ROT= 176.5, 6.1
2025-06-11T21:03:30.392Z,1749675810.392 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-11T21:03:30.393Z,1749675810.393 [DAT](INFO): direction in FSK: [-0.992483,0.060703,-0.106264]
2025-06-11T21:03:30.394Z,1749675810.394 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:30.401Z,1749675810.401 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=24.700407
2025-06-11T21:03:30.489Z,1749675810.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.000000 m,
deltaT: 1.012112 s,
deltaX: 0.599998 m,
approachRate: 0.592818 m/s,
rangeRepo size: 4
2025-06-11T21:03:30.491Z,1749675810.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.524437 m,
bearing: 107.094017 deg,
lat: 36.906394 deg,
lon: -122.115605 deg,
deltaT: 1.012112 s,
deltaX: 0.595020 m,
approachRate: 0.587900 m/s,
posRepo size: 4
2025-06-11T21:03:30.500Z,1749675810.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.52 m.
2025-06-11T21:03:30.629Z,1749675810.629 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=24.926542
2025-06-11T21:03:30.877Z,1749675810.877 [DAT](INFO): DAT read: Rx Time:21:03:32.2038
2025-06-11T21:03:30.878Z,1749675810.878 [DAT](INFO): Rx dataTimestamp_ set to:1749675810.877555
2025-06-11T21:03:30.879Z,1749675810.879 [DAT](INFO): DAT read: Bearing 177.0, 4.0 (Local)
2025-06-11T21:03:30.879Z,1749675810.879 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.0, 4.0 (Local)
2025-06-11T21:03:30.882Z,1749675810.882 [DAT](INFO): DAT read: Range 10 to 50 : 56.3 m (trip time 37.5 ms) speed -0.5
2025-06-11T21:03:30.887Z,1749675810.887 [DAT](INFO): DAT read: 21:03:32.2038 LVL= 24672, 21361, 18962, 31203, AGC= 72, IDX= 509, 0.30, 1.303,-3.007, 1.357, 1.934, PHS=-0.543, 1.389,-0.580, RAW= 330.9, -2.8, CAL= 333.0, -4.0, ROT= 177.0, 4.0
2025-06-11T21:03:30.888Z,1749675810.888 [DAT](INFO): got valid direction response:
21:03:32.2038 LVL= 24672, 21361, 18962, 31203, AGC= 72, IDX= 509, 0.30, 1.303,-3.007, 1.357, 1.934, PHS=-0.543, 1.389,-0.580, RAW= 330.9, -2.8, CAL= 333.0, -4.0, ROT= 177.0, 4.0
2025-06-11T21:03:30.888Z,1749675810.888 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-11T21:03:30.889Z,1749675810.889 [DAT](INFO): direction in FSK: [-0.996197,0.052209,-0.069756]
2025-06-11T21:03:30.889Z,1749675810.889 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:30.893Z,1749675810.893 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=25.191959
2025-06-11T21:03:30.953Z,1749675810.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.299999 m,
deltaT: 0.503844 s,
deltaX: 0.299999 m,
approachRate: 0.595421 m/s,
rangeRepo size: 4
2025-06-11T21:03:30.955Z,1749675810.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.821888 m,
bearing: 107.648952 deg,
lat: 36.906391 deg,
lon: -122.115604 deg,
deltaT: 0.503844 s,
deltaX: 0.297451 m,
approachRate: 0.590363 m/s,
posRepo size: 4
2025-06-11T21:03:30.960Z,1749675810.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.82 m.
2025-06-11T21:03:31.129Z,1749675811.129 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=25.428049
2025-06-11T21:03:31.280Z,1749675811.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.82 m.
2025-06-11T21:03:31.382Z,1749675811.382 [DAT](INFO): DAT read: Rx Time:21:03:32.7041
2025-06-11T21:03:31.382Z,1749675811.382 [DAT](INFO): Rx dataTimestamp_ set to:1749675811.381981
2025-06-11T21:03:31.385Z,1749675811.385 [DAT](INFO): DAT read: Bearing 169.4, 8.1 (Local)
2025-06-11T21:03:31.385Z,1749675811.385 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.4, 8.1 (Local)
2025-06-11T21:03:31.387Z,1749675811.387 [DAT](INFO): DAT read: Range 10 to 50 : 56.6 m (trip time 37.7 ms) speed -0.4
2025-06-11T21:03:31.398Z,1749675811.398 [DAT](INFO): DAT read: 21:03:32.7041 LVL= 28048, 29425, 25058, 32755, AGC= 70, IDX= 513,-0.12, 2.253,-2.678, 2.084, 2.552, PHS=-0.211, 1.101,-0.470, RAW= 338.9, -5.8, CAL= 340.6, -8.1, ROT= 169.4, 8.1
2025-06-11T21:03:31.399Z,1749675811.399 [DAT](INFO): got valid direction response:
21:03:32.7041 LVL= 28048, 29425, 25058, 32755, AGC= 70, IDX= 513,-0.12, 2.253,-2.678, 2.084, 2.552, PHS=-0.211, 1.101,-0.470, RAW= 338.9, -5.8, CAL= 340.6, -8.1, ROT= 169.4, 8.1
2025-06-11T21:03:31.400Z,1749675811.400 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-11T21:03:31.401Z,1749675811.401 [DAT](INFO): direction in FSK: [-0.973129,0.182116,-0.140901]
2025-06-11T21:03:31.401Z,1749675811.401 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:31.421Z,1749675811.421 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=25.720036
2025-06-11T21:03:31.635Z,1749675811.635 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=25.934076
2025-06-11T21:03:31.771Z,1749675811.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.599998 m,
deltaT: 0.504426 s,
deltaX: 0.299999 m,
approachRate: 0.594734 m/s,
rangeRepo size: 4
2025-06-11T21:03:31.774Z,1749675811.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.119293 m,
bearing: 100.010279 deg,
lat: 36.906394 deg,
lon: -122.115604 deg,
deltaT: 0.504426 s,
deltaX: 0.297405 m,
approachRate: 0.589591 m/s,
posRepo size: 4
2025-06-11T21:03:31.774Z,1749675811.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.12 m.
2025-06-11T21:03:31.886Z,1749675811.886 [DAT](INFO): DAT read: Rx Time:21:03:33.2041
2025-06-11T21:03:31.887Z,1749675811.887 [DAT](INFO): Rx dataTimestamp_ set to:1749675811.886337
2025-06-11T21:03:31.888Z,1749675811.888 [DAT](INFO): DAT read: Bearing 174.4, 9.8 (Local)
2025-06-11T21:03:31.888Z,1749675811.888 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.4, 9.8 (Local)
2025-06-11T21:03:31.891Z,1749675811.891 [DAT](INFO): DAT read: Range 10 to 50 : 56.7 m (trip time 37.8 ms) speed -0.4
2025-06-11T21:03:31.895Z,1749675811.895 [DAT](INFO): DAT read: 21:03:33.2041 LVL= 28064, 26353, 23410, 32755, AGC= 69, IDX= 2, 0.32, 0.329, 2.169, 0.298, 0.756, PHS=-0.339, 1.460,-0.460, RAW= 333.2, -7.1, CAL= 335.6, -9.8, ROT= 174.4, 9.8
2025-06-11T21:03:31.897Z,1749675811.897 [DAT](INFO): got valid direction response:
21:03:33.2041 LVL= 28064, 26353, 23410, 32755, AGC= 69, IDX= 2, 0.32, 0.329, 2.169, 0.298, 0.756, PHS=-0.339, 1.460,-0.460, RAW= 333.2, -7.1, CAL= 335.6, -9.8, ROT= 174.4, 9.8
2025-06-11T21:03:31.897Z,1749675811.897 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-11T21:03:31.898Z,1749675811.898 [DAT](INFO): direction in FSK: [-0.980705,0.096159,-0.170209]
2025-06-11T21:03:31.898Z,1749675811.898 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:31.903Z,1749675811.903 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=26.201757
2025-06-11T21:03:32.106Z,1749675812.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.700001 m,
deltaT: 0.504356 s,
deltaX: 0.100002 m,
approachRate: 0.198277 m/s,
rangeRepo size: 4
2025-06-11T21:03:32.107Z,1749675812.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.218449 m,
bearing: 104.977609 deg,
lat: 36.906402 deg,
lon: -122.115604 deg,
deltaT: 0.504356 s,
deltaX: 0.099155 m,
approachRate: 0.196598 m/s,
posRepo size: 4
2025-06-11T21:03:32.108Z,1749675812.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.22 m.
2025-06-11T21:03:32.137Z,1749675812.137 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=26.435835
2025-06-11T21:03:32.389Z,1749675812.389 [DAT](INFO): DAT read: Rx Time:21:03:33.7045
2025-06-11T21:03:32.390Z,1749675812.390 [DAT](INFO): Rx dataTimestamp_ set to:1749675812.389538
2025-06-11T21:03:32.391Z,1749675812.391 [DAT](INFO): DAT read: Bearing 175.5, 7.6 (Local)
2025-06-11T21:03:32.391Z,1749675812.391 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.5, 7.6 (Local)
2025-06-11T21:03:32.394Z,1749675812.394 [DAT](INFO): DAT read: Range 10 to 50 : 57.3 m (trip time 38.2 ms) speed -0.3
2025-06-11T21:03:32.399Z,1749675812.399 [DAT](INFO): DAT read: 21:03:33.7045 LVL= 30896, 23745, 31426, 32755, AGC= 70, IDX= 502,-0.04,-0.586, 1.361,-0.581,-0.068, PHS=-0.430, 1.476,-0.517, RAW= 332.2, -5.5, CAL= 334.5, -7.6, ROT= 175.5, 7.6
2025-06-11T21:03:32.400Z,1749675812.400 [DAT](INFO): got valid direction response:
21:03:33.7045 LVL= 30896, 23745, 31426, 32755, AGC= 70, IDX= 502,-0.04,-0.586, 1.361,-0.581,-0.068, PHS=-0.430, 1.476,-0.517, RAW= 332.2, -5.5, CAL= 334.5, -7.6, ROT= 175.5, 7.6
2025-06-11T21:03:32.400Z,1749675812.400 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-11T21:03:32.401Z,1749675812.401 [DAT](INFO): direction in FSK: [-0.988160,0.077770,-0.132256]
2025-06-11T21:03:32.401Z,1749675812.401 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:32.405Z,1749675812.405 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=26.703871
2025-06-11T21:03:32.554Z,1749675812.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 57.299999 m,
deltaT: 0.503201 s,
deltaX: 0.599998 m,
approachRate: 1.192363 m/s,
rangeRepo size: 4
2025-06-11T21:03:32.560Z,1749675812.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.813541 m,
bearing: 106.182055 deg,
lat: 36.906403 deg,
lon: -122.115604 deg,
deltaT: 0.503201 s,
deltaX: 0.595093 m,
approachRate: 1.182614 m/s,
posRepo size: 4
2025-06-11T21:03:32.561Z,1749675812.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.81 m.
2025-06-11T21:03:32.644Z,1749675812.644 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=26.942652
2025-06-11T21:03:32.887Z,1749675812.887 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3
2025-06-11T21:03:32.893Z,1749675812.893 [DAT](INFO): DAT read: Rx Time:21:03:34.2047
2025-06-11T21:03:32.894Z,1749675812.894 [DAT](INFO): Rx dataTimestamp_ set to:1749675812.893689
2025-06-11T21:03:32.895Z,1749675812.895 [DAT](INFO): DAT read: Bearing 176.8, 5.9 (Local)
2025-06-11T21:03:32.896Z,1749675812.896 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, 5.9 (Local)
2025-06-11T21:03:32.898Z,1749675812.898 [DAT](INFO): DAT read: Range 10 to 50 : 57.6 m (trip time 38.4 ms) speed -0.5
2025-06-11T21:03:32.903Z,1749675812.903 [DAT](INFO): DAT read: 21:03:34.2047 LVL= 25328, 20337, 18882, 31219, AGC= 72, IDX= 503, 0.36, 0.372, 2.352, 0.425, 0.957, PHS=-0.498, 1.442,-0.535, RAW= 331.0, -4.2, CAL= 333.2, -5.9, ROT= 176.8, 5.9
2025-06-11T21:03:32.905Z,1749675812.905 [DAT](INFO): got valid direction response:
21:03:34.2047 LVL= 25328, 20337, 18882, 31219, AGC= 72, IDX= 503, 0.36, 0.372, 2.352, 0.425, 0.957, PHS=-0.498, 1.442,-0.535, RAW= 331.0, -4.2, CAL= 333.2, -5.9, ROT= 176.8, 5.9
2025-06-11T21:03:32.905Z,1749675812.905 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-11T21:03:32.907Z,1749675812.907 [DAT](INFO): direction in FSK: [-0.993152,0.055526,-0.102793]
2025-06-11T21:03:32.907Z,1749675812.907 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:32.913Z,1749675812.913 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=27.212065
2025-06-11T21:03:32.966Z,1749675812.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 57.599998 m,
deltaT: 0.504151 s,
deltaX: 0.299999 m,
approachRate: 0.595058 m/s,
rangeRepo size: 4
2025-06-11T21:03:32.972Z,1749675812.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.110992 m,
bearing: 107.531338 deg,
lat: 36.906403 deg,
lon: -122.115606 deg,
deltaT: 0.504151 s,
deltaX: 0.297451 m,
approachRate: 0.590004 m/s,
posRepo size: 4
2025-06-11T21:03:32.973Z,1749675812.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m.
2025-06-11T21:03:33.150Z,1749675813.150 [DAT](INFO): DAT read: Rx Time:21:03:34.7050
2025-06-11T21:03:33.154Z,1749675813.154 [DAT](INFO): Rx dataTimestamp_ set to:1749675813.150859
2025-06-11T21:03:33.159Z,1749675813.159 [DAT](INFO): DAT read: Bearing 175.9, 6.2 (Local)
2025-06-11T21:03:33.169Z,1749675813.169 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.9, 6.2 (Local)
2025-06-11T21:03:33.199Z,1749675813.199 [DAT](INFO): DAT read: Range 10 to 50 : 58.1 m (trip time 38.7 ms) speed -0.5
2025-06-11T21:03:33.215Z,1749675813.215 [DAT](INFO): DAT read: 21:03:34.7050 LVL= 29120, 22401, 28818, 32755, AGC= 72, IDX= 507,-0.09, 0.248, 2.231, 0.264, 0.813, PHS=-0.478, 1.465,-0.553, RAW= 331.9, -4.4, CAL= 334.1, -6.2, ROT= 175.9, 6.2
2025-06-11T21:03:33.221Z,1749675813.221 [DAT](INFO): got valid direction response:
21:03:34.7050 LVL= 29120, 22401, 28818, 32755, AGC= 72, IDX= 507,-0.09, 0.248, 2.231, 0.264, 0.813, PHS=-0.478, 1.465,-0.553, RAW= 331.9, -4.4, CAL= 334.1, -6.2, ROT= 175.9, 6.2
2025-06-11T21:03:33.221Z,1749675813.221 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-11T21:03:33.222Z,1749675813.222 [DAT](INFO): direction in FSK: [-0.991607,0.071079,-0.107999]
2025-06-11T21:03:33.222Z,1749675813.222 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:33.230Z,1749675813.230 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=27.528975
2025-06-11T21:03:33.349Z,1749675813.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.099998 m,
deltaT: 0.257170 s,
deltaX: 0.500000 m,
approachRate: 1.944239 m/s,
rangeRepo size: 4
2025-06-11T21:03:33.351Z,1749675813.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.607609 m,
bearing: 106.630713 deg,
lat: 36.906403 deg,
lon: -122.115606 deg,
deltaT: 0.257170 s,
deltaX: 0.496616 m,
approachRate: 1.931082 m/s,
posRepo size: 4
2025-06-11T21:03:33.351Z,1749675813.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.61 m.
2025-06-11T21:03:33.398Z,1749675813.398 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=27.696646
2025-06-11T21:03:33.409Z,1749675813.409 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:03:33.653Z,1749675813.653 [DAT](INFO): DAT read: Rx Time:21:03:35.2052
2025-06-11T21:03:33.655Z,1749675813.655 [DAT](INFO): Rx dataTimestamp_ set to:1749675813.653310
2025-06-11T21:03:33.658Z,1749675813.658 [DAT](INFO): DAT read: Bearing 176.1, 5.6 (Local)
2025-06-11T21:03:33.659Z,1749675813.659 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, 5.6 (Local)
2025-06-11T21:03:33.663Z,1749675813.663 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=27.960886
2025-06-11T21:03:33.874Z,1749675813.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.61 m.
2025-06-11T21:03:33.903Z,1749675813.903 [DAT](INFO): DAT read: Range 10 to 50 : 58.4 m (trip time 38.9 ms) speed -1.2
2025-06-11T21:03:33.911Z,1749675813.911 [DAT](INFO): DAT read: 21:03:35.2052 LVL= 26144, 22001, 22386, 32755, AGC= 71, IDX= 508, 0.41, 0.004, 1.973, 0.023, 0.583, PHS=-0.492, 1.436,-0.563, RAW= 331.8, -3.9, CAL= 333.9, -5.6, ROT= 176.1, 5.6
2025-06-11T21:03:33.913Z,1749675813.913 [DAT](INFO): got valid direction response:
21:03:35.2052 LVL= 26144, 22001, 22386, 32755, AGC= 71, IDX= 508, 0.41, 0.004, 1.973, 0.023, 0.583, PHS=-0.492, 1.436,-0.563, RAW= 331.8, -3.9, CAL= 333.9, -5.6, ROT= 176.1, 5.6
2025-06-11T21:03:33.913Z,1749675813.913 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-11T21:03:33.915Z,1749675813.915 [DAT](INFO): direction in FSK: [-0.992923,0.067691,-0.097583]
2025-06-11T21:03:33.915Z,1749675813.915 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:33.922Z,1749675813.922 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=28.220898
2025-06-11T21:03:34.157Z,1749675814.157 [DAT](INFO): DAT read: Rx Time:21:03:35.7055
2025-06-11T21:03:34.159Z,1749675814.159 [DAT](INFO): Rx dataTimestamp_ set to:1749675814.157601
2025-06-11T21:03:34.169Z,1749675814.169 [DAT](INFO): DAT read: Bearing 176.2, 7.4 (Local)
2025-06-11T21:03:34.170Z,1749675814.170 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.2, 7.4 (Local)
2025-06-11T21:03:34.204Z,1749675814.204 [DAT](INFO): DAT read: Range 10 to 50 : 58.8 m (trip time 39.2 ms) speed -0.4
2025-06-11T21:03:34.221Z,1749675814.221 [DAT](INFO): DAT read: 21:03:35.7055 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 495,-0.04,-0.978, 0.869,-0.943,-0.469, PHS=-0.422, 1.385,-0.477, RAW= 331.5, -5.3, CAL= 333.8, -7.4, ROT= 176.2, 7.4
2025-06-11T21:03:34.222Z,1749675814.222 [DAT](INFO): got valid direction response:
21:03:35.7055 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 495,-0.04,-0.978, 0.869,-0.943,-0.469, PHS=-0.422, 1.385,-0.477, RAW= 331.5, -5.3, CAL= 333.8, -7.4, ROT= 176.2, 7.4
2025-06-11T21:03:34.223Z,1749675814.223 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-11T21:03:34.234Z,1749675814.234 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:03:34.236Z,1749675814.236 [DAT](INFO): direction in FSK: [-0.989491,0.065722,-0.128796]
2025-06-11T21:03:34.236Z,1749675814.236 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:34.252Z,1749675814.252 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=28.538643
2025-06-11T21:03:34.342Z,1749675814.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.799999 m,
deltaT: 1.006742 s,
deltaX: 0.700001 m,
approachRate: 0.695313 m/s,
rangeRepo size: 4
2025-06-11T21:03:34.353Z,1749675814.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 58.302322 m,
bearing: 106.938851 deg,
lat: 36.906398 deg,
lon: -122.115606 deg,
deltaT: 1.006742 s,
deltaX: 0.694714 m,
approachRate: 0.690061 m/s,
posRepo size: 4
2025-06-11T21:03:34.353Z,1749675814.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.30 m.
2025-06-11T21:03:34.405Z,1749675814.405 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=28.703836
2025-06-11T21:03:34.413Z,1749675814.413 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:03:34.662Z,1749675814.662 [DAT](INFO): DAT read: Rx Time:21:03:36.2057
2025-06-11T21:03:34.665Z,1749675814.665 [DAT](INFO): Rx dataTimestamp_ set to:1749675814.662777
2025-06-11T21:03:34.668Z,1749675814.668 [DAT](INFO): DAT read: Bearing 189.1, 9.3 (Local)
2025-06-11T21:03:34.670Z,1749675814.670 [DAT](INFO): Local bearing/azimuth received:
Bearing 189.1, 9.3 (Local)
2025-06-11T21:03:34.677Z,1749675814.677 [DAT](INFO): DAT read: Range 10 to 50 : 59.1 m (trip time 39.4 ms) speed -0.8
2025-06-11T21:03:34.681Z,1749675814.681 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-06-11T21:03:34.701Z,1749675814.701 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=28.999672
2025-06-11T21:03:34.774Z,1749675814.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.099998 m,
deltaT: 0.505176 s,
deltaX: 0.299999 m,
approachRate: 0.593851 m/s,
rangeRepo size: 4
2025-06-11T21:03:34.775Z,1749675814.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.30 m.
2025-06-11T21:03:34.915Z,1749675814.915 [DAT](INFO): DAT read: 21:03:36.2057 LVL= 24176, 18577, 26290, 29091, AGC= 72, IDX= 512, 0.34, 1.672,-2.548, 2.236, 2.386, PHS=-0.626, 1.397,-0.153, RAW= 317.1, -6.8, CAL= 320.9, -9.3, ROT= 189.1, 9.3
2025-06-11T21:03:34.916Z,1749675814.916 [DAT](INFO): got valid direction response:
21:03:36.2057 LVL= 24176, 18577, 26290, 29091, AGC= 72, IDX= 512, 0.34, 1.672,-2.548, 2.236, 2.386, PHS=-0.626, 1.397,-0.153, RAW= 317.1, -6.8, CAL= 320.9, -9.3, ROT= 189.1, 9.3
2025-06-11T21:03:34.917Z,1749675814.917 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-06-11T21:03:34.918Z,1749675814.918 [DAT](INFO): direction in FSK: [-0.974435,-0.156079,-0.161604]
2025-06-11T21:03:34.928Z,1749675814.928 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=29.222458
2025-06-11T21:03:35.105Z,1749675815.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.30 m.
2025-06-11T21:03:35.167Z,1749675815.167 [DAT](INFO): DAT read: Rx Time:21:03:36.7060
2025-06-11T21:03:35.169Z,1749675815.169 [DAT](INFO): Rx dataTimestamp_ set to:1749675815.168154
2025-06-11T21:03:35.179Z,1749675815.179 [DAT](INFO): DAT read: Bearing 175.5, 8.3 (Local)
2025-06-11T21:03:35.180Z,1749675815.180 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.5, 8.3 (Local)
2025-06-11T21:03:35.202Z,1749675815.202 [DAT](INFO): DAT read: Range 10 to 50 : 59.6 m (trip time 39.7 ms) speed -0.8
2025-06-11T21:03:35.213Z,1749675815.213 [DAT](INFO): DAT read: 21:03:36.7060 LVL= 32752, 22113, 20402, 32755, AGC= 72, IDX= 500,-0.08,-0.088, 1.791,-0.078, 0.399, PHS=-0.399, 1.439,-0.480, RAW= 332.1, -6.0, CAL= 334.5, -8.3, ROT= 175.5, 8.3
2025-06-11T21:03:35.214Z,1749675815.214 [DAT](INFO): got valid direction response:
21:03:36.7060 LVL= 32752, 22113, 20402, 32755, AGC= 72, IDX= 500,-0.08,-0.088, 1.791,-0.078, 0.399, PHS=-0.399, 1.439,-0.480, RAW= 332.1, -6.0, CAL= 334.5, -8.3, ROT= 175.5, 8.3
2025-06-11T21:03:35.214Z,1749675815.214 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-11T21:03:35.215Z,1749675815.215 [DAT](INFO): direction in FSK: [-0.986475,0.077637,-0.144356]
2025-06-11T21:03:35.215Z,1749675815.215 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:35.228Z,1749675815.228 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=29.527252
2025-06-11T21:03:35.413Z,1749675815.413 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=29.711977
2025-06-11T21:03:35.486Z,1749675815.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.599998 m,
deltaT: 0.505377 s,
deltaX: 0.500000 m,
approachRate: 0.989360 m/s,
rangeRepo size: 4
2025-06-11T21:03:35.488Z,1749675815.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.095757 m,
bearing: 106.206171 deg,
lat: 36.906398 deg,
lon: -122.115605 deg,
deltaT: 1.010553 s,
deltaX: 0.793434 m,
approachRate: 0.785148 m/s,
posRepo size: 4
2025-06-11T21:03:35.489Z,1749675815.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m.
2025-06-11T21:03:35.670Z,1749675815.670 [DAT](INFO): DAT read: Rx Time:21:03:37.2062
2025-06-11T21:03:35.673Z,1749675815.673 [DAT](INFO): Rx dataTimestamp_ set to:1749675815.671067
2025-06-11T21:03:35.677Z,1749675815.677 [DAT](INFO): DAT read: Bearing 176.4, 6.7 (Local)
2025-06-11T21:03:35.678Z,1749675815.678 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.4, 6.7 (Local)
2025-06-11T21:03:35.719Z,1749675815.719 [DAT](INFO): DAT read: Range 10 to 50 : 59.9 m (trip time 39.9 ms) speed -0.8
2025-06-11T21:03:35.773Z,1749675815.773 [DAT](INFO): DAT read: 21:03:37.2062 LVL= 25312, 22865, 21154, 32755, AGC= 71, IDX= 485, 0.35, 0.122, 2.057, 0.160, 0.671, PHS=-0.462, 1.433,-0.515, RAW= 331.4, -4.8, CAL= 333.6, -6.7, ROT= 176.4, 6.7
2025-06-11T21:03:35.781Z,1749675815.781 [DAT](INFO): got valid direction response:
21:03:37.2062 LVL= 25312, 22865, 21154, 32755, AGC= 71, IDX= 485, 0.35, 0.122, 2.057, 0.160, 0.671, PHS=-0.462, 1.433,-0.515, RAW= 331.4, -4.8, CAL= 333.6, -6.7, ROT= 176.4, 6.7
2025-06-11T21:03:35.781Z,1749675815.781 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-11T21:03:35.782Z,1749675815.782 [DAT](INFO): direction in FSK: [-0.991211,0.062362,-0.116671]
2025-06-11T21:03:35.782Z,1749675815.782 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:35.791Z,1749675815.791 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=30.089882
2025-06-11T21:03:35.918Z,1749675815.918 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=30.216469
2025-06-11T21:03:35.974Z,1749675815.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.900002 m,
deltaT: 0.502913 s,
deltaX: 0.300003 m,
approachRate: 0.596531 m/s,
rangeRepo size: 4
2025-06-11T21:03:35.982Z,1749675815.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.393219 m,
bearing: 107.149521 deg,
lat: 36.906396 deg,
lon: -122.115605 deg,
deltaT: 0.502913 s,
deltaX: 0.297462 m,
approachRate: 0.591479 m/s,
posRepo size: 4
2025-06-11T21:03:35.983Z,1749675815.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.39 m.
2025-06-11T21:03:36.174Z,1749675816.174 [DAT](INFO): DAT read: Rx Time:21:03:37.7065
2025-06-11T21:03:36.176Z,1749675816.176 [DAT](INFO): Rx dataTimestamp_ set to:1749675816.174872
2025-06-11T21:03:36.180Z,1749675816.180 [DAT](INFO): DAT read: Bearing 176.7, 5.7 (Local)
2025-06-11T21:03:36.181Z,1749675816.181 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.7, 5.7 (Local)
2025-06-11T21:03:36.191Z,1749675816.191 [DAT](INFO): DAT read: Range 10 to 50 : 60.3 m (trip time 40.2 ms) speed 0.0
2025-06-11T21:03:36.199Z,1749675816.199 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-11T21:03:36.201Z,1749675816.201 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=30.499619
2025-06-11T21:03:36.371Z,1749675816.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 60.299999 m,
deltaT: 0.503805 s,
deltaX: 0.399998 m,
approachRate: 0.793953 m/s,
rangeRepo size: 4
2025-06-11T21:03:36.371Z,1749675816.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.39 m.
2025-06-11T21:03:36.430Z,1749675816.430 [DAT](INFO): DAT read: 21:03:37.7065 LVL= 27968, 21041, 23346, 32755, AGC= 72, IDX= 489,-0.09, 0.030, 1.942, 0.076, 0.600, PHS=-0.482, 1.389,-0.527, RAW= 331.2, -4.0, CAL= 333.3, -5.7, ROT= 176.7, 5.7
2025-06-11T21:03:36.431Z,1749675816.431 [DAT](INFO): got valid direction response:
21:03:37.7065 LVL= 27968, 21041, 23346, 32755, AGC= 72, IDX= 489,-0.09, 0.030, 1.942, 0.076, 0.600, PHS=-0.482, 1.389,-0.527, RAW= 331.2, -4.0, CAL= 333.3, -5.7, ROT= 176.7, 5.7
2025-06-11T21:03:36.432Z,1749675816.432 [DAT](INFO): #Rx 101: Read direction message, but no range.
2025-06-11T21:03:36.433Z,1749675816.433 [DAT](INFO): direction in FSK: [-0.993406,0.057279,-0.099320]
2025-06-11T21:03:36.436Z,1749675816.436 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=30.735126
2025-06-11T21:03:36.677Z,1749675816.677 [DAT](INFO): DAT read: Rx Time:21:03:38.2067
2025-06-11T21:03:36.679Z,1749675816.679 [DAT](INFO): Rx dataTimestamp_ set to:1749675816.677423
2025-06-11T21:03:36.683Z,1749675816.683 [DAT](INFO): DAT read: Bearing 176.1, 5.2 (Local)
2025-06-11T21:03:36.684Z,1749675816.684 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, 5.2 (Local)
2025-06-11T21:03:36.691Z,1749675816.691 [DAT](INFO): DAT read: Range 10 to 50 : 60.6 m (trip time 40.4 ms) speed -0.4
2025-06-11T21:03:36.695Z,1749675816.695 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-06-11T21:03:36.699Z,1749675816.699 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=30.997490
2025-06-11T21:03:36.918Z,1749675816.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 60.599998 m,
deltaT: 0.502551 s,
deltaX: 0.299999 m,
approachRate: 0.596953 m/s,
rangeRepo size: 4
2025-06-11T21:03:36.931Z,1749675816.931 [DAT](INFO): DAT read: 21:03:38.2067 LVL= 32752, 27569, 26610, 32755, AGC= 70, IDX= 506, 0.40,-0.577, 1.351,-0.555, 0.001, PHS=-0.490, 1.397,-0.559, RAW= 331.8, -3.7, CAL= 333.9, -5.2, ROT= 176.1, 5.2
2025-06-11T21:03:36.934Z,1749675816.934 [DAT](INFO): got valid direction response:
21:03:38.2067 LVL= 32752, 27569, 26610, 32755, AGC= 70, IDX= 506, 0.40,-0.577, 1.351,-0.555, 0.001, PHS=-0.490, 1.397,-0.559, RAW= 331.8, -3.7, CAL= 333.9, -5.2, ROT= 176.1, 5.2
2025-06-11T21:03:36.935Z,1749675816.935 [DAT](INFO): #Rx 103: Read direction message, but no range.
2025-06-11T21:03:36.936Z,1749675816.936 [DAT](INFO): direction in FSK: [-0.993578,0.067735,-0.090633]
2025-06-11T21:03:36.941Z,1749675816.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 60.087399 m,
bearing: 107.450959 deg,
lat: 36.906396 deg,
lon: -122.115605 deg,
deltaT: 1.006356 s,
deltaX: 0.694180 m,
approachRate: 0.689795 m/s,
posRepo size: 4
2025-06-11T21:03:36.941Z,1749675816.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.09 m.
2025-06-11T21:03:36.943Z,1749675816.943 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=31.241781
2025-06-11T21:03:37.181Z,1749675817.181 [DAT](INFO): DAT read: Rx Time:21:03:38.7070
2025-06-11T21:03:37.188Z,1749675817.188 [DAT](INFO): Rx dataTimestamp_ set to:1749675817.182298
2025-06-11T21:03:37.194Z,1749675817.194 [DAT](INFO): DAT read: Bearing 177.1, 5.5 (Local)
2025-06-11T21:03:37.195Z,1749675817.195 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 5.5 (Local)
2025-06-11T21:03:37.206Z,1749675817.206 [DAT](INFO): DAT read: Range 10 to 50 : 61.1 m (trip time 40.7 ms) speed -0.7
2025-06-11T21:03:37.222Z,1749675817.222 [DAT](INFO): DAT read: 21:03:38.7070 LVL= 28768, 18865, 18850, 29347, AGC= 73, IDX= 510,-0.08,-0.419, 1.496,-0.355, 0.163, PHS=-0.495, 1.379,-0.522, RAW= 330.7, -3.9, CAL= 332.9, -5.5, ROT= 177.1, 5.5
2025-06-11T21:03:37.223Z,1749675817.223 [DAT](INFO): got valid direction response:
21:03:38.7070 LVL= 28768, 18865, 18850, 29347, AGC= 73, IDX= 510,-0.08,-0.419, 1.496,-0.355, 0.163, PHS=-0.495, 1.379,-0.522, RAW= 330.7, -3.9, CAL= 332.9, -5.5, ROT= 177.1, 5.5
2025-06-11T21:03:37.223Z,1749675817.223 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-11T21:03:37.245Z,1749675817.245 [DAT](INFO): direction in FSK: [-0.994121,0.050360,-0.095846]
2025-06-11T21:03:37.246Z,1749675817.246 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:37.257Z,1749675817.257 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=31.556341
2025-06-11T21:03:37.353Z,1749675817.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 61.099998 m,
deltaT: 0.504875 s,
deltaX: 0.500000 m,
approachRate: 0.990344 m/s,
rangeRepo size: 4
2025-06-11T21:03:37.355Z,1749675817.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 60.583027 m,
bearing: 107.802083 deg,
lat: 36.906394 deg,
lon: -122.115605 deg,
deltaT: 0.504875 s,
deltaX: 0.495628 m,
approachRate: 0.981685 m/s,
posRepo size: 4
2025-06-11T21:03:37.360Z,1749675817.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.58 m.
2025-06-11T21:03:37.430Z,1749675817.430 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=31.728355
2025-06-11T21:03:37.686Z,1749675817.686 [DAT](INFO): DAT read: Rx Time:21:03:39.2071
2025-06-11T21:03:37.688Z,1749675817.688 [DAT](INFO): Rx dataTimestamp_ set to:1749675817.686411
2025-06-11T21:03:37.692Z,1749675817.692 [DAT](INFO): DAT read: Bearing 175.5, 5.8 (Local)
2025-06-11T21:03:37.693Z,1749675817.693 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.5, 5.8 (Local)
2025-06-11T21:03:37.700Z,1749675817.700 [DAT](INFO): DAT read: Range 10 to 50 : 61.2 m (trip time 40.8 ms) speed -0.5
2025-06-11T21:03:37.730Z,1749675817.730 [DAT](INFO): DAT read: 21:03:39.2071 LVL= 32752, 26305, 32754, 32755, AGC= 70, IDX= 511, 0.41,-1.012, 0.847,-1.011,-0.475, PHS=-0.450, 1.369,-0.539, RAW= 332.4, -4.1, CAL= 334.5, -5.8, ROT= 175.5, 5.8
2025-06-11T21:03:37.731Z,1749675817.731 [DAT](INFO): got valid direction response:
21:03:39.2071 LVL= 32752, 26305, 32754, 32755, AGC= 70, IDX= 511, 0.41,-1.012, 0.847,-1.011,-0.475, PHS=-0.450, 1.369,-0.539, RAW= 332.4, -4.1, CAL= 334.5, -5.8, ROT= 175.5, 5.8
2025-06-11T21:03:37.737Z,1749675817.737 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-11T21:03:37.739Z,1749675817.739 [DAT](INFO): direction in FSK: [-0.991814,0.078057,-0.101056]
2025-06-11T21:03:37.739Z,1749675817.739 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:37.813Z,1749675817.813 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=32.111866
2025-06-11T21:03:37.898Z,1749675817.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 61.200001 m,
deltaT: 0.504113 s,
deltaX: 0.100002 m,
approachRate: 0.198373 m/s,
rangeRepo size: 4
2025-06-11T21:03:37.905Z,1749675817.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 60.682182 m,
bearing: 106.146322 deg,
lat: 36.906394 deg,
lon: -122.115605 deg,
deltaT: 0.504113 s,
deltaX: 0.099155 m,
approachRate: 0.196693 m/s,
posRepo size: 4
2025-06-11T21:03:37.906Z,1749675817.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:03:37.934Z,1749675817.934 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=32.232353
2025-06-11T21:03:38.190Z,1749675818.190 [DAT](INFO): DAT read: Rx Time:21:03:39.7074
2025-06-11T21:03:38.194Z,1749675818.194 [DAT](INFO): Rx dataTimestamp_ set to:1749675818.191225
2025-06-11T21:03:38.201Z,1749675818.201 [DAT](INFO): DAT read: Bearing 175.5, 4.7 (Local)
2025-06-11T21:03:38.201Z,1749675818.201 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.5, 4.7 (Local)
2025-06-11T21:03:38.205Z,1749675818.205 [DAT](INFO): DAT read: Range 10 to 50 : 61.7 m (trip time 41.1 ms) speed -0.4
2025-06-11T21:03:38.210Z,1749675818.210 [DAT](INFO): DAT read: 21:03:39.7074 LVL= 31088, 19537, 23506, 30915, AGC= 68, IDX= 2,-0.03,-2.501,-0.646,-2.504,-1.940, PHS=-0.473, 1.340,-0.567, RAW= 332.5, -3.3, CAL= 334.5, -4.7, ROT= 175.5, 4.7
2025-06-11T21:03:38.229Z,1749675818.229 [DAT](INFO): got valid direction response:
21:03:39.7074 LVL= 31088, 19537, 23506, 30915, AGC= 68, IDX= 2,-0.03,-2.501,-0.646,-2.504,-1.940, PHS=-0.473, 1.340,-0.567, RAW= 332.5, -3.3, CAL= 334.5, -4.7, ROT= 175.5, 4.7
2025-06-11T21:03:38.229Z,1749675818.229 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-11T21:03:38.231Z,1749675818.231 [DAT](INFO): direction in FSK: [-0.993565,0.078195,-0.081939]
2025-06-11T21:03:38.248Z,1749675818.248 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:38.251Z,1749675818.251 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=32.550350
2025-06-11T21:03:38.327Z,1749675818.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 61.700001 m,
deltaT: 0.504814 s,
deltaX: 0.500000 m,
approachRate: 0.990464 m/s,
rangeRepo size: 4
2025-06-11T21:03:38.334Z,1749675818.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 61.177498 m,
bearing: 106.131810 deg,
lat: 36.906394 deg,
lon: -122.115604 deg,
deltaT: 0.504814 s,
deltaX: 0.495316 m,
approachRate: 0.981184 m/s,
posRepo size: 4
2025-06-11T21:03:38.334Z,1749675818.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.18 m.
2025-06-11T21:03:38.437Z,1749675818.437 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=32.735836
2025-06-11T21:03:38.694Z,1749675818.694 [DAT](INFO): DAT read: Rx Time:21:03:40.2076
2025-06-11T21:03:38.695Z,1749675818.695 [DAT](INFO): Rx dataTimestamp_ set to:1749675818.694358
2025-06-11T21:03:38.701Z,1749675818.701 [DAT](INFO): DAT read: Bearing 177.1, 5.0 (Local)
2025-06-11T21:03:38.701Z,1749675818.701 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 5.0 (Local)
2025-06-11T21:03:38.704Z,1749675818.704 [DAT](INFO): DAT read: Range 10 to 50 : 62.0 m (trip time 41.3 ms) speed -0.4
2025-06-11T21:03:38.711Z,1749675818.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.18 m.
2025-06-11T21:03:38.722Z,1749675818.722 [DAT](INFO): DAT read: 21:03:40.2076 LVL= 26672, 30705, 19666, 32755, AGC= 71, IDX= 499, 0.35,-1.998,-0.065,-1.935,-1.398, PHS=-0.511, 1.381,-0.540, RAW= 330.7, -3.5, CAL= 332.9, -5.0, ROT= 177.1, 5.0
2025-06-11T21:03:38.733Z,1749675818.733 [DAT](INFO): got valid direction response:
21:03:40.2076 LVL= 26672, 30705, 19666, 32755, AGC= 71, IDX= 499, 0.35,-1.998,-0.065,-1.935,-1.398, PHS=-0.511, 1.381,-0.540, RAW= 330.7, -3.5, CAL= 332.9, -5.0, ROT= 177.1, 5.0
2025-06-11T21:03:38.733Z,1749675818.733 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-11T21:03:38.734Z,1749675818.734 [DAT](INFO): direction in FSK: [-0.994919,0.050400,-0.087156]
2025-06-11T21:03:38.734Z,1749675818.734 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:38.771Z,1749675818.771 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=33.069305
2025-06-11T21:03:38.941Z,1749675818.941 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=33.240150
2025-06-11T21:03:39.102Z,1749675819.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 62.000000 m,
deltaT: 0.503133 s,
deltaX: 0.299999 m,
approachRate: 0.596262 m/s,
rangeRepo size: 4
2025-06-11T21:03:39.105Z,1749675819.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 61.474957 m,
bearing: 107.683041 deg,
lat: 36.906391 deg,
lon: -122.115604 deg,
deltaT: 0.503133 s,
deltaX: 0.297459 m,
approachRate: 0.591213 m/s,
posRepo size: 4
2025-06-11T21:03:39.105Z,1749675819.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.47 m.
2025-06-11T21:03:39.198Z,1749675819.198 [DAT](INFO): DAT read: Rx Time:21:03:40.7079
2025-06-11T21:03:39.200Z,1749675819.200 [DAT](INFO): Rx dataTimestamp_ set to:1749675819.198609
2025-06-11T21:03:39.202Z,1749675819.202 [DAT](INFO): DAT read: Bearing 177.1, 4.8 (Local)
2025-06-11T21:03:39.202Z,1749675819.202 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.1, 4.8 (Local)
2025-06-11T21:03:39.204Z,1749675819.204 [DAT](INFO): DAT read: Range 10 to 50 : 62.4 m (trip time 41.6 ms) speed -0.5
2025-06-11T21:03:39.210Z,1749675819.210 [DAT](INFO): DAT read: 21:03:40.7079 LVL= 28496, 26897, 28882, 32755, AGC= 73, IDX= 503,-0.06,-2.461,-0.589,-2.400,-1.876, PHS=-0.498, 1.333,-0.527, RAW= 330.8, -3.4, CAL= 332.9, -4.8, ROT= 177.1, 4.8
2025-06-11T21:03:39.211Z,1749675819.211 [DAT](INFO): got valid direction response:
21:03:40.7079 LVL= 28496, 26897, 28882, 32755, AGC= 73, IDX= 503,-0.06,-2.461,-0.589,-2.400,-1.876, PHS=-0.498, 1.333,-0.527, RAW= 330.8, -3.4, CAL= 332.9, -4.8, ROT= 177.1, 4.8
2025-06-11T21:03:39.211Z,1749675819.211 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-11T21:03:39.212Z,1749675819.212 [DAT](INFO): direction in FSK: [-0.995217,0.050415,-0.083678]
2025-06-11T21:03:39.212Z,1749675819.212 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:39.216Z,1749675819.216 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=33.515045
2025-06-11T21:03:39.445Z,1749675819.445 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=33.743973
2025-06-11T21:03:39.516Z,1749675819.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 62.400002 m,
deltaT: 0.504251 s,
deltaX: 0.400002 m,
approachRate: 0.793259 m/s,
rangeRepo size: 4
2025-06-11T21:03:39.518Z,1749675819.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 61.870888 m,
bearing: 107.687454 deg,
lat: 36.906389 deg,
lon: -122.115604 deg,
deltaT: 0.504251 s,
deltaX: 0.395931 m,
approachRate: 0.785187 m/s,
posRepo size: 4
2025-06-11T21:03:39.519Z,1749675819.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.87 m.
2025-06-11T21:03:39.701Z,1749675819.701 [DAT](INFO): DAT read: Rx Time:21:03:41.2081
2025-06-11T21:03:39.701Z,1749675819.701 [DAT](INFO): Rx dataTimestamp_ set to:1749675819.701091
2025-06-11T21:03:39.703Z,1749675819.703 [DAT](INFO): DAT read: Bearing 178.1, 3.6 (Local)
2025-06-11T21:03:39.703Z,1749675819.703 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.1, 3.6 (Local)
2025-06-11T21:03:39.705Z,1749675819.705 [DAT](INFO): DAT read: Range 10 to 50 : 62.6 m (trip time 41.7 ms) speed -0.9
2025-06-11T21:03:39.710Z,1749675819.710 [DAT](INFO): DAT read: 21:03:41.2081 LVL= 28752, 24817, 28898, 32755, AGC= 71, IDX= 504, 0.28,-1.849, 0.042,-1.752,-1.218, PHS=-0.544, 1.306,-0.537, RAW= 329.8, -2.5, CAL= 331.9, -3.6, ROT= 178.1, 3.6
2025-06-11T21:03:39.711Z,1749675819.711 [DAT](INFO): got valid direction response:
21:03:41.2081 LVL= 28752, 24817, 28898, 32755, AGC= 71, IDX= 504, 0.28,-1.849, 0.042,-1.752,-1.218, PHS=-0.544, 1.306,-0.537, RAW= 329.8, -2.5, CAL= 331.9, -3.6, ROT= 178.1, 3.6
2025-06-11T21:03:39.727Z,1749675819.727 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-11T21:03:39.742Z,1749675819.742 [DAT](INFO): direction in FSK: [-0.997478,0.033090,-0.062791]
2025-06-11T21:03:39.748Z,1749675819.748 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:39.823Z,1749675819.823 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=34.121506
2025-06-11T21:03:39.949Z,1749675819.949 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=34.247765
2025-06-11T21:03:39.990Z,1749675819.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 62.599998 m,
deltaT: 0.502482 s,
deltaX: 0.199997 m,
approachRate: 0.398018 m/s,
rangeRepo size: 4
2025-06-11T21:03:39.996Z,1749675819.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 62.069187 m,
bearing: 108.548506 deg,
lat: 36.906389 deg,
lon: -122.115607 deg,
deltaT: 0.502482 s,
deltaX: 0.198299 m,
approachRate: 0.394640 m/s,
posRepo size: 4
2025-06-11T21:03:39.997Z,1749675819.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.07 m.
2025-06-11T21:03:40.203Z,1749675820.203 [DAT](INFO): DAT read: Rx Time:21:03:41.7083
2025-06-11T21:03:40.204Z,1749675820.204 [DAT](INFO): Rx dataTimestamp_ set to:1749675820.203451
2025-06-11T21:03:40.205Z,1749675820.205 [DAT](INFO): DAT read: Bearing 176.5, 5.3 (Local)
2025-06-11T21:03:40.205Z,1749675820.205 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.5, 5.3 (Local)
2025-06-11T21:03:40.208Z,1749675820.208 [DAT](INFO): DAT read: Range 10 to 50 : 63.0 m (trip time 42.0 ms) speed -0.4
2025-06-11T21:03:40.213Z,1749675820.213 [DAT](INFO): DAT read: 21:03:41.7083 LVL= 31344, 26481, 27474, 32755, AGC= 73, IDX= 492,-0.11,-2.774,-0.901,-2.734,-2.208, PHS=-0.478, 1.354,-0.529, RAW= 331.4, -3.8, CAL= 333.5, -5.3, ROT= 176.5, 5.3
2025-06-11T21:03:40.214Z,1749675820.214 [DAT](INFO): got valid direction response:
21:03:41.7083 LVL= 31344, 26481, 27474, 32755, AGC= 73, IDX= 492,-0.11,-2.774,-0.901,-2.734,-2.208, PHS=-0.478, 1.354,-0.529, RAW= 331.4, -3.8, CAL= 333.5, -5.3, ROT= 176.5, 5.3
2025-06-11T21:03:40.214Z,1749675820.214 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-11T21:03:40.215Z,1749675820.215 [DAT](INFO): direction in FSK: [-0.993867,0.060788,-0.092371]
2025-06-11T21:03:40.215Z,1749675820.215 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:40.227Z,1749675820.227 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=34.525993
2025-06-11T21:03:40.440Z,1749675820.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.000000 m,
deltaT: 0.502360 s,
deltaX: 0.400002 m,
approachRate: 0.796245 m/s,
rangeRepo size: 4
2025-06-11T21:03:40.442Z,1749675820.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 62.465176 m,
bearing: 106.817368 deg,
lat: 36.906389 deg,
lon: -122.115607 deg,
deltaT: 0.502360 s,
deltaX: 0.395988 m,
approachRate: 0.788256 m/s,
posRepo size: 4
2025-06-11T21:03:40.443Z,1749675820.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.47 m.
2025-06-11T21:03:40.453Z,1749675820.453 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=34.751816
2025-06-11T21:03:40.709Z,1749675820.709 [DAT](INFO): DAT read: Rx Time:21:03:42.2084
2025-06-11T21:03:40.710Z,1749675820.710 [DAT](INFO): Rx dataTimestamp_ set to:1749675820.709560
2025-06-11T21:03:40.711Z,1749675820.711 [DAT](INFO): DAT read: Bearing 177.2, 3.0 (Local)
2025-06-11T21:03:40.711Z,1749675820.711 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.2, 3.0 (Local)
2025-06-11T21:03:40.714Z,1749675820.714 [DAT](INFO): DAT read: Range 10 to 50 : 63.2 m (trip time 42.1 ms) speed -0.3
2025-06-11T21:03:40.719Z,1749675820.719 [DAT](INFO): DAT read: 21:03:42.2084 LVL= 24176, 22081, 24162, 32755, AGC= 71, IDX= 509, 0.34,-2.880,-0.989,-2.822,-2.248, PHS=-0.544, 1.306,-0.576, RAW= 330.9, -2.0, CAL= 332.8, -3.0, ROT= 177.2, 3.0
2025-06-11T21:03:40.720Z,1749675820.720 [DAT](INFO): got valid direction response:
21:03:42.2084 LVL= 24176, 22081, 24162, 32755, AGC= 71, IDX= 509, 0.34,-2.880,-0.989,-2.822,-2.248, PHS=-0.544, 1.306,-0.576, RAW= 330.9, -2.0, CAL= 332.8, -3.0, ROT= 177.2, 3.0
2025-06-11T21:03:40.720Z,1749675820.720 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-11T21:03:40.721Z,1749675820.721 [DAT](INFO): direction in FSK: [-0.997437,0.048783,-0.052336]
2025-06-11T21:03:40.721Z,1749675820.721 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:40.737Z,1749675820.737 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=35.036243
2025-06-11T21:03:40.957Z,1749675820.957 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=35.255905
2025-06-11T21:03:40.967Z,1749675820.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.200001 m,
deltaT: 0.506109 s,
deltaX: 0.200001 m,
approachRate: 0.395173 m/s,
rangeRepo size: 4
2025-06-11T21:03:40.973Z,1749675820.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 62.663479 m,
bearing: 107.531230 deg,
lat: 36.906389 deg,
lon: -122.115607 deg,
deltaT: 0.506109 s,
deltaX: 0.198303 m,
approachRate: 0.391819 m/s,
posRepo size: 4
2025-06-11T21:03:40.974Z,1749675820.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.66 m.
2025-06-11T21:03:41.210Z,1749675821.210 [DAT](INFO): DAT read: Rx Time:21:03:42.7088
2025-06-11T21:03:41.210Z,1749675821.210 [DAT](INFO): Rx dataTimestamp_ set to:1749675821.209773
2025-06-11T21:03:41.212Z,1749675821.212 [DAT](INFO): DAT read: Range 10 to 50 : 63.8 m (trip time 42.5 ms) speed -0.4
2025-06-11T21:03:41.213Z,1749675821.213 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-06-11T21:03:41.215Z,1749675821.215 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=35.513329
2025-06-11T21:03:41.303Z,1749675821.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.799999 m,
deltaT: 0.500213 s,
deltaX: 0.599998 m,
approachRate: 1.199486 m/s,
rangeRepo size: 4
2025-06-11T21:03:41.303Z,1749675821.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.66 m.
2025-06-11T21:03:41.461Z,1749675821.461 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=35.759762
2025-06-11T21:03:41.667Z,1749675821.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.66 m.
2025-06-11T21:03:41.718Z,1749675821.718 [DAT](INFO): DAT read: Rx Time:21:03:43.2629
2025-06-11T21:03:41.719Z,1749675821.719 [DAT](INFO): Rx dataTimestamp_ set to:1749675821.718194
2025-06-11T21:03:41.725Z,1749675821.725 [DAT](INFO): DAT read: Bearing 191.3, 59.6 (Local)
2025-06-11T21:03:41.726Z,1749675821.726 [DAT](INFO): Local bearing/azimuth received:
Bearing 191.3, 59.6 (Local)
2025-06-11T21:03:41.733Z,1749675821.733 [DAT](INFO): DAT read: Range 10 to 50 : 144.9 m (trip time 96.6 ms) speed -0.7
2025-06-11T21:03:41.761Z,1749675821.761 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-06-11T21:03:41.762Z,1749675821.762 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=36.061306
2025-06-11T21:03:41.969Z,1749675821.969 [DAT](INFO): DAT read: 21:03:43.2630 LVL= 24240, 16241, 16418, 23075, AGC= 70, IDX= 42,-0.30, 3.059,-1.818,-2.929, 2.442, PHS= 0.705, 2.070, 0.909, RAW= 322.1, -45.6, CAL= 318.7, -59.6, ROT= 191.3, 59.6
2025-06-11T21:03:41.970Z,1749675821.970 [DAT](INFO): got valid direction response:
21:03:43.2630 LVL= 24240, 16241, 16418, 23075, AGC= 70, IDX= 42,-0.30, 3.059,-1.818,-2.929, 2.442, PHS= 0.705, 2.070, 0.909, RAW= 322.1, -45.6, CAL= 318.7, -59.6, ROT= 191.3, 59.6
2025-06-11T21:03:41.970Z,1749675821.970 [DAT](INFO): #Rx 114: Read direction message, but no range.
2025-06-11T21:03:41.971Z,1749675821.971 [DAT](INFO): direction in FSK: [-0.496224,-0.099155,-0.862514]
2025-06-11T21:03:41.975Z,1749675821.975 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=36.273602
2025-06-11T21:03:42.146Z,1749675822.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 144.899994 m,
deltaT: 0.508421 s,
deltaX: 81.099991 m,
approachRate: 159.513458 m/s,
rangeRepo size: 4
2025-06-11T21:03:42.153Z,1749675822.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.66 m.
2025-06-11T21:03:42.217Z,1749675822.217 [DAT](INFO): DAT read: Rx Time:21:03:43.7093
2025-06-11T21:03:42.218Z,1749675822.218 [DAT](INFO): Rx dataTimestamp_ set to:1749675822.217618
2025-06-11T21:03:42.219Z,1749675822.219 [DAT](INFO): DAT read: Bearing 177.6, 1.7 (Local)
2025-06-11T21:03:42.220Z,1749675822.220 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.6, 1.7 (Local)
2025-06-11T21:03:42.222Z,1749675822.222 [DAT](INFO): DAT read: Range 10 to 50 : 64.5 m (trip time 43.0 ms) speed -0.1
2025-06-11T21:03:42.227Z,1749675822.227 [DAT](INFO): DAT read: 21:03:43.7093 LVL= 19440, 19121, 17970, 29667, AGC= 72, IDX= 469,-0.17, 2.151,-2.200, 2.220, 2.830, PHS=-0.591, 1.300,-0.613, RAW= 330.6, -1.0, CAL= 332.4, -1.7, ROT= 177.6, 1.7
2025-06-11T21:03:42.228Z,1749675822.228 [DAT](INFO): got valid direction response:
21:03:43.7093 LVL= 19440, 19121, 17970, 29667, AGC= 72, IDX= 469,-0.17, 2.151,-2.200, 2.220, 2.830, PHS=-0.591, 1.300,-0.613, RAW= 330.6, -1.0, CAL= 332.4, -1.7, ROT= 177.6, 1.7
2025-06-11T21:03:42.228Z,1749675822.228 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-11T21:03:42.229Z,1749675822.229 [DAT](INFO): direction in FSK: [-0.998683,0.041857,-0.029666]
2025-06-11T21:03:42.229Z,1749675822.229 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:42.233Z,1749675822.233 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=36.532101
2025-06-11T21:03:42.469Z,1749675822.469 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=36.767868
2025-06-11T21:03:42.507Z,1749675822.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 64.500000 m,
deltaT: 1.007845 s,
deltaX: 0.700001 m,
approachRate: 0.694552 m/s,
rangeRepo size: 4
2025-06-11T21:03:42.509Z,1749675822.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.952076 m,
bearing: 107.851478 deg,
lat: 36.906386 deg,
lon: -122.115607 deg,
deltaT: 1.508058 s,
deltaX: 1.288597 m,
approachRate: 0.854474 m/s,
posRepo size: 4
2025-06-11T21:03:42.510Z,1749675822.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.95 m.
2025-06-11T21:03:42.723Z,1749675822.723 [DAT](INFO): DAT read: Rx Time:21:03:44.2094
2025-06-11T21:03:42.725Z,1749675822.725 [DAT](INFO): Rx dataTimestamp_ set to:1749675822.723835
2025-06-11T21:03:42.727Z,1749675822.727 [DAT](INFO): DAT read: Bearing 177.6, 4.7 (Local)
2025-06-11T21:03:42.728Z,1749675822.728 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.6, 4.7 (Local)
2025-06-11T21:03:42.731Z,1749675822.731 [DAT](INFO): DAT read: Range 10 to 50 : 64.7 m (trip time 43.1 ms) speed -0.5
2025-06-11T21:03:42.746Z,1749675822.746 [DAT](INFO): DAT read: 21:03:44.2094 LVL= 31072, 30705, 23090, 32755, AGC= 72, IDX= 502, 0.25, 2.499,-1.892, 2.581, 3.100, PHS=-0.512, 1.339,-0.522, RAW= 330.3, -3.3, CAL= 332.4, -4.7, ROT= 177.6, 4.7
2025-06-11T21:03:42.749Z,1749675822.749 [DAT](INFO): got valid direction response:
21:03:44.2094 LVL= 31072, 30705, 23090, 32755, AGC= 72, IDX= 502, 0.25, 2.499,-1.892, 2.581, 3.100, PHS=-0.512, 1.339,-0.522, RAW= 330.3, -3.3, CAL= 332.4, -4.7, ROT= 177.6, 4.7
2025-06-11T21:03:42.750Z,1749675822.750 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-11T21:03:42.751Z,1749675822.751 [DAT](INFO): direction in FSK: [-0.995763,0.041735,-0.081939]
2025-06-11T21:03:42.753Z,1749675822.753 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:42.778Z,1749675822.778 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=37.076546
2025-06-11T21:03:42.973Z,1749675822.973 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=37.271877
2025-06-11T21:03:42.997Z,1749675822.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 64.699997 m,
deltaT: 0.506217 s,
deltaX: 0.199997 m,
approachRate: 0.395081 m/s,
rangeRepo size: 4
2025-06-11T21:03:42.999Z,1749675822.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 64.150375 m,
bearing: 107.787929 deg,
lat: 36.906388 deg,
lon: -122.115607 deg,
deltaT: 0.506217 s,
deltaX: 0.198299 m,
approachRate: 0.391728 m/s,
posRepo size: 4
2025-06-11T21:03:42.999Z,1749675822.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m.
2025-06-11T21:03:43.227Z,1749675823.227 [DAT](INFO): DAT read: Rx Time:21:03:44.7098
2025-06-11T21:03:43.227Z,1749675823.227 [DAT](INFO): Rx dataTimestamp_ set to:1749675823.226785
2025-06-11T21:03:43.229Z,1749675823.229 [DAT](INFO): DAT read: Bearing 177.8, 4.5 (Local)
2025-06-11T21:03:43.230Z,1749675823.230 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.8, 4.5 (Local)
2025-06-11T21:03:43.239Z,1749675823.239 [DAT](INFO): DAT read: Range 10 to 50 : 65.3 m (trip time 43.5 ms) speed -0.5
2025-06-11T21:03:43.244Z,1749675823.244 [DAT](INFO): DAT read: 21:03:44.7098 LVL= 27792, 27217, 26098, 32755, AGC= 74, IDX= 506,-0.11, 2.140,-2.301, 2.227, 2.733, PHS=-0.506, 1.295,-0.509, RAW= 330.1, -3.1, CAL= 332.2, -4.5, ROT= 177.8, 4.5
2025-06-11T21:03:43.245Z,1749675823.245 [DAT](INFO): got valid direction response:
21:03:44.7098 LVL= 27792, 27217, 26098, 32755, AGC= 74, IDX= 506,-0.11, 2.140,-2.301, 2.227, 2.733, PHS=-0.506, 1.295,-0.509, RAW= 330.1, -3.1, CAL= 332.2, -4.5, ROT= 177.8, 4.5
2025-06-11T21:03:43.245Z,1749675823.245 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-11T21:03:43.246Z,1749675823.246 [DAT](INFO): direction in FSK: [-0.996183,0.038269,-0.078459]
2025-06-11T21:03:43.247Z,1749675823.247 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:43.250Z,1749675823.250 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=37.549232
2025-06-11T21:03:43.354Z,1749675823.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 65.300003 m,
deltaT: 0.502950 s,
deltaX: 0.600006 m,
approachRate: 1.192974 m/s,
rangeRepo size: 4
2025-06-11T21:03:43.364Z,1749675823.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 64.745300 m,
bearing: 107.990211 deg,
lat: 36.906386 deg,
lon: -122.115608 deg,
deltaT: 0.502950 s,
deltaX: 0.594925 m,
approachRate: 1.182871 m/s,
posRepo size: 4
2025-06-11T21:03:43.365Z,1749675823.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m.
2025-06-11T21:03:43.477Z,1749675823.477 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=37.775902
2025-06-11T21:03:43.730Z,1749675823.730 [DAT](INFO): DAT read: Rx Time:21:03:45.2099
2025-06-11T21:03:43.730Z,1749675823.730 [DAT](INFO): Rx dataTimestamp_ set to:1749675823.729712
2025-06-11T21:03:43.731Z,1749675823.731 [DAT](INFO): DAT read: Bearing 177.7, 3.9 (Local)
2025-06-11T21:03:43.732Z,1749675823.732 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.7, 3.9 (Local)
2025-06-11T21:03:43.734Z,1749675823.734 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m (trip time 43.6 ms) speed -0.2
2025-06-11T21:03:43.739Z,1749675823.739 [DAT](INFO): DAT read: 21:03:45.2099 LVL= 25872, 27073, 27090, 32755, AGC= 73, IDX= 507, 0.35, 2.493,-1.961, 2.575, 3.094, PHS=-0.513, 1.275,-0.522, RAW= 330.2, -2.7, CAL= 332.3, -3.9, ROT= 177.7, 3.9
2025-06-11T21:03:43.740Z,1749675823.740 [DAT](INFO): got valid direction response:
21:03:45.2099 LVL= 25872, 27073, 27090, 32755, AGC= 73, IDX= 507, 0.35, 2.493,-1.961, 2.575, 3.094, PHS=-0.513, 1.275,-0.522, RAW= 330.2, -2.7, CAL= 332.3, -3.9, ROT= 177.7, 3.9
2025-06-11T21:03:43.741Z,1749675823.741 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-11T21:03:43.742Z,1749675823.742 [DAT](INFO): direction in FSK: [-0.996881,0.040039,-0.068015]
2025-06-11T21:03:43.742Z,1749675823.742 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:43.745Z,1749675823.745 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=38.044449
2025-06-11T21:03:43.782Z,1749675823.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 65.400002 m,
deltaT: 0.502927 s,
deltaX: 0.099998 m,
approachRate: 0.198833 m/s,
rangeRepo size: 4
2025-06-11T21:03:43.788Z,1749675823.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 64.844444 m,
bearing: 107.910884 deg,
lat: 36.906386 deg,
lon: -122.115609 deg,
deltaT: 0.502927 s,
deltaX: 0.099144 m,
approachRate: 0.197134 m/s,
posRepo size: 4
2025-06-11T21:03:43.789Z,1749675823.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T21:03:43.981Z,1749675823.981 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=38.279972
2025-06-11T21:03:44.151Z,1749675824.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m.
2025-06-11T21:03:44.233Z,1749675824.233 [DAT](INFO): DAT read: Rx Time:21:03:45.7103
2025-06-11T21:03:44.234Z,1749675824.234 [DAT](INFO): Rx dataTimestamp_ set to:1749675824.233690
2025-06-11T21:03:44.235Z,1749675824.235 [DAT](INFO): DAT read: Bearing 177.2, 2.8 (Local)
2025-06-11T21:03:44.236Z,1749675824.236 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.2, 2.8 (Local)
2025-06-11T21:03:44.238Z,1749675824.238 [DAT](INFO): DAT read: Range 10 to 50 : 66.0 m (trip time 44.0 ms) speed -0.7
2025-06-11T21:03:44.244Z,1749675824.244 [DAT](INFO): DAT read: 21:03:45.7103 LVL= 32752, 27601, 32754, 32755, AGC= 71, IDX= 511,-0.03, 2.085,-2.343, 2.142, 2.711, PHS=-0.538, 1.277,-0.572, RAW= 330.9, -1.8, CAL= 332.8, -2.8, ROT= 177.2, 2.8
2025-06-11T21:03:44.245Z,1749675824.245 [DAT](INFO): got valid direction response:
21:03:45.7103 LVL= 32752, 27601, 32754, 32755, AGC= 71, IDX= 511,-0.03, 2.085,-2.343, 2.142, 2.711, PHS=-0.538, 1.277,-0.572, RAW= 330.9, -1.8, CAL= 332.8, -2.8, ROT= 177.2, 2.8
2025-06-11T21:03:44.246Z,1749675824.246 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-06-11T21:03:44.247Z,1749675824.247 [DAT](INFO): direction in FSK: [-0.997614,0.048792,-0.048850]
2025-06-11T21:03:44.248Z,1749675824.248 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:44.258Z,1749675824.258 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=38.556885
2025-06-11T21:03:44.485Z,1749675824.485 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=38.783752
2025-06-11T21:03:44.549Z,1749675824.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.000000 m,
deltaT: 0.503978 s,
deltaX: 0.599998 m,
approachRate: 1.190525 m/s,
rangeRepo size: 4
2025-06-11T21:03:44.551Z,1749675824.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.439415 m,
bearing: 107.410364 deg,
lat: 36.906386 deg,
lon: -122.115608 deg,
deltaT: 0.503978 s,
deltaX: 0.594971 m,
approachRate: 1.180549 m/s,
posRepo size: 4
2025-06-11T21:03:44.551Z,1749675824.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m.
2025-06-11T21:03:44.738Z,1749675824.738 [DAT](INFO): DAT read: Rx Time:21:03:46.2105
2025-06-11T21:03:44.738Z,1749675824.738 [DAT](INFO): Rx dataTimestamp_ set to:1749675824.737737
2025-06-11T21:03:44.739Z,1749675824.739 [DAT](INFO): DAT read: Bearing 199.4, 3.5 (Local)
2025-06-11T21:03:44.740Z,1749675824.740 [DAT](INFO): Local bearing/azimuth received:
Bearing 199.4, 3.5 (Local)
2025-06-11T21:03:44.742Z,1749675824.742 [DAT](INFO): DAT read: Range 10 to 50 : 66.3 m (trip time 44.2 ms) speed -0.5
2025-06-11T21:03:44.747Z,1749675824.747 [DAT](INFO): DAT read: 21:03:46.2105 LVL= 31600, 29921, 28274, 32755, AGC= 70, IDX= 513,-0.42, 1.968,-2.200, 2.869, 2.944, PHS=-0.888, 1.186,-0.079, RAW= 307.2, -2.5, CAL= 310.6, -3.5, ROT= 199.4, 3.5
2025-06-11T21:03:44.748Z,1749675824.748 [DAT](INFO): got valid direction response:
21:03:46.2105 LVL= 31600, 29921, 28274, 32755, AGC= 70, IDX= 513,-0.42, 1.968,-2.200, 2.869, 2.944, PHS=-0.888, 1.186,-0.079, RAW= 307.2, -2.5, CAL= 310.6, -3.5, ROT= 199.4, 3.5
2025-06-11T21:03:44.748Z,1749675824.748 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-11T21:03:44.749Z,1749675824.749 [DAT](INFO): direction in FSK: [-0.941463,-0.331542,-0.061049]
2025-06-11T21:03:44.749Z,1749675824.749 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:44.753Z,1749675824.753 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:03:44.753Z,1749675824.753 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:03:44.753Z,1749675824.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:44.989Z,1749675824.989 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:44.990Z,1749675824.990 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:44.990Z,1749675824.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:45.053Z,1749675825.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.300003 m,
deltaT: 0.504047 s,
deltaX: 0.300003 m,
approachRate: 0.595189 m/s,
rangeRepo size: 4
2025-06-11T21:03:45.055Z,1749675825.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.736870 m,
bearing: 129.729314 deg,
lat: 36.906386 deg,
lon: -122.115609 deg,
deltaT: 0.504047 s,
deltaX: 0.297455 m,
approachRate: 0.590133 m/s,
posRepo size: 4
2025-06-11T21:03:45.055Z,1749675825.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m.
2025-06-11T21:03:45.245Z,1749675825.245 [DAT](INFO): DAT read: Rx Time:21:03:46.7650
2025-06-11T21:03:45.246Z,1749675825.246 [DAT](INFO): Rx dataTimestamp_ set to:1749675825.245543
2025-06-11T21:03:45.251Z,1749675825.251 [DAT](INFO): DAT read: Bearing 177.8, 56.5 (Local)
2025-06-11T21:03:45.254Z,1749675825.254 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.8, 56.5 (Local)
2025-06-11T21:03:45.261Z,1749675825.261 [DAT](INFO): DAT read: Range 10 to 50 : 148.1 m (trip time 98.7 ms) speed -1.4
2025-06-11T21:03:45.266Z,1749675825.266 [DAT](INFO): DAT read: 21:03:46.7650 LVL= 18400, 16817, 16626, 24035, AGC= 72, IDX= 46, 0.07, 2.136,-2.780, 2.205, 1.505, PHS= 0.719, 2.046, 0.698, RAW= 330.8, -42.5, CAL= 332.2, -56.5, ROT= 177.8, 56.5
2025-06-11T21:03:45.267Z,1749675825.267 [DAT](INFO): got valid direction response:
21:03:46.7650 LVL= 18400, 16817, 16626, 24035, AGC= 72, IDX= 46, 0.07, 2.136,-2.780, 2.205, 1.505, PHS= 0.719, 2.046, 0.698, RAW= 330.8, -42.5, CAL= 332.2, -56.5, ROT= 177.8, 56.5
2025-06-11T21:03:45.268Z,1749675825.268 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:45.270Z,1749675825.270 [DAT](INFO): direction in FSK: [-0.551530,0.021188,-0.833886]
2025-06-11T21:03:45.270Z,1749675825.270 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:45.311Z,1749675825.311 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:45.328Z,1749675825.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:45.416Z,1749675825.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 148.100006 m,
deltaT: 0.507806 s,
deltaX: 81.800003 m,
approachRate: 161.085144 m/s,
rangeRepo size: 4
2025-06-11T21:03:45.417Z,1749675825.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m.
2025-06-11T21:03:45.493Z,1749675825.493 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:45.493Z,1749675825.493 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:45.493Z,1749675825.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:45.745Z,1749675825.745 [DAT](INFO): DAT read: Rx Time:21:03:47.2110
2025-06-11T21:03:45.746Z,1749675825.746 [DAT](INFO): Rx dataTimestamp_ set to:1749675825.745621
2025-06-11T21:03:45.747Z,1749675825.747 [DAT](INFO): DAT read: Bearing 176.0, 3.9 (Local)
2025-06-11T21:03:45.748Z,1749675825.748 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.0, 3.9 (Local)
2025-06-11T21:03:45.750Z,1749675825.750 [DAT](INFO): DAT read: Range 10 to 50 : 67.1 m (trip time 44.7 ms) speed -0.1
2025-06-11T21:03:45.755Z,1749675825.755 [DAT](INFO): DAT read: 21:03:47.2110 LVL= 26400, 31985, 25986, 32755, AGC= 70, IDX= 454,-0.34, 0.781, 2.619, 0.796, 1.363, PHS=-0.493, 1.304,-0.570, RAW= 332.1, -2.7, CAL= 334.0, -3.9, ROT= 176.0, 3.9
2025-06-11T21:03:45.756Z,1749675825.756 [DAT](INFO): got valid direction response:
21:03:47.2110 LVL= 26400, 31985, 25986, 32755, AGC= 70, IDX= 454,-0.34, 0.781, 2.619, 0.796, 1.363, PHS=-0.493, 1.304,-0.570, RAW= 332.1, -2.7, CAL= 334.0, -3.9, ROT= 176.0, 3.9
2025-06-11T21:03:45.756Z,1749675825.756 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:45.757Z,1749675825.757 [DAT](INFO): direction in FSK: [-0.995254,0.069595,-0.068015]
2025-06-11T21:03:45.758Z,1749675825.758 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:45.761Z,1749675825.761 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:45.761Z,1749675825.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:45.940Z,1749675825.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 67.099998 m,
deltaT: 1.007884 s,
deltaX: 0.799995 m,
approachRate: 0.793738 m/s,
rangeRepo size: 4
2025-06-11T21:03:45.942Z,1749675825.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 66.530075 m,
bearing: 106.229481 deg,
lat: 36.906388 deg,
lon: -122.115605 deg,
deltaT: 1.007884 s,
deltaX: 0.793205 m,
approachRate: 0.787001 m/s,
posRepo size: 4
2025-06-11T21:03:45.943Z,1749675825.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:03:45.997Z,1749675825.997 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:45.997Z,1749675825.997 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:45.997Z,1749675825.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:46.249Z,1749675826.249 [DAT](INFO): DAT read: Rx Time:21:03:47.7112
2025-06-11T21:03:46.250Z,1749675826.250 [DAT](INFO): Rx dataTimestamp_ set to:1749675826.249580
2025-06-11T21:03:46.251Z,1749675826.251 [DAT](INFO): DAT read: Bearing 177.6, 3.4 (Local)
2025-06-11T21:03:46.251Z,1749675826.251 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.6, 3.4 (Local)
2025-06-11T21:03:46.254Z,1749675826.254 [DAT](INFO): DAT read: Range 10 to 50 : 67.4 m (trip time 44.9 ms) speed 0.0
2025-06-11T21:03:46.259Z,1749675826.259 [DAT](INFO): DAT read: 21:03:47.7112 LVL= 32752, 27537, 27986, 32755, AGC= 67, IDX= 504, 0.12, 2.837,-1.629, 2.913,-2.839, PHS=-0.519, 1.257,-0.535, RAW= 330.4, -2.3, CAL= 332.4, -3.4, ROT= 177.6, 3.4
2025-06-11T21:03:46.264Z,1749675826.264 [DAT](INFO): got valid direction response:
21:03:47.7112 LVL= 32752, 27537, 27986, 32755, AGC= 67, IDX= 504, 0.12, 2.837,-1.629, 2.913,-2.839, PHS=-0.519, 1.257,-0.535, RAW= 330.4, -2.3, CAL= 332.4, -3.4, ROT= 177.6, 3.4
2025-06-11T21:03:46.264Z,1749675826.264 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:46.265Z,1749675826.265 [DAT](INFO): direction in FSK: [-0.997364,0.041802,-0.059306]
2025-06-11T21:03:46.265Z,1749675826.265 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:46.269Z,1749675826.269 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:46.269Z,1749675826.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:46.452Z,1749675826.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 67.400002 m,
deltaT: 0.503959 s,
deltaX: 0.300003 m,
approachRate: 0.595293 m/s,
rangeRepo size: 4
2025-06-11T21:03:46.454Z,1749675826.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 66.827637 m,
bearing: 107.880115 deg,
lat: 36.906388 deg,
lon: -122.115605 deg,
deltaT: 0.503959 s,
deltaX: 0.297562 m,
approachRate: 0.590448 m/s,
posRepo size: 4
2025-06-11T21:03:46.455Z,1749675826.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m.
2025-06-11T21:03:46.501Z,1749675826.501 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:46.501Z,1749675826.501 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:46.502Z,1749675826.502 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:46.753Z,1749675826.753 [DAT](INFO): DAT read: Rx Time:21:03:48.2114
2025-06-11T21:03:46.754Z,1749675826.754 [DAT](INFO): Rx dataTimestamp_ set to:1749675826.753560
2025-06-11T21:03:46.755Z,1749675826.755 [DAT](INFO): DAT read: Bearing 176.8, 3.0 (Local)
2025-06-11T21:03:46.755Z,1749675826.755 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.8, 3.0 (Local)
2025-06-11T21:03:46.758Z,1749675826.758 [DAT](INFO): DAT read: Range 10 to 50 : 67.7 m (trip time 45.1 ms) speed 0.0
2025-06-11T21:03:46.763Z,1749675826.763 [DAT](INFO): DAT read: 21:03:48.2114 LVL= 23136, 17777, 20786, 32755, AGC= 71, IDX= 506,-0.23,-0.703, 1.148,-0.660,-0.088, PHS=-0.527, 1.282,-0.575, RAW= 331.3, -2.0, CAL= 333.2, -3.0, ROT= 176.8, 3.0
2025-06-11T21:03:46.764Z,1749675826.764 [DAT](INFO): got valid direction response:
21:03:48.2114 LVL= 23136, 17777, 20786, 32755, AGC= 71, IDX= 506,-0.23,-0.703, 1.148,-0.660,-0.088, PHS=-0.527, 1.282,-0.575, RAW= 331.3, -2.0, CAL= 333.2, -3.0, ROT= 176.8, 3.0
2025-06-11T21:03:46.765Z,1749675826.765 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:46.766Z,1749675826.766 [DAT](INFO): direction in FSK: [-0.997072,0.055745,-0.052336]
2025-06-11T21:03:46.766Z,1749675826.766 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:46.769Z,1749675826.769 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:46.770Z,1749675826.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:47.005Z,1749675827.005 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:47.005Z,1749675827.005 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:47.005Z,1749675827.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:47.136Z,1749675827.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 67.699997 m,
deltaT: 0.503980 s,
deltaX: 0.299995 m,
approachRate: 0.595253 m/s,
rangeRepo size: 4
2025-06-11T21:03:47.138Z,1749675827.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 67.125084 m,
bearing: 107.088616 deg,
lat: 36.906388 deg,
lon: -122.115606 deg,
deltaT: 0.503980 s,
deltaX: 0.297447 m,
approachRate: 0.590196 m/s,
posRepo size: 4
2025-06-11T21:03:47.139Z,1749675827.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-06-11T21:03:47.259Z,1749675827.259 [DAT](INFO): DAT read: Rx Time:21:03:48.7117
2025-06-11T21:03:47.260Z,1749675827.260 [DAT](INFO): Rx dataTimestamp_ set to:1749675827.259424
2025-06-11T21:03:47.263Z,1749675827.263 [DAT](INFO): DAT read: Bearing 177.7, 2.4 (Local)
2025-06-11T21:03:47.263Z,1749675827.263 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.7, 2.4 (Local)
2025-06-11T21:03:47.267Z,1749675827.267 [DAT](INFO): DAT read: Range 10 to 50 : 68.1 m (trip time 45.4 ms) speed 0.0
2025-06-11T21:03:47.284Z,1749675827.284 [DAT](INFO): DAT read: 21:03:48.7117 LVL= 20704, 17265, 18642, 19507, AGC= 69, IDX= 509, 0.21, 2.249,-2.104, 2.324, 2.913, PHS=-0.576, 1.313,-0.592, RAW= 330.4, -1.5, CAL= 332.3, -2.4, ROT= 177.7, 2.4
2025-06-11T21:03:47.285Z,1749675827.285 [DAT](INFO): got valid direction response:
21:03:48.7117 LVL= 20704, 17265, 18642, 19507, AGC= 69, IDX= 509, 0.21, 2.249,-2.104, 2.324, 2.913, PHS=-0.576, 1.313,-0.592, RAW= 330.4, -1.5, CAL= 332.3, -2.4, ROT= 177.7, 2.4
2025-06-11T21:03:47.286Z,1749675827.286 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:47.287Z,1749675827.287 [DAT](INFO): direction in FSK: [-0.998318,0.040097,-0.041876]
2025-06-11T21:03:47.287Z,1749675827.287 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:47.294Z,1749675827.294 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:47.295Z,1749675827.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:47.509Z,1749675827.509 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:47.509Z,1749675827.509 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:47.510Z,1749675827.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:47.577Z,1749675827.577 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:03:47.616Z,1749675827.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.099998 m,
deltaT: 0.505864 s,
deltaX: 0.400002 m,
approachRate: 0.790729 m/s,
rangeRepo size: 4
2025-06-11T21:03:47.618Z,1749675827.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 67.521782 m,
bearing: 108.103960 deg,
lat: 36.906388 deg,
lon: -122.115606 deg,
deltaT: 0.505864 s,
deltaX: 0.396698 m,
approachRate: 0.784199 m/s,
posRepo size: 4
2025-06-11T21:03:47.619Z,1749675827.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.52 m.
2025-06-11T21:03:47.762Z,1749675827.762 [DAT](INFO): DAT read: Rx Time:21:03:49.2119
2025-06-11T21:03:47.763Z,1749675827.763 [DAT](INFO): Rx dataTimestamp_ set to:1749675827.762257
2025-06-11T21:03:47.764Z,1749675827.764 [DAT](INFO): DAT read: Bearing 176.1, 5.1 (Local)
2025-06-11T21:03:47.764Z,1749675827.764 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, 5.1 (Local)
2025-06-11T21:03:47.766Z,1749675827.766 [DAT](INFO): DAT read: Range 10 to 50 : 68.4 m (trip time 45.6 ms) speed -0.1
2025-06-11T21:03:47.772Z,1749675827.772 [DAT](INFO): DAT read: 21:03:49.2119 LVL= 25984, 22321, 28114, 32755, AGC= 73, IDX= 511,-0.20, 0.228, 2.068, 0.254, 0.785, PHS=-0.469, 1.330,-0.535, RAW= 331.8, -3.6, CAL= 333.9, -5.1, ROT= 176.1, 5.1
2025-06-11T21:03:47.773Z,1749675827.773 [DAT](INFO): got valid direction response:
21:03:49.2119 LVL= 25984, 22321, 28114, 32755, AGC= 73, IDX= 511,-0.20, 0.228, 2.068, 0.254, 0.785, PHS=-0.469, 1.330,-0.535, RAW= 331.8, -3.6, CAL= 333.9, -5.1, ROT= 176.1, 5.1
2025-06-11T21:03:47.773Z,1749675827.773 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:47.774Z,1749675827.774 [DAT](INFO): direction in FSK: [-0.993735,0.067746,-0.088894]
2025-06-11T21:03:47.775Z,1749675827.775 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:47.779Z,1749675827.779 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:47.779Z,1749675827.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:48.012Z,1749675828.012 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:48.013Z,1749675828.013 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:48.013Z,1749675828.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:48.104Z,1749675828.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.400002 m,
deltaT: 0.502833 s,
deltaX: 0.300003 m,
approachRate: 0.596626 m/s,
rangeRepo size: 4
2025-06-11T21:03:48.106Z,1749675828.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 67.819237 m,
bearing: 106.415014 deg,
lat: 36.906394 deg,
lon: -122.115606 deg,
deltaT: 0.502833 s,
deltaX: 0.297455 m,
approachRate: 0.591558 m/s,
posRepo size: 4
2025-06-11T21:03:48.107Z,1749675828.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.82 m.
2025-06-11T21:03:48.268Z,1749675828.268 [DAT](INFO): DAT read: Rx Time:21:03:49.7122
2025-06-11T21:03:48.271Z,1749675828.271 [DAT](INFO): Rx dataTimestamp_ set to:1749675828.269234
2025-06-11T21:03:48.272Z,1749675828.272 [DAT](INFO): DAT read: Bearing 176.0, 2.5 (Local)
2025-06-11T21:03:48.273Z,1749675828.273 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.0, 2.5 (Local)
2025-06-11T21:03:48.275Z,1749675828.275 [DAT](INFO): DAT read: Range 10 to 50 : 68.7 m (trip time 45.8 ms) speed -0.2
2025-06-11T21:03:48.280Z,1749675828.280 [DAT](INFO): DAT read: 21:03:49.7122 LVL= 32752, 25553, 27378, 32755, AGC= 70, IDX= 2, 0.28, 2.330,-2.107, 2.338, 2.942, PHS=-0.525, 1.281,-0.607, RAW= 332.2, -1.6, CAL= 334.0, -2.5, ROT= 176.0, 2.5
2025-06-11T21:03:48.281Z,1749675828.281 [DAT](INFO): got valid direction response:
21:03:49.7122 LVL= 32752, 25553, 27378, 32755, AGC= 70, IDX= 2, 0.28, 2.330,-2.107, 2.338, 2.942, PHS=-0.525, 1.281,-0.607, RAW= 332.2, -1.6, CAL= 334.0, -2.5, ROT= 176.0, 2.5
2025-06-11T21:03:48.281Z,1749675828.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:48.282Z,1749675828.282 [DAT](INFO): direction in FSK: [-0.996615,0.069690,-0.043619]
2025-06-11T21:03:48.283Z,1749675828.283 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:48.286Z,1749675828.286 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:48.286Z,1749675828.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:48.498Z,1749675828.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.699997 m,
deltaT: 0.506977 s,
deltaX: 0.299995 m,
approachRate: 0.591734 m/s,
rangeRepo size: 4
2025-06-11T21:03:48.504Z,1749675828.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.116699 m,
bearing: 106.427434 deg,
lat: 36.906394 deg,
lon: -122.115606 deg,
deltaT: 0.506977 s,
deltaX: 0.297462 m,
approachRate: 0.586738 m/s,
posRepo size: 4
2025-06-11T21:03:48.505Z,1749675828.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.12 m.
2025-06-11T21:03:48.517Z,1749675828.517 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:48.517Z,1749675828.517 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:48.517Z,1749675828.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:48.769Z,1749675828.769 [DAT](INFO): DAT read: Rx Time:21:03:50.2124
2025-06-11T21:03:48.770Z,1749675828.770 [DAT](INFO): Rx dataTimestamp_ set to:1749675828.769516
2025-06-11T21:03:48.771Z,1749675828.771 [DAT](INFO): DAT read: Bearing 174.9, 5.6 (Local)
2025-06-11T21:03:48.771Z,1749675828.771 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.9, 5.6 (Local)
2025-06-11T21:03:48.774Z,1749675828.774 [DAT](INFO): DAT read: Range 10 to 50 : 69.0 m (trip time 46.0 ms) speed 0.0
2025-06-11T21:03:48.778Z,1749675828.778 [DAT](INFO): DAT read: 21:03:50.2124 LVL= 32752, 29297, 30434, 32755, AGC= 71, IDX= 500,-0.11,-0.946, 0.785,-0.965,-0.445, PHS=-0.413, 1.277,-0.523, RAW= 333.1, -4.0, CAL= 335.1, -5.6, ROT= 174.9, 5.6
2025-06-11T21:03:48.779Z,1749675828.779 [DAT](INFO): got valid direction response:
21:03:50.2124 LVL= 32752, 29297, 30434, 32755, AGC= 71, IDX= 500,-0.11,-0.946, 0.785,-0.965,-0.445, PHS=-0.413, 1.277,-0.523, RAW= 333.1, -4.0, CAL= 335.1, -5.6, ROT= 174.9, 5.6
2025-06-11T21:03:48.780Z,1749675828.780 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:48.781Z,1749675828.781 [DAT](INFO): direction in FSK: [-0.991287,0.088470,-0.097583]
2025-06-11T21:03:48.781Z,1749675828.781 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:48.793Z,1749675828.793 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:48.793Z,1749675828.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:48.880Z,1749675828.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 69.000000 m,
deltaT: 0.500282 s,
deltaX: 0.300003 m,
approachRate: 0.599668 m/s,
rangeRepo size: 4
2025-06-11T21:03:48.882Z,1749675828.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.414154 m,
bearing: 105.230132 deg,
lat: 36.906401 deg,
lon: -122.115606 deg,
deltaT: 0.500282 s,
deltaX: 0.297455 m,
approachRate: 0.594574 m/s,
posRepo size: 4
2025-06-11T21:03:48.882Z,1749675828.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.41 m.
2025-06-11T21:03:49.022Z,1749675829.022 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:49.022Z,1749675829.022 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:49.022Z,1749675829.022 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:49.273Z,1749675829.273 [DAT](INFO): DAT read: Rx Time:21:03:50.7126
2025-06-11T21:03:49.274Z,1749675829.274 [DAT](INFO): Rx dataTimestamp_ set to:1749675829.273555
2025-06-11T21:03:49.275Z,1749675829.275 [DAT](INFO): DAT read: Bearing 177.2, 3.7 (Local)
2025-06-11T21:03:49.275Z,1749675829.275 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.2, 3.7 (Local)
2025-06-11T21:03:49.278Z,1749675829.278 [DAT](INFO): DAT read: Range 10 to 50 : 69.5 m (trip time 46.3 ms) speed 0.0
2025-06-11T21:03:49.282Z,1749675829.282 [DAT](INFO): DAT read: 21:03:50.7126 LVL= 31216, 29089, 30194, 32755, AGC= 73, IDX= 502, 0.15, 1.986,-2.450, 2.050, 2.590, PHS=-0.516, 1.290,-0.543, RAW= 330.7, -2.6, CAL= 332.8, -3.7, ROT= 177.2, 3.7
2025-06-11T21:03:49.283Z,1749675829.283 [DAT](INFO): got valid direction response:
21:03:50.7126 LVL= 31216, 29089, 30194, 32755, AGC= 73, IDX= 502, 0.15, 1.986,-2.450, 2.050, 2.590, PHS=-0.516, 1.290,-0.543, RAW= 330.7, -2.6, CAL= 332.8, -3.7, ROT= 177.2, 3.7
2025-06-11T21:03:49.284Z,1749675829.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:49.285Z,1749675829.285 [DAT](INFO): direction in FSK: [-0.996724,0.048748,-0.064532]
2025-06-11T21:03:49.285Z,1749675829.285 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:49.289Z,1749675829.289 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:49.289Z,1749675829.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:49.316Z,1749675829.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 69.500000 m,
deltaT: 0.504039 s,
deltaX: 0.500000 m,
approachRate: 0.991987 m/s,
rangeRepo size: 4
2025-06-11T21:03:49.318Z,1749675829.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.909904 m,
bearing: 107.602889 deg,
lat: 36.906401 deg,
lon: -122.115605 deg,
deltaT: 0.504039 s,
deltaX: 0.495750 m,
approachRate: 0.983556 m/s,
posRepo size: 4
2025-06-11T21:03:49.319Z,1749675829.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.91 m.
2025-06-11T21:03:49.525Z,1749675829.525 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:49.525Z,1749675829.525 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:49.525Z,1749675829.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:49.777Z,1749675829.777 [DAT](INFO): DAT read: Rx Time:21:03:51.2128
2025-06-11T21:03:49.778Z,1749675829.778 [DAT](INFO): Rx dataTimestamp_ set to:1749675829.777667
2025-06-11T21:03:49.779Z,1749675829.779 [DAT](INFO): DAT read: Bearing 175.9, 7.4 (Local)
2025-06-11T21:03:49.780Z,1749675829.780 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.9, 7.4 (Local)
2025-06-11T21:03:49.782Z,1749675829.782 [DAT](INFO): DAT read: Range 10 to 50 : 69.8 m (trip time 46.5 ms) speed -0.4
2025-06-11T21:03:49.787Z,1749675829.787 [DAT](INFO): DAT read: 21:03:51.2128 LVL= 32752, 32753, 29586, 32755, AGC= 70, IDX= 504,-0.29,-1.032, 0.863,-1.011,-0.515, PHS=-0.428, 1.426,-0.499, RAW= 331.9, -5.3, CAL= 334.1, -7.4, ROT= 175.9, 7.4
2025-06-11T21:03:49.788Z,1749675829.788 [DAT](INFO): got valid direction response:
21:03:51.2128 LVL= 32752, 32753, 29586, 32755, AGC= 70, IDX= 504,-0.29,-1.032, 0.863,-1.011,-0.515, PHS=-0.428, 1.426,-0.499, RAW= 331.9, -5.3, CAL= 334.1, -7.4, ROT= 175.9, 7.4
2025-06-11T21:03:49.789Z,1749675829.789 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:49.790Z,1749675829.790 [DAT](INFO): direction in FSK: [-0.989133,0.070902,-0.128796]
2025-06-11T21:03:49.790Z,1749675829.790 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:49.805Z,1749675829.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 69.800003 m,
deltaT: 0.504112 s,
deltaX: 0.300003 m,
approachRate: 0.595112 m/s,
rangeRepo size: 4
2025-06-11T21:03:49.807Z,1749675829.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 69.207336 m,
bearing: 106.196447 deg,
lat: 36.906402 deg,
lon: -122.115605 deg,
deltaT: 0.504112 s,
deltaX: 0.297432 m,
approachRate: 0.590012 m/s,
posRepo size: 4
2025-06-11T21:03:49.808Z,1749675829.808 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:49.809Z,1749675829.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:49.812Z,1749675829.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.21 m.
2025-06-11T21:03:50.029Z,1749675830.029 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:50.029Z,1749675830.029 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:50.029Z,1749675830.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:50.237Z,1749675830.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.21 m.
2025-06-11T21:03:50.281Z,1749675830.281 [DAT](INFO): DAT read: Rx Time:21:03:51.7131
2025-06-11T21:03:50.282Z,1749675830.282 [DAT](INFO): Rx dataTimestamp_ set to:1749675830.281620
2025-06-11T21:03:50.283Z,1749675830.283 [DAT](INFO): DAT read: Bearing 175.3, 6.2 (Local)
2025-06-11T21:03:50.284Z,1749675830.284 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.3, 6.2 (Local)
2025-06-11T21:03:50.286Z,1749675830.286 [DAT](INFO): DAT read: Range 10 to 50 : 70.2 m (trip time 46.8 ms) speed 0.2
2025-06-11T21:03:50.291Z,1749675830.291 [DAT](INFO): DAT read: 21:03:51.7131 LVL= 32752, 29681, 32450, 32755, AGC= 71, IDX= 507, 0.03, 2.190,-2.266, 2.186, 2.708, PHS=-0.430, 1.356,-0.525, RAW= 332.6, -4.4, CAL= 334.7, -6.2, ROT= 175.3, 6.2
2025-06-11T21:03:50.292Z,1749675830.292 [DAT](INFO): got valid direction response:
21:03:51.7131 LVL= 32752, 29681, 32450, 32755, AGC= 71, IDX= 507, 0.03, 2.190,-2.266, 2.186, 2.708, PHS=-0.430, 1.356,-0.525, RAW= 332.6, -4.4, CAL= 334.7, -6.2, ROT= 175.3, 6.2
2025-06-11T21:03:50.292Z,1749675830.292 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:50.293Z,1749675830.293 [DAT](INFO): direction in FSK: [-0.990808,0.081459,-0.107999]
2025-06-11T21:03:50.294Z,1749675830.294 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:50.297Z,1749675830.297 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:50.297Z,1749675830.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:50.532Z,1749675830.532 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:50.533Z,1749675830.533 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:50.533Z,1749675830.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:50.708Z,1749675830.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 70.199997 m,
deltaT: 0.503953 s,
deltaX: 0.399994 m,
approachRate: 0.793713 m/s,
rangeRepo size: 4
2025-06-11T21:03:50.710Z,1749675830.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 69.604065 m,
bearing: 105.650267 deg,
lat: 36.906405 deg,
lon: -122.115604 deg,
deltaT: 0.503953 s,
deltaX: 0.396729 m,
approachRate: 0.787233 m/s,
posRepo size: 4
2025-06-11T21:03:50.710Z,1749675830.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.60 m.
2025-06-11T21:03:50.787Z,1749675830.787 [DAT](INFO): DAT read: Rx Time:21:03:52.2133
2025-06-11T21:03:50.787Z,1749675830.787 [DAT](INFO): Rx dataTimestamp_ set to:1749675830.786744
2025-06-11T21:03:50.789Z,1749675830.789 [DAT](INFO): DAT read: Bearing 176.2, 7.2 (Local)
2025-06-11T21:03:50.790Z,1749675830.790 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.2, 7.2 (Local)
2025-06-11T21:03:50.794Z,1749675830.794 [DAT](INFO): DAT read: Range 10 to 50 : 70.5 m (trip time 47.0 ms) speed -1.0
2025-06-11T21:03:50.800Z,1749675830.800 [DAT](INFO): DAT read: 21:03:52.2133 LVL= 32752, 22513, 26482, 32755, AGC= 71, IDX= 508, 0.44, 0.684, 2.596, 0.717, 1.214, PHS=-0.442, 1.429,-0.500, RAW= 331.5, -5.2, CAL= 333.8, -7.2, ROT= 176.2, 7.2
2025-06-11T21:03:50.801Z,1749675830.801 [DAT](INFO): got valid direction response:
21:03:52.2133 LVL= 32752, 22513, 26482, 32755, AGC= 71, IDX= 508, 0.44, 0.684, 2.596, 0.717, 1.214, PHS=-0.442, 1.429,-0.500, RAW= 331.5, -5.2, CAL= 333.8, -7.2, ROT= 176.2, 7.2
2025-06-11T21:03:50.802Z,1749675830.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:50.803Z,1749675830.803 [DAT](INFO): direction in FSK: [-0.989934,0.065751,-0.125333]
2025-06-11T21:03:50.803Z,1749675830.803 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:50.807Z,1749675830.807 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:50.808Z,1749675830.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:51.037Z,1749675831.037 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:51.037Z,1749675831.037 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:51.037Z,1749675831.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:51.100Z,1749675831.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 70.500000 m,
deltaT: 0.505124 s,
deltaX: 0.300003 m,
approachRate: 0.593920 m/s,
rangeRepo size: 4
2025-06-11T21:03:51.102Z,1749675831.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 69.901520 m,
bearing: 106.528166 deg,
lat: 36.906405 deg,
lon: -122.115605 deg,
deltaT: 0.505124 s,
deltaX: 0.297455 m,
approachRate: 0.588875 m/s,
posRepo size: 4
2025-06-11T21:03:51.102Z,1749675831.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m.
2025-06-11T21:03:51.289Z,1749675831.289 [DAT](INFO): DAT read: Rx Time:21:03:52.7136
2025-06-11T21:03:51.290Z,1749675831.290 [DAT](INFO): Rx dataTimestamp_ set to:1749675831.289580
2025-06-11T21:03:51.291Z,1749675831.291 [DAT](INFO): DAT read: Bearing 176.4, 6.6 (Local)
2025-06-11T21:03:51.291Z,1749675831.291 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.4, 6.6 (Local)
2025-06-11T21:03:51.294Z,1749675831.294 [DAT](INFO): DAT read: Range 10 to 50 : 71.0 m (trip time 47.3 ms) speed -0.4
2025-06-11T21:03:51.299Z,1749675831.299 [DAT](INFO): DAT read: 21:03:52.7136 LVL= 22288, 30177, 20818, 32499, AGC= 71, IDX= 496,-0.15, 1.426,-3.002, 1.469, 1.961, PHS=-0.446, 1.368,-0.495, RAW= 331.3, -4.7, CAL= 333.6, -6.6, ROT= 176.4, 6.6
2025-06-11T21:03:51.300Z,1749675831.300 [DAT](INFO): got valid direction response:
21:03:52.7136 LVL= 22288, 30177, 20818, 32499, AGC= 71, IDX= 496,-0.15, 1.426,-3.002, 1.469, 1.961, PHS=-0.446, 1.368,-0.495, RAW= 331.3, -4.7, CAL= 333.6, -6.6, ROT= 176.4, 6.6
2025-06-11T21:03:51.300Z,1749675831.300 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:51.301Z,1749675831.301 [DAT](INFO): direction in FSK: [-0.991413,0.062375,-0.114937]
2025-06-11T21:03:51.302Z,1749675831.302 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:51.305Z,1749675831.305 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:51.305Z,1749675831.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:51.483Z,1749675831.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.000000 m,
deltaT: 0.502836 s,
deltaX: 0.500000 m,
approachRate: 0.994360 m/s,
rangeRepo size: 4
2025-06-11T21:03:51.490Z,1749675831.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 70.397057 m,
bearing: 106.779331 deg,
lat: 36.906402 deg,
lon: -122.115606 deg,
deltaT: 0.502836 s,
deltaX: 0.495537 m,
approachRate: 0.985484 m/s,
posRepo size: 4
2025-06-11T21:03:51.490Z,1749675831.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m.
2025-06-11T21:03:51.541Z,1749675831.541 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:51.542Z,1749675831.542 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:51.542Z,1749675831.542 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:51.793Z,1749675831.793 [DAT](INFO): DAT read: Rx Time:21:03:53.2137
2025-06-11T21:03:51.793Z,1749675831.793 [DAT](INFO): Rx dataTimestamp_ set to:1749675831.793085
2025-06-11T21:03:51.795Z,1749675831.795 [DAT](INFO): DAT read: Range 10 to 50 : 71.1 m (trip time 47.4 ms) speed 0.6
2025-06-11T21:03:51.795Z,1749675831.795 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:03:51.796Z,1749675831.796 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:51.796Z,1749675831.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:51.890Z,1749675831.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.099998 m,
deltaT: 0.503505 s,
deltaX: 0.099998 m,
approachRate: 0.198605 m/s,
rangeRepo size: 4
2025-06-11T21:03:51.890Z,1749675831.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m.
2025-06-11T21:03:52.044Z,1749675832.044 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:52.045Z,1749675832.045 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:52.045Z,1749675832.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:52.274Z,1749675832.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m.
2025-06-11T21:03:52.297Z,1749675832.297 [DAT](INFO): DAT read: Rx Time:21:03:53.7141
2025-06-11T21:03:52.298Z,1749675832.298 [DAT](INFO): Rx dataTimestamp_ set to:1749675832.297683
2025-06-11T21:03:52.299Z,1749675832.299 [DAT](INFO): DAT read: Bearing 175.2, 7.0 (Local)
2025-06-11T21:03:52.300Z,1749675832.300 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.2, 7.0 (Local)
2025-06-11T21:03:52.302Z,1749675832.302 [DAT](INFO): DAT read: Range 10 to 50 : 71.7 m (trip time 47.8 ms) speed 0.0
2025-06-11T21:03:52.307Z,1749675832.307 [DAT](INFO): DAT read: 21:03:53.7141 LVL= 29648, 21985, 23154, 32755, AGC= 70, IDX= 5,-0.38, 2.012,-2.420, 2.005, 2.517, PHS=-0.417, 1.393,-0.515, RAW= 332.6, -5.0, CAL= 334.8, -7.0, ROT= 175.2, 7.0
2025-06-11T21:03:52.308Z,1749675832.308 [DAT](INFO): got valid direction response:
21:03:53.7141 LVL= 29648, 21985, 23154, 32755, AGC= 70, IDX= 5,-0.38, 2.012,-2.420, 2.005, 2.517, PHS=-0.417, 1.393,-0.515, RAW= 332.6, -5.0, CAL= 334.8, -7.0, ROT= 175.2, 7.0
2025-06-11T21:03:52.308Z,1749675832.308 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:52.309Z,1749675832.309 [DAT](INFO): direction in FSK: [-0.989065,0.083054,-0.121869]
2025-06-11T21:03:52.309Z,1749675832.309 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:52.317Z,1749675832.317 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:52.318Z,1749675832.318 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:52.551Z,1749675832.551 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:52.551Z,1749675832.551 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:52.551Z,1749675832.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:52.711Z,1749675832.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.699997 m,
deltaT: 0.504598 s,
deltaX: 0.599998 m,
approachRate: 1.189062 m/s,
rangeRepo size: 4
2025-06-11T21:03:52.717Z,1749675832.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.090714 m,
bearing: 105.580881 deg,
lat: 36.906405 deg,
lon: -122.115606 deg,
deltaT: 1.008103 s,
deltaX: 0.693657 m,
approachRate: 0.688081 m/s,
posRepo size: 4
2025-06-11T21:03:52.718Z,1749675832.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.09 m.
2025-06-11T21:03:52.807Z,1749675832.807 [DAT](INFO): DAT read: Rx Time:21:03:54.2142
2025-06-11T21:03:52.807Z,1749675832.807 [DAT](INFO): Rx dataTimestamp_ set to:1749675832.807052
2025-06-11T21:03:52.809Z,1749675832.809 [DAT](INFO): DAT read: Bearing 176.0, 6.7 (Local)
2025-06-11T21:03:52.810Z,1749675832.810 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.0, 6.7 (Local)
2025-06-11T21:03:52.813Z,1749675832.813 [DAT](INFO): DAT read: Range 10 to 50 : 71.9 m (trip time 47.9 ms) speed 0.0
2025-06-11T21:03:52.824Z,1749675832.824 [DAT](INFO): DAT read: 21:03:54.2142 LVL= 21984, 14833, 19794, 32755, AGC= 72, IDX= 502,-0.06, 1.692,-2.725, 1.716, 2.219, PHS=-0.440, 1.386,-0.506, RAW= 331.8, -4.8, CAL= 334.0, -6.7, ROT= 176.0, 6.7
2025-06-11T21:03:52.825Z,1749675832.825 [DAT](INFO): got valid direction response:
21:03:54.2142 LVL= 21984, 14833, 19794, 32755, AGC= 72, IDX= 502,-0.06, 1.692,-2.725, 1.716, 2.219, PHS=-0.440, 1.386,-0.506, RAW= 331.8, -4.8, CAL= 334.0, -6.7, ROT= 176.0, 6.7
2025-06-11T21:03:52.825Z,1749675832.825 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:52.826Z,1749675832.826 [DAT](INFO): direction in FSK: [-0.990751,0.069280,-0.116671]
2025-06-11T21:03:52.826Z,1749675832.826 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:52.838Z,1749675832.838 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:52.838Z,1749675832.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:53.057Z,1749675833.057 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:53.057Z,1749675833.057 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:53.057Z,1749675833.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:53.132Z,1749675833.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.900002 m,
deltaT: 0.509369 s,
deltaX: 0.200005 m,
approachRate: 0.392652 m/s,
rangeRepo size: 4
2025-06-11T21:03:53.134Z,1749675833.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.289017 m,
bearing: 106.411340 deg,
lat: 36.906402 deg,
lon: -122.115606 deg,
deltaT: 0.509369 s,
deltaX: 0.198303 m,
approachRate: 0.389312 m/s,
posRepo size: 4
2025-06-11T21:03:53.135Z,1749675833.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.29 m.
2025-06-11T21:03:53.309Z,1749675833.309 [DAT](INFO): DAT read: Rx Time:21:03:54.7145
2025-06-11T21:03:53.310Z,1749675833.310 [DAT](INFO): Rx dataTimestamp_ set to:1749675833.309629
2025-06-11T21:03:53.311Z,1749675833.311 [DAT](INFO): DAT read: Bearing 175.4, 8.4 (Local)
2025-06-11T21:03:53.312Z,1749675833.312 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.4, 8.4 (Local)
2025-06-11T21:03:53.314Z,1749675833.314 [DAT](INFO): DAT read: Range 10 to 50 : 72.3 m (trip time 48.2 ms) speed -0.8
2025-06-11T21:03:53.319Z,1749675833.319 [DAT](INFO): DAT read: 21:03:54.7145 LVL= 26448, 19313, 19506, 29171, AGC= 71, IDX= 504, 0.31, 2.965,-1.448, 2.970,-2.836, PHS=-0.394, 1.435,-0.479, RAW= 332.3, -6.1, CAL= 334.6, -8.4, ROT= 175.4, 8.4
2025-06-11T21:03:53.320Z,1749675833.320 [DAT](INFO): got valid direction response:
21:03:54.7145 LVL= 26448, 19313, 19506, 29171, AGC= 71, IDX= 504, 0.31, 2.965,-1.448, 2.970,-2.836, PHS=-0.394, 1.435,-0.479, RAW= 332.3, -6.1, CAL= 334.6, -8.4, ROT= 175.4, 8.4
2025-06-11T21:03:53.320Z,1749675833.320 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:53.321Z,1749675833.321 [DAT](INFO): direction in FSK: [-0.986086,0.079339,-0.146083]
2025-06-11T21:03:53.321Z,1749675833.321 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:53.325Z,1749675833.325 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:53.325Z,1749675833.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:53.483Z,1749675833.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 72.300003 m,
deltaT: 0.502577 s,
deltaX: 0.400002 m,
approachRate: 0.795901 m/s,
rangeRepo size: 4
2025-06-11T21:03:53.489Z,1749675833.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.685448 m,
bearing: 105.778439 deg,
lat: 36.906402 deg,
lon: -122.115606 deg,
deltaT: 0.502577 s,
deltaX: 0.396431 m,
approachRate: 0.788796 m/s,
posRepo size: 4
2025-06-11T21:03:53.490Z,1749675833.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.69 m.
2025-06-11T21:03:53.561Z,1749675833.561 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:53.562Z,1749675833.562 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:53.562Z,1749675833.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:53.813Z,1749675833.813 [DAT](INFO): DAT read: Rx Time:21:03:55.2146
2025-06-11T21:03:53.814Z,1749675833.814 [DAT](INFO): Rx dataTimestamp_ set to:1749675833.813564
2025-06-11T21:03:53.815Z,1749675833.815 [DAT](INFO): DAT read: Bearing 174.9, 8.3 (Local)
2025-06-11T21:03:53.815Z,1749675833.815 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.9, 8.3 (Local)
2025-06-11T21:03:53.818Z,1749675833.818 [DAT](INFO): DAT read: Range 10 to 50 : 72.5 m (trip time 48.3 ms) speed -0.4
2025-06-11T21:03:53.831Z,1749675833.831 [DAT](INFO): DAT read: 21:03:55.2146 LVL= 26032, 21569, 21138, 31091, AGC= 68, IDX= 490,-0.10,-0.641, 1.335,-0.663,-0.142, PHS=-0.411, 1.525,-0.524, RAW= 332.8, -6.0, CAL= 335.1, -8.3, ROT= 174.9, 8.3
2025-06-11T21:03:53.840Z,1749675833.840 [DAT](INFO): got valid direction response:
21:03:55.2146 LVL= 26032, 21569, 21138, 31091, AGC= 68, IDX= 490,-0.10,-0.641, 1.335,-0.663,-0.142, PHS=-0.411, 1.525,-0.524, RAW= 332.8, -6.0, CAL= 335.1, -8.3, ROT= 174.9, 8.3
2025-06-11T21:03:53.840Z,1749675833.840 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:53.841Z,1749675833.841 [DAT](INFO): direction in FSK: [-0.985608,0.087963,-0.144356]
2025-06-11T21:03:53.842Z,1749675833.842 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:53.849Z,1749675833.849 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:53.849Z,1749675833.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:53.949Z,1749675833.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 72.500000 m,
deltaT: 0.503935 s,
deltaX: 0.199997 m,
approachRate: 0.396871 m/s,
rangeRepo size: 4
2025-06-11T21:03:53.951Z,1749675833.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.883743 m,
bearing: 105.279926 deg,
lat: 36.906409 deg,
lon: -122.115606 deg,
deltaT: 0.503935 s,
deltaX: 0.198296 m,
approachRate: 0.393494 m/s,
posRepo size: 4
2025-06-11T21:03:53.956Z,1749675833.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.88 m.
2025-06-11T21:03:54.065Z,1749675834.065 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:54.065Z,1749675834.065 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:54.066Z,1749675834.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:54.306Z,1749675834.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.88 m.
2025-06-11T21:03:54.318Z,1749675834.318 [DAT](INFO): DAT read: Rx Time:21:03:55.7149
2025-06-11T21:03:54.318Z,1749675834.318 [DAT](INFO): Rx dataTimestamp_ set to:1749675834.317705
2025-06-11T21:03:54.319Z,1749675834.319 [DAT](INFO): DAT read: Bearing 173.5, 10.7 (Local)
2025-06-11T21:03:54.320Z,1749675834.320 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.5, 10.7 (Local)
2025-06-11T21:03:54.322Z,1749675834.322 [DAT](INFO): DAT read: Range 10 to 50 : 72.9 m (trip time 48.6 ms) speed -0.3
2025-06-11T21:03:54.327Z,1749675834.327 [DAT](INFO): DAT read: 21:03:55.7149 LVL= 25456, 27345, 23298, 32755, AGC= 71, IDX= 509, 0.34, 1.885,-2.491, 1.812, 2.288, PHS=-0.315, 1.551,-0.479, RAW= 334.2, -7.8, CAL= 336.5, -10.7, ROT= 173.5, 10.7
2025-06-11T21:03:54.328Z,1749675834.328 [DAT](INFO): got valid direction response:
21:03:55.7149 LVL= 25456, 27345, 23298, 32755, AGC= 71, IDX= 509, 0.34, 1.885,-2.491, 1.812, 2.288, PHS=-0.315, 1.551,-0.479, RAW= 334.2, -7.8, CAL= 336.5, -10.7, ROT= 173.5, 10.7
2025-06-11T21:03:54.328Z,1749675834.328 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:54.329Z,1749675834.329 [DAT](INFO): direction in FSK: [-0.976296,0.111235,-0.185667]
2025-06-11T21:03:54.330Z,1749675834.330 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:54.337Z,1749675834.337 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:54.338Z,1749675834.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:54.569Z,1749675834.569 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:54.569Z,1749675834.569 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:54.570Z,1749675834.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:54.728Z,1749675834.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 72.900002 m,
deltaT: 0.504141 s,
deltaX: 0.400002 m,
approachRate: 0.793432 m/s,
rangeRepo size: 4
2025-06-11T21:03:54.730Z,1749675834.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 72.280373 m,
bearing: 103.838612 deg,
lat: 36.906411 deg,
lon: -122.115606 deg,
deltaT: 0.504141 s,
deltaX: 0.396629 m,
approachRate: 0.786743 m/s,
posRepo size: 4
2025-06-11T21:03:54.730Z,1749675834.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.28 m.
2025-06-11T21:03:54.822Z,1749675834.822 [DAT](INFO): DAT read: Rx Time:21:03:56.2151
2025-06-11T21:03:54.822Z,1749675834.822 [DAT](INFO): Rx dataTimestamp_ set to:1749675834.822191
2025-06-11T21:03:54.824Z,1749675834.824 [DAT](INFO): DAT read: Bearing 175.9, 7.1 (Local)
2025-06-11T21:03:54.824Z,1749675834.824 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.9, 7.1 (Local)
2025-06-11T21:03:54.826Z,1749675834.826 [DAT](INFO): DAT read: Range 10 to 50 : 73.2 m (trip time 48.8 ms) speed -0.4
2025-06-11T21:03:54.831Z,1749675834.831 [DAT](INFO): DAT read: 21:03:56.2151 LVL= 32752, 18737, 27442, 32755, AGC= 71, IDX= 511,-0.05,-1.574, 0.419,-1.556,-1.027, PHS=-0.459, 1.493,-0.532, RAW= 331.8, -5.1, CAL= 334.1, -7.1, ROT= 175.9, 7.1
2025-06-11T21:03:54.833Z,1749675834.833 [DAT](INFO): got valid direction response:
21:03:56.2151 LVL= 32752, 18737, 27442, 32755, AGC= 71, IDX= 511,-0.05,-1.574, 0.419,-1.556,-1.027, PHS=-0.459, 1.493,-0.532, RAW= 331.8, -5.1, CAL= 334.1, -7.1, ROT= 175.9, 7.1
2025-06-11T21:03:54.833Z,1749675834.833 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:54.834Z,1749675834.834 [DAT](INFO): direction in FSK: [-0.989792,0.070949,-0.123601]
2025-06-11T21:03:54.834Z,1749675834.834 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:54.838Z,1749675834.838 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:54.838Z,1749675834.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:55.072Z,1749675835.072 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:55.073Z,1749675835.073 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:55.073Z,1749675835.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:55.215Z,1749675835.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 73.199997 m,
deltaT: 0.504486 s,
deltaX: 0.299995 m,
approachRate: 0.594656 m/s,
rangeRepo size: 4
2025-06-11T21:03:55.221Z,1749675835.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 72.577820 m,
bearing: 106.341773 deg,
lat: 36.906409 deg,
lon: -122.115606 deg,
deltaT: 0.504486 s,
deltaX: 0.297447 m,
approachRate: 0.589604 m/s,
posRepo size: 4
2025-06-11T21:03:55.222Z,1749675835.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:03:55.327Z,1749675835.327 [DAT](INFO): DAT read: Rx Time:21:03:56.7155
2025-06-11T21:03:55.327Z,1749675835.327 [DAT](INFO): Rx dataTimestamp_ set to:1749675835.326763
2025-06-11T21:03:55.329Z,1749675835.329 [DAT](INFO): DAT read: Bearing 176.3, 8.5 (Local)
2025-06-11T21:03:55.330Z,1749675835.330 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.3, 8.5 (Local)
2025-06-11T21:03:55.333Z,1749675835.333 [DAT](INFO): DAT read: Range 10 to 50 : 73.8 m (trip time 49.2 ms) speed -0.4
2025-06-11T21:03:55.338Z,1749675835.338 [DAT](INFO): DAT read: 21:03:56.7155 LVL= 28496, 23505, 20626, 32755, AGC= 69, IDX= 2, 0.35, 1.852,-2.472, 1.892, 2.365, PHS=-0.425, 1.493,-0.475, RAW= 331.3, -6.2, CAL= 333.7, -8.5, ROT= 176.3, 8.5
2025-06-11T21:03:55.339Z,1749675835.339 [DAT](INFO): got valid direction response:
21:03:56.7155 LVL= 28496, 23505, 20626, 32755, AGC= 69, IDX= 2, 0.35, 1.852,-2.472, 1.892, 2.365, PHS=-0.425, 1.493,-0.475, RAW= 331.3, -6.2, CAL= 333.7, -8.5, ROT= 176.3, 8.5
2025-06-11T21:03:55.339Z,1749675835.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:55.341Z,1749675835.341 [DAT](INFO): direction in FSK: [-0.986954,0.063823,-0.147809]
2025-06-11T21:03:55.341Z,1749675835.341 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:55.344Z,1749675835.344 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:55.344Z,1749675835.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:55.559Z,1749675835.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 73.800003 m,
deltaT: 0.504572 s,
deltaX: 0.600006 m,
approachRate: 1.189139 m/s,
rangeRepo size: 4
2025-06-11T21:03:55.565Z,1749675835.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 73.173264 m,
bearing: 106.698402 deg,
lat: 36.906409 deg,
lon: -122.115607 deg,
deltaT: 0.504572 s,
deltaX: 0.595444 m,
approachRate: 1.180097 m/s,
posRepo size: 4
2025-06-11T21:03:55.565Z,1749675835.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.17 m.
2025-06-11T21:03:55.577Z,1749675835.577 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:55.577Z,1749675835.577 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:55.577Z,1749675835.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:55.829Z,1749675835.829 [DAT](INFO): DAT read: Rx Time:21:03:57.2156
2025-06-11T21:03:55.830Z,1749675835.830 [DAT](INFO): Rx dataTimestamp_ set to:1749675835.829623
2025-06-11T21:03:55.831Z,1749675835.831 [DAT](INFO): DAT read: Bearing 176.1, 6.6 (Local)
2025-06-11T21:03:55.832Z,1749675835.832 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, 6.6 (Local)
2025-06-11T21:03:55.834Z,1749675835.834 [DAT](INFO): DAT read: Range 10 to 50 : 74.0 m (trip time 49.3 ms) speed -0.5
2025-06-11T21:03:55.839Z,1749675835.839 [DAT](INFO): DAT read: 21:03:57.2156 LVL= 20080, 23281, 18242, 28723, AGC= 71, IDX= 500, 0.03,-0.952, 1.051,-0.927,-0.387, PHS=-0.477, 1.485,-0.543, RAW= 331.6, -4.7, CAL= 333.9, -6.6, ROT= 176.1, 6.6
2025-06-11T21:03:55.840Z,1749675835.840 [DAT](INFO): got valid direction response:
21:03:57.2156 LVL= 20080, 23281, 18242, 28723, AGC= 71, IDX= 500, 0.03,-0.952, 1.051,-0.927,-0.387, PHS=-0.477, 1.485,-0.543, RAW= 331.6, -4.7, CAL= 333.9, -6.6, ROT= 176.1, 6.6
2025-06-11T21:03:55.840Z,1749675835.840 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:55.841Z,1749675835.841 [DAT](INFO): direction in FSK: [-0.991072,0.067564,-0.114937]
2025-06-11T21:03:55.841Z,1749675835.841 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:55.845Z,1749675835.845 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:55.845Z,1749675835.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:55.967Z,1749675835.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 74.000000 m,
deltaT: 0.502860 s,
deltaX: 0.199997 m,
approachRate: 0.397719 m/s,
rangeRepo size: 4
2025-06-11T21:03:55.986Z,1749675835.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 73.371559 m,
bearing: 106.534372 deg,
lat: 36.906403 deg,
lon: -122.115607 deg,
deltaT: 0.502860 s,
deltaX: 0.198296 m,
approachRate: 0.394336 m/s,
posRepo size: 4
2025-06-11T21:03:55.986Z,1749675835.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.37 m.
2025-06-11T21:03:56.082Z,1749675836.082 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:56.082Z,1749675836.082 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:56.082Z,1749675836.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:56.333Z,1749675836.333 [DAT](INFO): DAT read: Rx Time:21:03:57.7161
2025-06-11T21:03:56.334Z,1749675836.334 [DAT](INFO): Rx dataTimestamp_ set to:1749675836.333668
2025-06-11T21:03:56.335Z,1749675836.335 [DAT](INFO): DAT read: Bearing 175.5, 8.0 (Local)
2025-06-11T21:03:56.336Z,1749675836.336 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.5, 8.0 (Local)
2025-06-11T21:03:56.338Z,1749675836.338 [DAT](INFO): DAT read: Range 10 to 50 : 74.7 m (trip time 49.8 ms) speed -0.2
2025-06-11T21:03:56.343Z,1749675836.343 [DAT](INFO): DAT read: 21:03:57.7161 LVL= 29936, 24561, 22770, 32755, AGC= 73, IDX= 504,-0.32,-1.354, 0.663,-1.350,-0.829, PHS=-0.436, 1.539,-0.523, RAW= 332.1, -5.8, CAL= 334.5, -8.0, ROT= 175.5, 8.0
2025-06-11T21:03:56.344Z,1749675836.344 [DAT](INFO): got valid direction response:
21:03:57.7161 LVL= 29936, 24561, 22770, 32755, AGC= 73, IDX= 504,-0.32,-1.354, 0.663,-1.350,-0.829, PHS=-0.436, 1.539,-0.523, RAW= 332.1, -5.8, CAL= 334.5, -8.0, ROT= 175.5, 8.0
2025-06-11T21:03:56.344Z,1749675836.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:56.345Z,1749675836.345 [DAT](INFO): direction in FSK: [-0.987215,0.077695,-0.139173]
2025-06-11T21:03:56.346Z,1749675836.346 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:56.353Z,1749675836.353 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:56.353Z,1749675836.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:56.454Z,1749675836.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 74.699997 m,
deltaT: 0.504045 s,
deltaX: 0.699997 m,
approachRate: 1.388759 m/s,
rangeRepo size: 4
2025-06-11T21:03:56.460Z,1749675836.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 74.065773 m,
bearing: 105.871930 deg,
lat: 36.906403 deg,
lon: -122.115607 deg,
deltaT: 0.504045 s,
deltaX: 0.694214 m,
approachRate: 1.377285 m/s,
posRepo size: 4
2025-06-11T21:03:56.461Z,1749675836.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.07 m.
2025-06-11T21:03:56.585Z,1749675836.585 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:56.585Z,1749675836.585 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:56.585Z,1749675836.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:56.749Z,1749675836.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.07 m.
2025-06-11T21:03:56.838Z,1749675836.838 [DAT](INFO): DAT read: Rx Time:21:03:58.2162
2025-06-11T21:03:56.838Z,1749675836.838 [DAT](INFO): Rx dataTimestamp_ set to:1749675836.837714
2025-06-11T21:03:56.839Z,1749675836.839 [DAT](INFO): DAT read: Bearing 175.2, 8.3 (Local)
2025-06-11T21:03:56.840Z,1749675836.840 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.2, 8.3 (Local)
2025-06-11T21:03:56.842Z,1749675836.842 [DAT](INFO): DAT read: Range 10 to 50 : 74.9 m (trip time 49.9 ms) speed -0.8
2025-06-11T21:03:56.847Z,1749675836.847 [DAT](INFO): DAT read: 21:03:58.2162 LVL= 23776, 25057, 22450, 31955, AGC= 70, IDX= 505, 0.16,-1.215, 0.746,-1.223,-0.715, PHS=-0.412, 1.508,-0.511, RAW= 332.5, -6.0, CAL= 334.8, -8.3, ROT= 175.2, 8.3
2025-06-11T21:03:56.853Z,1749675836.853 [DAT](INFO): got valid direction response:
21:03:58.2162 LVL= 23776, 25057, 22450, 31955, AGC= 70, IDX= 505, 0.16,-1.215, 0.746,-1.223,-0.715, PHS=-0.412, 1.508,-0.511, RAW= 332.5, -6.0, CAL= 334.8, -8.3, ROT= 175.2, 8.3
2025-06-11T21:03:56.854Z,1749675836.854 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:56.855Z,1749675836.855 [DAT](INFO): direction in FSK: [-0.986055,0.082801,-0.144356]
2025-06-11T21:03:56.855Z,1749675836.855 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:56.892Z,1749675836.892 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:56.892Z,1749675836.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:57.088Z,1749675837.088 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:57.089Z,1749675837.089 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:57.089Z,1749675837.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:57.258Z,1749675837.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 74.900002 m,
deltaT: 0.504046 s,
deltaX: 0.200005 m,
approachRate: 0.396798 m/s,
rangeRepo size: 4
2025-06-11T21:03:57.260Z,1749675837.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 74.264084 m,
bearing: 105.556287 deg,
lat: 36.906403 deg,
lon: -122.115606 deg,
deltaT: 0.504046 s,
deltaX: 0.198311 m,
approachRate: 0.393438 m/s,
posRepo size: 4
2025-06-11T21:03:57.261Z,1749675837.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.26 m.
2025-06-11T21:03:57.342Z,1749675837.342 [DAT](INFO): DAT read: Rx Time:21:03:58.7166
2025-06-11T21:03:57.345Z,1749675837.345 [DAT](INFO): Rx dataTimestamp_ set to:1749675837.343211
2025-06-11T21:03:57.349Z,1749675837.349 [DAT](INFO): DAT read: Bearing 174.8, 9.9 (Local)
2025-06-11T21:03:57.350Z,1749675837.350 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.8, 9.9 (Local)
2025-06-11T21:03:57.352Z,1749675837.352 [DAT](INFO): DAT read: Range 10 to 50 : 75.3 m (trip time 50.2 ms) speed -0.6
2025-06-11T21:03:57.357Z,1749675837.357 [DAT](INFO): DAT read: 21:03:58.7166 LVL= 26784, 21729, 23090, 32755, AGC= 73, IDX= 493,-0.17,-2.095,-0.223,-2.109,-1.656, PHS=-0.351, 1.480,-0.456, RAW= 332.8, -7.2, CAL= 335.2, -9.9, ROT= 174.8, 9.9
2025-06-11T21:03:57.358Z,1749675837.358 [DAT](INFO): got valid direction response:
21:03:58.7166 LVL= 26784, 21729, 23090, 32755, AGC= 73, IDX= 493,-0.17,-2.095,-0.223,-2.109,-1.656, PHS=-0.351, 1.480,-0.456, RAW= 332.8, -7.2, CAL= 335.2, -9.9, ROT= 174.8, 9.9
2025-06-11T21:03:57.359Z,1749675837.359 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:57.364Z,1749675837.364 [DAT](INFO): direction in FSK: [-0.981055,0.089283,-0.171929]
2025-06-11T21:03:57.365Z,1749675837.365 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:57.369Z,1749675837.369 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:57.369Z,1749675837.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:57.586Z,1749675837.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 75.300003 m,
deltaT: 0.505497 s,
deltaX: 0.400002 m,
approachRate: 0.791303 m/s,
rangeRepo size: 4
2025-06-11T21:03:57.593Z,1749675837.593 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:57.593Z,1749675837.593 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:57.593Z,1749675837.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:57.600Z,1749675837.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 74.660721 m,
bearing: 105.075897 deg,
lat: 36.906407 deg,
lon: -122.115606 deg,
deltaT: 0.505497 s,
deltaX: 0.396637 m,
approachRate: 0.784648 m/s,
posRepo size: 4
2025-06-11T21:03:57.600Z,1749675837.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.66 m.
2025-06-11T21:03:57.845Z,1749675837.845 [DAT](INFO): DAT read: Rx Time:21:03:59.2166
2025-06-11T21:03:57.846Z,1749675837.846 [DAT](INFO): Rx dataTimestamp_ set to:1749675837.845620
2025-06-11T21:03:57.847Z,1749675837.847 [DAT](INFO): DAT read: Bearing 174.5, 7.9 (Local)
2025-06-11T21:03:57.848Z,1749675837.848 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.5, 7.9 (Local)
2025-06-11T21:03:57.850Z,1749675837.850 [DAT](INFO): DAT read: Range 10 to 50 : 75.5 m (trip time 50.3 ms) speed 0.0
2025-06-11T21:03:57.858Z,1749675837.858 [DAT](INFO): DAT read: 21:03:59.2166 LVL= 25296, 14625, 23538, 32755, AGC= 70, IDX= 510, 0.23,-0.679, 1.247,-0.718,-0.189, PHS=-0.403, 1.483,-0.532, RAW= 333.3, -5.7, CAL= 335.5, -7.9, ROT= 174.5, 7.9
2025-06-11T21:03:57.859Z,1749675837.859 [DAT](INFO): got valid direction response:
21:03:59.2166 LVL= 25296, 14625, 23538, 32755, AGC= 70, IDX= 510, 0.23,-0.679, 1.247,-0.718,-0.189, PHS=-0.403, 1.483,-0.532, RAW= 333.3, -5.7, CAL= 335.5, -7.9, ROT= 174.5, 7.9
2025-06-11T21:03:57.860Z,1749675837.860 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:57.861Z,1749675837.861 [DAT](INFO): direction in FSK: [-0.985949,0.094936,-0.137445]
2025-06-11T21:03:57.861Z,1749675837.861 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:57.865Z,1749675837.865 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:57.865Z,1749675837.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:58.029Z,1749675838.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 75.500000 m,
deltaT: 0.502409 s,
deltaX: 0.199997 m,
approachRate: 0.398076 m/s,
rangeRepo size: 4
2025-06-11T21:03:58.031Z,1749675838.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 74.859016 m,
bearing: 104.852758 deg,
lat: 36.906411 deg,
lon: -122.115606 deg,
deltaT: 0.502409 s,
deltaX: 0.198296 m,
approachRate: 0.394690 m/s,
posRepo size: 4
2025-06-11T21:03:58.036Z,1749675838.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.86 m.
2025-06-11T21:03:58.098Z,1749675838.098 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:58.099Z,1749675838.099 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:58.100Z,1749675838.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:58.349Z,1749675838.349 [DAT](INFO): DAT read: Rx Time:21:03:59.7665
2025-06-11T21:03:58.350Z,1749675838.350 [DAT](INFO): Rx dataTimestamp_ set to:1749675838.349691
2025-06-11T21:03:58.351Z,1749675838.351 [DAT](INFO): DAT read: Bearing 174.9, 8.4 (Local)
2025-06-11T21:03:58.352Z,1749675838.352 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.9, 8.4 (Local)
2025-06-11T21:03:58.354Z,1749675838.354 [DAT](INFO): DAT read: Range 10 to 50 : 150.2 m (trip time 100.1 ms) speed -0.4
2025-06-11T21:03:58.359Z,1749675838.359 [DAT](INFO): DAT read: 21:03:59.7665 LVL= 29072, 24289, 23762, 32755, AGC= 67, IDX= 2,-0.15,-1.203, 0.730,-1.223,-0.717, PHS=-0.398, 1.494,-0.508, RAW= 332.8, -6.1, CAL= 335.1, -8.4, ROT= 174.9, 8.4
2025-06-11T21:03:58.360Z,1749675838.360 [DAT](INFO): got valid direction response:
21:03:59.7665 LVL= 29072, 24289, 23762, 32755, AGC= 67, IDX= 2,-0.15,-1.203, 0.730,-1.223,-0.717, PHS=-0.398, 1.494,-0.508, RAW= 332.8, -6.1, CAL= 335.1, -8.4, ROT= 174.9, 8.4
2025-06-11T21:03:58.360Z,1749675838.360 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:58.361Z,1749675838.361 [DAT](INFO): direction in FSK: [-0.985356,0.087941,-0.146083]
2025-06-11T21:03:58.362Z,1749675838.362 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:58.373Z,1749675838.373 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:58.373Z,1749675838.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:58.487Z,1749675838.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 150.199997 m,
deltaT: 0.504071 s,
deltaX: 74.699997 m,
approachRate: 148.193405 m/s,
rangeRepo size: 4
2025-06-11T21:03:58.492Z,1749675838.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.86 m.
2025-06-11T21:03:58.601Z,1749675838.601 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:58.601Z,1749675838.601 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:58.601Z,1749675838.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:58.812Z,1749675838.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.86 m.
2025-06-11T21:03:58.854Z,1749675838.854 [DAT](INFO): DAT read: Rx Time:21:04:00.2666
2025-06-11T21:03:58.855Z,1749675838.855 [DAT](INFO): Rx dataTimestamp_ set to:1749675838.854068
2025-06-11T21:03:58.857Z,1749675838.857 [DAT](INFO): DAT read: Bearing 173.5, 10.8 (Local)
2025-06-11T21:03:58.857Z,1749675838.857 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.5, 10.8 (Local)
2025-06-11T21:03:58.861Z,1749675838.861 [DAT](INFO): DAT read: Range 10 to 50 : 150.5 m (trip time 100.3 ms) speed -0.4
2025-06-11T21:03:58.867Z,1749675838.867 [DAT](INFO): DAT read: 21:04:00.2666 LVL= 29472, 23009, 22322, 32755, AGC= 68, IDX= 3, 0.28,-0.630, 1.255,-0.700,-0.232, PHS=-0.310, 1.535,-0.471, RAW= 334.1, -7.9, CAL= 336.5, -10.8, ROT= 173.5, 10.8
2025-06-11T21:03:58.870Z,1749675838.870 [DAT](INFO): got valid direction response:
21:04:00.2666 LVL= 29472, 23009, 22322, 32755, AGC= 68, IDX= 3, 0.28,-0.630, 1.255,-0.700,-0.232, PHS=-0.310, 1.535,-0.471, RAW= 334.1, -7.9, CAL= 336.5, -10.8, ROT= 173.5, 10.8
2025-06-11T21:03:58.870Z,1749675838.870 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:58.872Z,1749675838.872 [DAT](INFO): direction in FSK: [-0.975973,0.111198,-0.187381]
2025-06-11T21:03:58.872Z,1749675838.872 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:58.885Z,1749675838.885 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:58.885Z,1749675838.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:59.106Z,1749675839.106 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:59.107Z,1749675839.107 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:59.108Z,1749675839.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:59.263Z,1749675839.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 150.500000 m,
deltaT: 1.008448 s,
deltaX: 75.000000 m,
approachRate: 74.371704 m/s,
rangeRepo size: 4
2025-06-11T21:03:59.264Z,1749675839.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.86 m.
2025-06-11T21:03:59.358Z,1749675839.358 [DAT](INFO): DAT read: Rx Time:21:04:00.7175
2025-06-11T21:03:59.359Z,1749675839.359 [DAT](INFO): Rx dataTimestamp_ set to:1749675839.358534
2025-06-11T21:03:59.361Z,1749675839.361 [DAT](INFO): DAT read: Bearing 174.5, 9.0 (Local)
2025-06-11T21:03:59.362Z,1749675839.362 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.5, 9.0 (Local)
2025-06-11T21:03:59.364Z,1749675839.364 [DAT](INFO): DAT read: Range 10 to 50 : 76.8 m (trip time 51.2 ms) speed -0.4
2025-06-11T21:03:59.374Z,1749675839.374 [DAT](INFO): DAT read: 21:04:00.7175 LVL= 32752, 25441, 26898, 32755, AGC= 69, IDX= 7,-0.11,-1.111, 0.735,-1.142,-0.663, PHS=-0.360, 1.445,-0.482, RAW= 333.3, -6.5, CAL= 335.5, -9.0, ROT= 174.5, 9.0
2025-06-11T21:03:59.375Z,1749675839.375 [DAT](INFO): got valid direction response:
21:04:00.7175 LVL= 32752, 25441, 26898, 32755, AGC= 69, IDX= 7,-0.11,-1.111, 0.735,-1.142,-0.663, PHS=-0.360, 1.445,-0.482, RAW= 333.3, -6.5, CAL= 335.5, -9.0, ROT= 174.5, 9.0
2025-06-11T21:03:59.375Z,1749675839.375 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:59.376Z,1749675839.376 [DAT](INFO): direction in FSK: [-0.983141,0.094666,-0.156434]
2025-06-11T21:03:59.377Z,1749675839.377 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:59.381Z,1749675839.381 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:59.381Z,1749675839.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:59.605Z,1749675839.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 76.800003 m,
deltaT: 1.512914 s,
deltaX: 1.300003 m,
approachRate: 0.859271 m/s,
rangeRepo size: 4
2025-06-11T21:03:59.607Z,1749675839.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.147964 m,
bearing: 104.848158 deg,
lat: 36.906417 deg,
lon: -122.115602 deg,
deltaT: 1.512914 s,
deltaX: 1.288948 m,
approachRate: 0.851964 m/s,
posRepo size: 4
2025-06-11T21:03:59.608Z,1749675839.608 [DAT](INFO): Reached modem response timeout
2025-06-11T21:03:59.609Z,1749675839.609 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:59.609Z,1749675839.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:03:59.632Z,1749675839.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.15 m.
2025-06-11T21:03:59.861Z,1749675839.861 [DAT](INFO): DAT read: Rx Time:21:04:01.2176
2025-06-11T21:03:59.862Z,1749675839.862 [DAT](INFO): Rx dataTimestamp_ set to:1749675839.861647
2025-06-11T21:03:59.863Z,1749675839.863 [DAT](INFO): DAT read: Bearing 173.5, 10.4 (Local)
2025-06-11T21:03:59.864Z,1749675839.864 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.5, 10.4 (Local)
2025-06-11T21:03:59.866Z,1749675839.866 [DAT](INFO): DAT read: Range 10 to 50 : 77.0 m (trip time 51.3 ms) speed -0.4
2025-06-11T21:03:59.871Z,1749675839.871 [DAT](INFO): DAT read: 21:04:01.2176 LVL= 23744, 18673, 19170, 30611, AGC= 71, IDX= 504, 0.29, 0.353, 2.317, 0.274, 0.773, PHS=-0.332, 1.591,-0.503, RAW= 334.2, -7.6, CAL= 336.5, -10.4, ROT= 173.5, 10.4
2025-06-11T21:03:59.873Z,1749675839.873 [DAT](INFO): got valid direction response:
21:04:01.2176 LVL= 23744, 18673, 19170, 30611, AGC= 71, IDX= 504, 0.29, 0.353, 2.317, 0.274, 0.773, PHS=-0.332, 1.591,-0.503, RAW= 334.2, -7.6, CAL= 336.5, -10.4, ROT= 173.5, 10.4
2025-06-11T21:03:59.873Z,1749675839.873 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:03:59.874Z,1749675839.874 [DAT](INFO): direction in FSK: [-0.977249,0.111343,-0.180519]
2025-06-11T21:03:59.874Z,1749675839.874 [DAT](INFO): publishing direction and range info
2025-06-11T21:03:59.878Z,1749675839.878 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:03:59.878Z,1749675839.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:00.119Z,1749675840.119 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:00.120Z,1749675840.120 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:00.121Z,1749675840.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:00.218Z,1749675840.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 77.000000 m,
deltaT: 0.503113 s,
deltaX: 0.199997 m,
approachRate: 0.397519 m/s,
rangeRepo size: 4
2025-06-11T21:04:00.224Z,1749675840.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.346268 m,
bearing: 103.807007 deg,
lat: 36.906419 deg,
lon: -122.115602 deg,
deltaT: 0.503113 s,
deltaX: 0.198303 m,
approachRate: 0.394152 m/s,
posRepo size: 4
2025-06-11T21:04:00.225Z,1749675840.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.35 m.
2025-06-11T21:04:00.369Z,1749675840.369 [DAT](INFO): DAT read: Rx Time:21:04:01.7179
2025-06-11T21:04:00.370Z,1749675840.370 [DAT](INFO): Rx dataTimestamp_ set to:1749675840.369587
2025-06-11T21:04:00.371Z,1749675840.371 [DAT](INFO): DAT read: Bearing 173.5, 8.8 (Local)
2025-06-11T21:04:00.375Z,1749675840.375 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.5, 8.8 (Local)
2025-06-11T21:04:00.378Z,1749675840.378 [DAT](INFO): DAT read: Range 10 to 50 : 77.4 m (trip time 51.6 ms) speed -0.8
2025-06-11T21:04:00.383Z,1749675840.383 [DAT](INFO): DAT read: 21:04:01.7179 LVL= 29104, 24049, 25810, 32755, AGC= 71, IDX= 507,-0.02,-1.747, 0.148,-1.827,-1.304, PHS=-0.355, 1.499,-0.526, RAW= 334.4, -6.4, CAL= 336.5, -8.8, ROT= 173.5, 8.8
2025-06-11T21:04:00.384Z,1749675840.384 [DAT](INFO): got valid direction response:
21:04:01.7179 LVL= 29104, 24049, 25810, 32755, AGC= 71, IDX= 507,-0.02,-1.747, 0.148,-1.827,-1.304, PHS=-0.355, 1.499,-0.526, RAW= 334.4, -6.4, CAL= 336.5, -8.8, ROT= 173.5, 8.8
2025-06-11T21:04:00.384Z,1749675840.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:00.385Z,1749675840.385 [DAT](INFO): direction in FSK: [-0.981876,0.111871,-0.152986]
2025-06-11T21:04:00.386Z,1749675840.386 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:00.390Z,1749675840.390 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:00.390Z,1749675840.390 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:00.497Z,1749675840.497 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:04:00.621Z,1749675840.621 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:00.621Z,1749675840.621 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:00.621Z,1749675840.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:00.629Z,1749675840.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 77.400002 m,
deltaT: 0.507940 s,
deltaX: 0.400002 m,
approachRate: 0.787498 m/s,
rangeRepo size: 4
2025-06-11T21:04:00.631Z,1749675840.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.742332 m,
bearing: 103.852433 deg,
lat: 36.906419 deg,
lon: -122.115601 deg,
deltaT: 0.507940 s,
deltaX: 0.396065 m,
approachRate: 0.779747 m/s,
posRepo size: 4
2025-06-11T21:04:00.631Z,1749675840.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.74 m.
2025-06-11T21:04:00.873Z,1749675840.873 [DAT](INFO): DAT read: Rx Time:21:04:02.2181
2025-06-11T21:04:00.874Z,1749675840.874 [DAT](INFO): Rx dataTimestamp_ set to:1749675840.873657
2025-06-11T21:04:00.875Z,1749675840.875 [DAT](INFO): DAT read: Bearing 174.0, 10.4 (Local)
2025-06-11T21:04:00.876Z,1749675840.876 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.0, 10.4 (Local)
2025-06-11T21:04:00.879Z,1749675840.879 [DAT](INFO): DAT read: Range 10 to 50 : 77.7 m (trip time 51.8 ms) speed -0.9
2025-06-11T21:04:00.885Z,1749675840.885 [DAT](INFO): DAT read: 21:04:02.2181 LVL= 27744, 27425, 23378, 32755, AGC= 70, IDX= 492, 0.44,-1.547, 0.474,-1.606,-1.107, PHS=-0.352, 1.628,-0.502, RAW= 333.6, -7.6, CAL= 336.0, -10.4, ROT= 174.0, 10.4
2025-06-11T21:04:00.886Z,1749675840.886 [DAT](INFO): got valid direction response:
21:04:02.2181 LVL= 27744, 27425, 23378, 32755, AGC= 70, IDX= 492, 0.44,-1.547, 0.474,-1.606,-1.107, PHS=-0.352, 1.628,-0.502, RAW= 333.6, -7.6, CAL= 336.0, -10.4, ROT= 174.0, 10.4
2025-06-11T21:04:00.886Z,1749675840.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:00.887Z,1749675840.887 [DAT](INFO): direction in FSK: [-0.978183,0.102811,-0.180519]
2025-06-11T21:04:00.890Z,1749675840.890 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:00.902Z,1749675840.902 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:00.902Z,1749675840.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:01.041Z,1749675841.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 77.699997 m,
deltaT: 0.504070 s,
deltaX: 0.299995 m,
approachRate: 0.595146 m/s,
rangeRepo size: 4
2025-06-11T21:04:01.043Z,1749675841.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 77.039780 m,
bearing: 104.307818 deg,
lat: 36.906426 deg,
lon: -122.115603 deg,
deltaT: 0.504070 s,
deltaX: 0.297447 m,
approachRate: 0.590091 m/s,
posRepo size: 4
2025-06-11T21:04:01.043Z,1749675841.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.04 m.
2025-06-11T21:04:01.127Z,1749675841.127 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:01.128Z,1749675841.128 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:01.129Z,1749675841.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:01.377Z,1749675841.377 [DAT](INFO): DAT read: Rx Time:21:04:02.7184
2025-06-11T21:04:01.378Z,1749675841.378 [DAT](INFO): Rx dataTimestamp_ set to:1749675841.377593
2025-06-11T21:04:01.379Z,1749675841.379 [DAT](INFO): DAT read: Bearing 174.2, 10.1 (Local)
2025-06-11T21:04:01.380Z,1749675841.380 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.2, 10.1 (Local)
2025-06-11T21:04:01.382Z,1749675841.382 [DAT](INFO): DAT read: Range 10 to 50 : 78.2 m (trip time 52.1 ms) speed -0.5
2025-06-11T21:04:01.387Z,1749675841.387 [DAT](INFO): DAT read: 21:04:02.7184 LVL= 32752, 25953, 32754, 32755, AGC= 70, IDX= 496, 0.09,-0.854, 1.105,-0.901,-0.416, PHS=-0.350, 1.569,-0.488, RAW= 333.4, -7.4, CAL= 335.8, -10.1, ROT= 174.2, 10.1
2025-06-11T21:04:01.388Z,1749675841.388 [DAT](INFO): got valid direction response:
21:04:02.7184 LVL= 32752, 25953, 32754, 32755, AGC= 70, IDX= 496, 0.09,-0.854, 1.105,-0.901,-0.416, PHS=-0.350, 1.569,-0.488, RAW= 333.4, -7.4, CAL= 335.8, -10.1, ROT= 174.2, 10.1
2025-06-11T21:04:01.388Z,1749675841.388 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:01.389Z,1749675841.389 [DAT](INFO): direction in FSK: [-0.979463,0.099490,-0.175367]
2025-06-11T21:04:01.389Z,1749675841.389 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:01.393Z,1749675841.393 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:01.394Z,1749675841.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:01.535Z,1749675841.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 78.199997 m,
deltaT: 0.503936 s,
deltaX: 0.500000 m,
approachRate: 0.992189 m/s,
rangeRepo size: 4
2025-06-11T21:04:01.541Z,1749675841.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 77.533318 m,
bearing: 104.516665 deg,
lat: 36.906426 deg,
lon: -122.115605 deg,
deltaT: 0.503936 s,
deltaX: 0.493538 m,
approachRate: 0.979366 m/s,
posRepo size: 4
2025-06-11T21:04:01.541Z,1749675841.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.53 m.
2025-06-11T21:04:01.630Z,1749675841.630 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:01.630Z,1749675841.630 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:01.630Z,1749675841.630 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:01.839Z,1749675841.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.53 m.
2025-06-11T21:04:01.883Z,1749675841.883 [DAT](INFO): DAT read: Rx Time:21:04:03.2689
2025-06-11T21:04:01.883Z,1749675841.883 [DAT](INFO): Rx dataTimestamp_ set to:1749675841.883186
2025-06-11T21:04:01.885Z,1749675841.885 [DAT](INFO): DAT read: Bearing 180.5, 56.2 (Local)
2025-06-11T21:04:01.885Z,1749675841.885 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.5, 56.2 (Local)
2025-06-11T21:04:01.887Z,1749675841.887 [DAT](INFO): DAT read: Range 10 to 50 : 153.9 m (trip time 102.6 ms) speed 0.1
2025-06-11T21:04:01.893Z,1749675841.893 [DAT](INFO): DAT read: 21:04:03.2689 LVL= 22848, 15041, 20066, 21619, AGC= 71, IDX= 4, 0.29, 2.405,-2.523, 2.524, 1.830, PHS= 0.664, 1.977, 0.691, RAW= 329.0, -42.2, CAL= 329.5, -56.2, ROT= 180.5, 56.2
2025-06-11T21:04:01.894Z,1749675841.894 [DAT](INFO): got valid direction response:
21:04:03.2689 LVL= 22848, 15041, 20066, 21619, AGC= 71, IDX= 4, 0.29, 2.405,-2.523, 2.524, 1.830, PHS= 0.664, 1.977, 0.691, RAW= 329.0, -42.2, CAL= 329.5, -56.2, ROT= 180.5, 56.2
2025-06-11T21:04:01.895Z,1749675841.895 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:01.906Z,1749675841.906 [DAT](INFO): direction in FSK: [-0.556274,-0.004855,-0.830984]
2025-06-11T21:04:01.906Z,1749675841.906 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:01.923Z,1749675841.923 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:01.929Z,1749675841.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:02.134Z,1749675842.134 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:02.135Z,1749675842.135 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:02.136Z,1749675842.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:02.267Z,1749675842.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 153.899994 m,
deltaT: 0.505593 s,
deltaX: 75.699997 m,
approachRate: 149.725174 m/s,
rangeRepo size: 4
2025-06-11T21:04:02.268Z,1749675842.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.53 m.
2025-06-11T21:04:02.385Z,1749675842.385 [DAT](INFO): DAT read: Rx Time:21:04:03.7189
2025-06-11T21:04:02.386Z,1749675842.386 [DAT](INFO): Rx dataTimestamp_ set to:1749675842.385675
2025-06-11T21:04:02.387Z,1749675842.387 [DAT](INFO): DAT read: Bearing 174.3, 8.3 (Local)
2025-06-11T21:04:02.388Z,1749675842.388 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.3, 8.3 (Local)
2025-06-11T21:04:02.390Z,1749675842.390 [DAT](INFO): DAT read: Range 10 to 50 : 78.9 m (trip time 52.6 ms) speed -0.1
2025-06-11T21:04:02.395Z,1749675842.395 [DAT](INFO): DAT read: 21:04:03.7189 LVL= 31728, 25361, 32754, 32755, AGC= 70, IDX= 501, 0.26,-1.125, 0.920,-1.181,-0.623, PHS=-0.414, 1.590,-0.561, RAW= 333.5, -6.0, CAL= 335.7, -8.3, ROT= 174.3, 8.3
2025-06-11T21:04:02.400Z,1749675842.400 [DAT](INFO): got valid direction response:
21:04:03.7189 LVL= 31728, 25361, 32754, 32755, AGC= 70, IDX= 501, 0.26,-1.125, 0.920,-1.181,-0.623, PHS=-0.414, 1.590,-0.561, RAW= 333.5, -6.0, CAL= 335.7, -8.3, ROT= 174.3, 8.3
2025-06-11T21:04:02.401Z,1749675842.401 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:02.402Z,1749675842.402 [DAT](INFO): direction in FSK: [-0.984633,0.098279,-0.144356]
2025-06-11T21:04:02.402Z,1749675842.402 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:02.405Z,1749675842.405 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:02.405Z,1749675842.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:02.636Z,1749675842.636 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:02.636Z,1749675842.636 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:02.637Z,1749675842.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:02.723Z,1749675842.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 78.900002 m,
deltaT: 1.008082 s,
deltaX: 0.700005 m,
approachRate: 0.694393 m/s,
rangeRepo size: 4
2025-06-11T21:04:02.729Z,1749675842.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.226303 m,
bearing: 104.500798 deg,
lat: 36.906424 deg,
lon: -122.115601 deg,
deltaT: 1.008082 s,
deltaX: 0.692986 m,
approachRate: 0.687430 m/s,
posRepo size: 4
2025-06-11T21:04:02.729Z,1749675842.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.23 m.
2025-06-11T21:04:02.889Z,1749675842.889 [DAT](INFO): DAT read: Rx Time:21:04:04.2191
2025-06-11T21:04:02.890Z,1749675842.890 [DAT](INFO): Rx dataTimestamp_ set to:1749675842.889586
2025-06-11T21:04:02.891Z,1749675842.891 [DAT](INFO): DAT read: Bearing 175.4, 9.6 (Local)
2025-06-11T21:04:02.892Z,1749675842.892 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.4, 9.6 (Local)
2025-06-11T21:04:02.894Z,1749675842.894 [DAT](INFO): DAT read: Range 10 to 50 : 79.2 m (trip time 52.8 ms) speed -0.4
2025-06-11T21:04:02.899Z,1749675842.899 [DAT](INFO): DAT read: 21:04:04.2191 LVL= 26848, 20209, 23538, 32755, AGC= 72, IDX= 503,-0.03, 2.218,-2.113, 2.225, 2.689, PHS=-0.383, 1.528,-0.467, RAW= 332.1, -7.0, CAL= 334.6, -9.6, ROT= 175.4, 9.6
2025-06-11T21:04:02.900Z,1749675842.900 [DAT](INFO): got valid direction response:
21:04:04.2191 LVL= 26848, 20209, 23538, 32755, AGC= 72, IDX= 503,-0.03, 2.218,-2.113, 2.225, 2.689, PHS=-0.383, 1.528,-0.467, RAW= 332.1, -7.0, CAL= 334.6, -9.6, ROT= 175.4, 9.6
2025-06-11T21:04:02.900Z,1749675842.900 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:02.901Z,1749675842.901 [DAT](INFO): direction in FSK: [-0.982820,0.079076,-0.166769]
2025-06-11T21:04:02.901Z,1749675842.901 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:02.906Z,1749675842.906 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:02.907Z,1749675842.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:03.142Z,1749675843.142 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:03.143Z,1749675843.143 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:03.156Z,1749675843.156 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:03.284Z,1749675843.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.199997 m,
deltaT: 0.503911 s,
deltaX: 0.299995 m,
approachRate: 0.595334 m/s,
rangeRepo size: 4
2025-06-11T21:04:03.286Z,1749675843.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.523735 m,
bearing: 105.557546 deg,
lat: 36.906423 deg,
lon: -122.115605 deg,
deltaT: 0.503911 s,
deltaX: 0.297432 m,
approachRate: 0.590247 m/s,
posRepo size: 4
2025-06-11T21:04:03.287Z,1749675843.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.52 m.
2025-06-11T21:04:03.394Z,1749675843.394 [DAT](INFO): DAT read: Rx Time:21:04:04.7194
2025-06-11T21:04:03.394Z,1749675843.394 [DAT](INFO): Rx dataTimestamp_ set to:1749675843.393726
2025-06-11T21:04:03.395Z,1749675843.395 [DAT](INFO): DAT read: Bearing 175.7, 10.5(cal)
2025-06-11T21:04:03.396Z,1749675843.396 [DAT](INFO): unknown deviceResponse_: Bearing 175.7, 10.5(cal)
2025-06-11T21:04:03.398Z,1749675843.398 [DAT](INFO): DAT read: Range 10 to 50 : 79.7 m (trip time 53.1 ms) speed -0.2
2025-06-11T21:04:03.407Z,1749675843.407 [DAT](INFO): DAT read: 21:04:04.7194 LVL= 26160, 20641, 19442, 32755, AGC= 70, IDX= 506,-0.39, 1.992,-2.349, 2.015, 2.445, PHS=-0.365, 1.536,-0.433, RAW= 331.7, -7.7, CAL= 334.3, -10.5, ROT= 175.7, 10.5
2025-06-11T21:04:03.408Z,1749675843.408 [DAT](INFO): got valid direction response:
21:04:04.7194 LVL= 26160, 20641, 19442, 32755, AGC= 70, IDX= 506,-0.39, 1.992,-2.349, 2.015, 2.445, PHS=-0.365, 1.536,-0.433, RAW= 331.7, -7.7, CAL= 334.3, -10.5, ROT= 175.7, 10.5
2025-06-11T21:04:03.408Z,1749675843.408 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:03.409Z,1749675843.409 [DAT](INFO): direction in FSK: [-0.980487,0.073723,-0.182236]
2025-06-11T21:04:03.410Z,1749675843.410 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:03.414Z,1749675843.414 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:03.414Z,1749675843.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:03.601Z,1749675843.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.699997 m,
deltaT: 0.504140 s,
deltaX: 0.500000 m,
approachRate: 0.991788 m/s,
rangeRepo size: 4
2025-06-11T21:04:03.603Z,1749675843.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 79.019165 m,
bearing: 105.824558 deg,
lat: 36.906412 deg,
lon: -122.115605 deg,
deltaT: 0.504140 s,
deltaX: 0.495430 m,
approachRate: 0.982723 m/s,
posRepo size: 4
2025-06-11T21:04:03.603Z,1749675843.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:04:03.645Z,1749675843.645 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:03.645Z,1749675843.645 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:03.645Z,1749675843.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:03.897Z,1749675843.897 [DAT](INFO): DAT read: Rx Time:21:04:05.2195
2025-06-11T21:04:03.898Z,1749675843.898 [DAT](INFO): Rx dataTimestamp_ set to:1749675843.897585
2025-06-11T21:04:03.899Z,1749675843.899 [DAT](INFO): DAT read: Bearing 174.7, 9.9 (Local)
2025-06-11T21:04:03.900Z,1749675843.900 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.7, 9.9 (Local)
2025-06-11T21:04:03.902Z,1749675843.902 [DAT](INFO): DAT read: Range 10 to 50 : 79.8 m (trip time 53.2 ms) speed -0.6
2025-06-11T21:04:03.917Z,1749675843.917 [DAT](INFO): DAT read: 21:04:05.2195 LVL= 23728, 23889, 21858, 32755, AGC= 73, IDX= 507, 0.05,-3.028,-1.076,-3.052,-2.577, PHS=-0.363, 1.548,-0.478, RAW= 332.9, -7.2, CAL= 335.3, -9.9, ROT= 174.7, 9.9
2025-06-11T21:04:03.919Z,1749675843.919 [DAT](INFO): got valid direction response:
21:04:05.2195 LVL= 23728, 23889, 21858, 32755, AGC= 73, IDX= 507, 0.05,-3.028,-1.076,-3.052,-2.577, PHS=-0.363, 1.548,-0.478, RAW= 332.9, -7.2, CAL= 335.3, -9.9, ROT= 174.7, 9.9
2025-06-11T21:04:03.919Z,1749675843.919 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:03.921Z,1749675843.921 [DAT](INFO): direction in FSK: [-0.980898,0.090995,-0.171929]
2025-06-11T21:04:03.921Z,1749675843.921 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:03.926Z,1749675843.926 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:03.927Z,1749675843.927 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:04.068Z,1749675844.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.800003 m,
deltaT: 0.503859 s,
deltaX: 0.100006 m,
approachRate: 0.198480 m/s,
rangeRepo size: 4
2025-06-11T21:04:04.071Z,1749675844.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 79.118317 m,
bearing: 104.838990 deg,
lat: 36.906412 deg,
lon: -122.115606 deg,
deltaT: 0.503859 s,
deltaX: 0.099152 m,
approachRate: 0.196784 m/s,
posRepo size: 4
2025-06-11T21:04:04.071Z,1749675844.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.12 m.
2025-06-11T21:04:04.206Z,1749675844.206 [DAT](INFO): DAT read: Rx Time:21:04:05.7200
2025-06-11T21:04:04.209Z,1749675844.209 [DAT](INFO): Rx dataTimestamp_ set to:1749675844.206394
2025-06-11T21:04:04.211Z,1749675844.211 [DAT](INFO): DAT read: Bearing 174.6, 9.4 (Local)
2025-06-11T21:04:04.211Z,1749675844.211 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.6, 9.4 (Local)
2025-06-11T21:04:04.213Z,1749675844.213 [DAT](INFO): DAT read: Range 10 to 50 : 80.6 m (trip time 53.7 ms) speed -0.4
2025-06-11T21:04:04.216Z,1749675844.216 [DockingStepper](ERROR): getADC uart error serial timeout
2025-06-11T21:04:04.216Z,1749675844.216 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-06-11T21:04:04.216Z,1749675844.216 [DockingStepper] Communications Fault, FailCount= 1
2025-06-11T21:04:04.216Z,1749675844.216 [DockingStepper](ERROR): Communications Fault
2025-06-11T21:04:04.223Z,1749675844.223 [DAT](INFO): DAT read: 21:04:05.7200 LVL= 28288, 24225, 19730, 31683, AGC= 71, IDX= 511,-0.49,-1.915, 0.013,-1.942,-1.457, PHS=-0.370, 1.518,-0.488, RAW= 333.0, -6.8, CAL= 335.4, -9.4, ROT= 174.6, 9.4
2025-06-11T21:04:04.224Z,1749675844.224 [DAT](INFO): got valid direction response:
21:04:05.7200 LVL= 28288, 24225, 19730, 31683, AGC= 71, IDX= 511,-0.49,-1.915, 0.013,-1.942,-1.457, PHS=-0.370, 1.518,-0.488, RAW= 333.0, -6.8, CAL= 335.4, -9.4, ROT= 174.6, 9.4
2025-06-11T21:04:04.224Z,1749675844.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:04.225Z,1749675844.225 [DAT](INFO): direction in FSK: [-0.982194,0.092845,-0.163326]
2025-06-11T21:04:04.226Z,1749675844.226 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:04.229Z,1749675844.229 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:04.230Z,1749675844.230 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:04.382Z,1749675844.382 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-06-11T21:04:04.454Z,1749675844.454 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:04.454Z,1749675844.454 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:04.454Z,1749675844.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:04.540Z,1749675844.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:04:04.563Z,1749675844.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 80.599998 m,
deltaT: 0.308809 s,
deltaX: 0.799995 m,
approachRate: 2.590583 m/s,
rangeRepo size: 4
2025-06-11T21:04:04.570Z,1749675844.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 79.911232 m,
bearing: 104.738763 deg,
lat: 36.906421 deg,
lon: -122.115606 deg,
deltaT: 0.308809 s,
deltaX: 0.792915 m,
approachRate: 2.567656 m/s,
posRepo size: 4
2025-06-11T21:04:04.570Z,1749675844.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.91 m.
2025-06-11T21:04:04.595Z,1749675844.595 [DockingStepper](INFO): Stop
2025-06-11T21:04:04.595Z,1749675844.595 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-11T21:04:04.595Z,1749675844.595 [DockingStepper](INFO): Powering down
2025-06-11T21:04:04.711Z,1749675844.711 [DAT](INFO): DAT read: Rx Time:21:04:06.2201
2025-06-11T21:04:04.711Z,1749675844.711 [DAT](INFO): Rx dataTimestamp_ set to:1749675844.710919
2025-06-11T21:04:04.713Z,1749675844.713 [DAT](INFO): DAT read: Bearing 180.4, 10.3 (Local)
2025-06-11T21:04:04.713Z,1749675844.713 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.4, 10.3 (Local)
2025-06-11T21:04:04.715Z,1749675844.715 [DAT](INFO): DAT read: Range 10 to 50 : 80.7 m (trip time 53.8 ms) speed -0.6
2025-06-11T21:04:04.732Z,1749675844.732 [DAT](INFO): DAT read: 21:04:06.2201 LVL= 27792, 19377, 27874, 32755, AGC= 70, IDX= 512, 0.09,-0.464, 1.571,-0.239, 0.092, PHS=-0.468, 1.525,-0.334, RAW= 326.6, -7.5, CAL= 329.6, -10.3, ROT= 180.4, 10.3
2025-06-11T21:04:04.734Z,1749675844.734 [DAT](INFO): got valid direction response:
21:04:06.2201 LVL= 27792, 19377, 27874, 32755, AGC= 70, IDX= 512, 0.09,-0.464, 1.571,-0.239, 0.092, PHS=-0.468, 1.525,-0.334, RAW= 326.6, -7.5, CAL= 329.6, -10.3, ROT= 180.4, 10.3
2025-06-11T21:04:04.734Z,1749675844.734 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:04.742Z,1749675844.742 [DAT](INFO): direction in FSK: [-0.983861,-0.006869,-0.178802]
2025-06-11T21:04:04.743Z,1749675844.743 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:04.762Z,1749675844.762 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:04.762Z,1749675844.762 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:04.873Z,1749675844.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 80.699997 m,
deltaT: 0.504525 s,
deltaX: 0.099998 m,
approachRate: 0.198203 m/s,
rangeRepo size: 4
2025-06-11T21:04:04.875Z,1749675844.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 80.010376 m,
bearing: 110.517765 deg,
lat: 36.906412 deg,
lon: -122.115609 deg,
deltaT: 0.504525 s,
deltaX: 0.099144 m,
approachRate: 0.196510 m/s,
posRepo size: 4
2025-06-11T21:04:04.884Z,1749675844.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.01 m.
2025-06-11T21:04:04.906Z,1749675844.906 [DockingStepper](INFO): Stopping
2025-06-11T21:04:04.956Z,1749675844.956 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:04.957Z,1749675844.957 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:04.957Z,1749675844.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:05.211Z,1749675845.211 [DAT](INFO): DAT read: Rx Time:21:04:06.7205
2025-06-11T21:04:05.211Z,1749675845.211 [DAT](INFO): Rx dataTimestamp_ set to:1749675845.211156
2025-06-11T21:04:05.213Z,1749675845.213 [DAT](INFO): DAT read: Bearing 173.9, 9.4 (Local)
2025-06-11T21:04:05.213Z,1749675845.213 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.9, 9.4 (Local)
2025-06-11T21:04:05.215Z,1749675845.215 [DAT](INFO): DAT read: Range 10 to 50 : 81.2 m (trip time 54.1 ms) speed -0.4
2025-06-11T21:04:05.245Z,1749675845.245 [DAT](INFO): DAT read: 21:04:06.7205 LVL= 27440, 23713, 20018, 32755, AGC= 68, IDX= 4,-0.22, 2.196,-2.180, 2.139, 2.637, PHS=-0.353, 1.513,-0.501, RAW= 333.8, -6.8, CAL= 336.1, -9.4, ROT= 173.9, 9.4
2025-06-11T21:04:05.246Z,1749675845.246 [DAT](INFO): got valid direction response:
21:04:06.7205 LVL= 27440, 23713, 20018, 32755, AGC= 68, IDX= 4,-0.22, 2.196,-2.180, 2.139, 2.637, PHS=-0.353, 1.513,-0.501, RAW= 333.8, -6.8, CAL= 336.1, -9.4, ROT= 173.9, 9.4
2025-06-11T21:04:05.246Z,1749675845.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:05.247Z,1749675845.247 [DAT](INFO): direction in FSK: [-0.980986,0.104837,-0.163326]
2025-06-11T21:04:05.247Z,1749675845.247 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:05.259Z,1749675845.259 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:05.259Z,1749675845.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:05.387Z,1749675845.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 81.199997 m,
deltaT: 0.500237 s,
deltaX: 0.500000 m,
approachRate: 0.999526 m/s,
rangeRepo size: 4
2025-06-11T21:04:05.397Z,1749675845.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 80.506104 m,
bearing: 104.078092 deg,
lat: 36.906421 deg,
lon: -122.115606 deg,
deltaT: 0.500237 s,
deltaX: 0.495728 m,
approachRate: 0.990985 m/s,
posRepo size: 4
2025-06-11T21:04:05.398Z,1749675845.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.51 m.
2025-06-11T21:04:05.430Z,1749675845.430 [DockingStepper](INFO): Stopping
2025-06-11T21:04:05.460Z,1749675845.460 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:05.461Z,1749675845.461 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:05.461Z,1749675845.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:05.548Z,1749675845.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:04:05.714Z,1749675845.714 [DAT](INFO): DAT read: Rx Time:21:04:07.2206
2025-06-11T21:04:05.714Z,1749675845.714 [DAT](INFO): Rx dataTimestamp_ set to:1749675845.714001
2025-06-11T21:04:05.716Z,1749675845.716 [DAT](INFO): DAT read: Bearing 174.4, 9.4 (Local)
2025-06-11T21:04:05.716Z,1749675845.716 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.4, 9.4 (Local)
2025-06-11T21:04:05.718Z,1749675845.718 [DAT](INFO): DAT read: Range 10 to 50 : 81.3 m (trip time 54.2 ms) speed 0.0
2025-06-11T21:04:05.723Z,1749675845.723 [DAT](INFO): DAT read: 21:04:07.2206 LVL= 32752, 23089, 26338, 32755, AGC= 71, IDX= 501, 0.16, 2.707,-1.622, 2.668,-3.116, PHS=-0.372, 1.542,-0.502, RAW= 333.3, -6.8, CAL= 335.6, -9.4, ROT= 174.4, 9.4
2025-06-11T21:04:05.724Z,1749675845.724 [DAT](INFO): got valid direction response:
21:04:07.2206 LVL= 32752, 23089, 26338, 32755, AGC= 71, IDX= 501, 0.16, 2.707,-1.622, 2.668,-3.116, PHS=-0.372, 1.542,-0.502, RAW= 333.3, -6.8, CAL= 335.6, -9.4, ROT= 174.4, 9.4
2025-06-11T21:04:05.725Z,1749675845.725 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:05.726Z,1749675845.726 [DAT](INFO): direction in FSK: [-0.981864,0.096273,-0.163326]
2025-06-11T21:04:05.726Z,1749675845.726 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:05.735Z,1749675845.735 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:05.735Z,1749675845.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:05.733Z,1749675845.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 81.300003 m,
deltaT: 0.502845 s,
deltaX: 0.100006 m,
approachRate: 0.198881 m/s,
rangeRepo size: 4
2025-06-11T21:04:05.737Z,1749675845.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.51 m.
2025-06-11T21:04:05.767Z,1749675845.767 [DockingStepper](INFO): Stopping
2025-06-11T21:04:05.965Z,1749675845.965 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:05.965Z,1749675845.965 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:05.965Z,1749675845.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:06.062Z,1749675846.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.51 m.
2025-06-11T21:04:06.087Z,1749675846.087 [DockingStepper](INFO): Stopping
2025-06-11T21:04:06.226Z,1749675846.226 [DAT](INFO): DAT read: Rx Time:21:04:07.7209
2025-06-11T21:04:06.228Z,1749675846.228 [DAT](INFO): Rx dataTimestamp_ set to:1749675846.226628
2025-06-11T21:04:06.230Z,1749675846.230 [DAT](INFO): DAT read: Bearing 173.9, 10.1 (Local)
2025-06-11T21:04:06.230Z,1749675846.230 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.9, 10.1 (Local)
2025-06-11T21:04:06.233Z,1749675846.233 [DAT](INFO): DAT read: Range 10 to 50 : 81.9 m (trip time 54.6 ms) speed -0.6
2025-06-11T21:04:06.239Z,1749675846.239 [DAT](INFO): DAT read: 21:04:07.7209 LVL= 26720, 20353, 23026, 32755, AGC= 70, IDX= 505,-0.33, 2.641,-1.707, 2.583, 3.070, PHS=-0.342, 1.553,-0.490, RAW= 333.7, -7.4, CAL= 336.1, -10.1, ROT= 173.9, 10.1
2025-06-11T21:04:06.245Z,1749675846.245 [DAT](INFO): got valid direction response:
21:04:07.7209 LVL= 26720, 20353, 23026, 32755, AGC= 70, IDX= 505,-0.33, 2.641,-1.707, 2.583, 3.070, PHS=-0.342, 1.553,-0.490, RAW= 333.7, -7.4, CAL= 336.1, -10.1, ROT= 173.9, 10.1
2025-06-11T21:04:06.246Z,1749675846.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:06.247Z,1749675846.247 [DAT](INFO): direction in FSK: [-0.978929,0.104617,-0.175367]
2025-06-11T21:04:06.247Z,1749675846.247 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:06.251Z,1749675846.251 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:06.251Z,1749675846.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:06.472Z,1749675846.472 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:06.473Z,1749675846.473 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:06.473Z,1749675846.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:06.584Z,1749675846.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 81.900002 m,
deltaT: 0.512627 s,
deltaX: 0.599998 m,
approachRate: 1.170439 m/s,
rangeRepo size: 4
2025-06-11T21:04:06.586Z,1749675846.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.200188 m,
bearing: 104.234417 deg,
lat: 36.906424 deg,
lon: -122.115599 deg,
deltaT: 1.015472 s,
deltaX: 0.694084 m,
approachRate: 0.683509 m/s,
posRepo size: 4
2025-06-11T21:04:06.586Z,1749675846.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m.
2025-06-11T21:04:06.647Z,1749675846.647 [DockingStepper](INFO): Stopping
2025-06-11T21:04:06.726Z,1749675846.726 [DAT](INFO): DAT read: Rx Time:21:04:08.2210
2025-06-11T21:04:06.726Z,1749675846.726 [DAT](INFO): Rx dataTimestamp_ set to:1749675846.725778
2025-06-11T21:04:06.727Z,1749675846.727 [DAT](INFO): DAT read: Bearing 175.3, 9.1 (Local)
2025-06-11T21:04:06.728Z,1749675846.728 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.3, 9.1 (Local)
2025-06-11T21:04:06.730Z,1749675846.730 [DAT](INFO): DAT read: Range 10 to 50 : 82.1 m (trip time 54.7 ms) speed -0.7
2025-06-11T21:04:06.735Z,1749675846.735 [DAT](INFO): DAT read: 21:04:08.2210 LVL= 31056, 23185, 22546, 32755, AGC= 71, IDX= 506, 0.05, 2.826,-1.447, 2.823,-2.965, PHS=-0.404, 1.565,-0.498, RAW= 332.3, -6.6, CAL= 334.7, -9.1, ROT= 175.3, 9.1
2025-06-11T21:04:06.736Z,1749675846.736 [DAT](INFO): got valid direction response:
21:04:08.2210 LVL= 31056, 23185, 22546, 32755, AGC= 71, IDX= 506, 0.05, 2.826,-1.447, 2.823,-2.965, PHS=-0.404, 1.565,-0.498, RAW= 332.3, -6.6, CAL= 334.7, -9.1, ROT= 175.3, 9.1
2025-06-11T21:04:06.737Z,1749675846.737 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:06.738Z,1749675846.738 [DAT](INFO): direction in FSK: [-0.984094,0.080907,-0.158158]
2025-06-11T21:04:06.738Z,1749675846.738 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:06.745Z,1749675846.745 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:06.746Z,1749675846.746 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:06.940Z,1749675846.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.099998 m,
deltaT: 0.499150 s,
deltaX: 0.199997 m,
approachRate: 0.400675 m/s,
rangeRepo size: 4
2025-06-11T21:04:06.942Z,1749675846.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.398476 m,
bearing: 105.654752 deg,
lat: 36.906424 deg,
lon: -122.115602 deg,
deltaT: 0.499150 s,
deltaX: 0.198288 m,
approachRate: 0.397251 m/s,
posRepo size: 4
2025-06-11T21:04:06.943Z,1749675846.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m.
2025-06-11T21:04:06.972Z,1749675846.972 [DockingStepper](INFO): Stopping
2025-06-11T21:04:06.977Z,1749675846.977 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:06.977Z,1749675846.977 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:06.977Z,1749675846.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:07.230Z,1749675847.230 [DAT](INFO): DAT read: Rx Time:21:04:08.7212
2025-06-11T21:04:07.230Z,1749675847.230 [DAT](INFO): Rx dataTimestamp_ set to:1749675847.229941
2025-06-11T21:04:07.232Z,1749675847.232 [DAT](INFO): DAT read: Bearing 174.5, 8.6 (Local)
2025-06-11T21:04:07.232Z,1749675847.232 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.5, 8.6 (Local)
2025-06-11T21:04:07.234Z,1749675847.234 [DAT](INFO): DAT read: Range 10 to 50 : 82.4 m (trip time 54.9 ms) speed -0.4
2025-06-11T21:04:07.239Z,1749675847.239 [DAT](INFO): DAT read: 21:04:08.7212 LVL= 23504, 19889, 19762, 32755, AGC= 70, IDX= 508, 0.44,-3.029,-1.065,-3.066,-2.547, PHS=-0.394, 1.529,-0.522, RAW= 333.2, -6.2, CAL= 335.5, -8.6, ROT= 174.5, 8.6
2025-06-11T21:04:07.240Z,1749675847.240 [DAT](INFO): got valid direction response:
21:04:08.7212 LVL= 23504, 19889, 19762, 32755, AGC= 70, IDX= 508, 0.44,-3.029,-1.065,-3.066,-2.547, PHS=-0.394, 1.529,-0.522, RAW= 333.2, -6.2, CAL= 335.5, -8.6, ROT= 174.5, 8.6
2025-06-11T21:04:07.240Z,1749675847.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:07.241Z,1749675847.241 [DAT](INFO): direction in FSK: [-0.984204,0.094768,-0.149535]
2025-06-11T21:04:07.242Z,1749675847.242 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:07.245Z,1749675847.245 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:07.246Z,1749675847.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:07.380Z,1749675847.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.400002 m,
deltaT: 0.504163 s,
deltaX: 0.300003 m,
approachRate: 0.595052 m/s,
rangeRepo size: 4
2025-06-11T21:04:07.382Z,1749675847.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.695915 m,
bearing: 104.944367 deg,
lat: 36.906424 deg,
lon: -122.115599 deg,
deltaT: 0.504163 s,
deltaX: 0.297440 m,
approachRate: 0.589967 m/s,
posRepo size: 4
2025-06-11T21:04:07.382Z,1749675847.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.70 m.
2025-06-11T21:04:07.407Z,1749675847.407 [DockingStepper](INFO): Stopping
2025-06-11T21:04:07.481Z,1749675847.481 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:07.481Z,1749675847.481 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:07.481Z,1749675847.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:07.731Z,1749675847.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.70 m.
2025-06-11T21:04:07.734Z,1749675847.734 [DAT](INFO): DAT read: Rx Time:21:04:09.2214
2025-06-11T21:04:07.734Z,1749675847.734 [DAT](INFO): Rx dataTimestamp_ set to:1749675847.733688
2025-06-11T21:04:07.735Z,1749675847.735 [DAT](INFO): DAT read: Bearing 173.9, 7.5 (Local)
2025-06-11T21:04:07.736Z,1749675847.736 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.9, 7.5 (Local)
2025-06-11T21:04:07.739Z,1749675847.739 [DAT](INFO): DAT read: Range 10 to 50 : 82.7 m (trip time 55.1 ms) speed -0.2
2025-06-11T21:04:07.743Z,1749675847.743 [DAT](INFO): DAT read: 21:04:09.2214 LVL= 27888, 19633, 26162, 32755, AGC= 69, IDX= 510,-0.17, 0.760, 2.742, 0.689, 1.262, PHS=-0.414, 1.527,-0.575, RAW= 334.0, -5.4, CAL= 336.1, -7.5, ROT= 173.9, 7.5
2025-06-11T21:04:07.745Z,1749675847.745 [DAT](INFO): got valid direction response:
21:04:09.2214 LVL= 27888, 19633, 26162, 32755, AGC= 69, IDX= 510,-0.17, 0.760, 2.742, 0.689, 1.262, PHS=-0.414, 1.527,-0.575, RAW= 334.0, -5.4, CAL= 336.1, -7.5, ROT= 173.9, 7.5
2025-06-11T21:04:07.745Z,1749675847.745 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:07.746Z,1749675847.746 [DAT](INFO): direction in FSK: [-0.985831,0.105355,-0.130526]
2025-06-11T21:04:07.746Z,1749675847.746 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:07.750Z,1749675847.750 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:07.750Z,1749675847.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:07.785Z,1749675847.785 [DockingStepper](INFO): Stopping
2025-06-11T21:04:07.984Z,1749675847.984 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:07.985Z,1749675847.985 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:07.985Z,1749675847.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:08.109Z,1749675848.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.699997 m,
deltaT: 0.503747 s,
deltaX: 0.299995 m,
approachRate: 0.595528 m/s,
rangeRepo size: 4
2025-06-11T21:04:08.111Z,1749675848.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.993599 m,
bearing: 104.398492 deg,
lat: 36.906424 deg,
lon: -122.115599 deg,
deltaT: 0.503747 s,
deltaX: 0.297684 m,
approachRate: 0.590939 m/s,
posRepo size: 4
2025-06-11T21:04:08.111Z,1749675848.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:08.126Z,1749675848.126 [DockingStepper](INFO): Stopping
2025-06-11T21:04:08.245Z,1749675848.245 [DAT](INFO): DAT read: user:717>
2025-06-11T21:04:08.247Z,1749675848.247 [DAT](INFO): DAT read: user:717>
2025-06-11T21:04:08.250Z,1749675848.250 [DAT](INFO): DAT read: Tx time:21:04:10.1109
2025-06-11T21:04:08.251Z,1749675848.251 [DAT](INFO): Ping request sent.
2025-06-11T21:04:08.251Z,1749675848.251 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:04:08.252Z,1749675848.252 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:08.255Z,1749675848.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003202
2025-06-11T21:04:08.493Z,1749675848.493 [DAT](INFO): DAT read: TxSync time:21:04:10.1101
2025-06-11T21:04:08.494Z,1749675848.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242535
2025-06-11T21:04:08.560Z,1749675848.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:08.589Z,1749675848.589 [DockingStepper](INFO): Stopping
2025-06-11T21:04:08.745Z,1749675848.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493999
2025-06-11T21:04:08.907Z,1749675848.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:08.955Z,1749675848.955 [DockingStepper](INFO): Stopping
2025-06-11T21:04:08.997Z,1749675848.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745768
2025-06-11T21:04:09.251Z,1749675849.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999548
2025-06-11T21:04:09.354Z,1749675849.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:09.384Z,1749675849.384 [DockingStepper](INFO): Stopping
2025-06-11T21:04:09.501Z,1749675849.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249976
2025-06-11T21:04:09.733Z,1749675849.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:09.753Z,1749675849.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501680
2025-06-11T21:04:09.762Z,1749675849.762 [DockingStepper](INFO): Stopping
2025-06-11T21:04:10.005Z,1749675850.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753678
2025-06-11T21:04:10.138Z,1749675850.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:10.150Z,1749675850.150 [DockingStepper](INFO): Stopping
2025-06-11T21:04:10.259Z,1749675850.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007964
2025-06-11T21:04:10.509Z,1749675850.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257905
2025-06-11T21:04:10.592Z,1749675850.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:10.613Z,1749675850.613 [DockingStepper](INFO): Stopping
2025-06-11T21:04:10.761Z,1749675850.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509729
2025-06-11T21:04:10.963Z,1749675850.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:10.994Z,1749675850.994 [DockingStepper](INFO): Stopping
2025-06-11T21:04:11.013Z,1749675851.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762430
2025-06-11T21:04:11.268Z,1749675851.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016173
2025-06-11T21:04:11.353Z,1749675851.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:11.389Z,1749675851.389 [DockingStepper](INFO): Stopping
2025-06-11T21:04:11.517Z,1749675851.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266328
2025-06-11T21:04:11.739Z,1749675851.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:11.753Z,1749675851.753 [DockingStepper](INFO): Stopping
2025-06-11T21:04:11.769Z,1749675851.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518090
2025-06-11T21:04:12.021Z,1749675852.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769786
2025-06-11T21:04:12.153Z,1749675852.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:12.182Z,1749675852.182 [DockingStepper](INFO): Stopping
2025-06-11T21:04:12.276Z,1749675852.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024084
2025-06-11T21:04:12.525Z,1749675852.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273834
2025-06-11T21:04:12.585Z,1749675852.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:12.614Z,1749675852.614 [DockingStepper](INFO): Stopping
2025-06-11T21:04:12.777Z,1749675852.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526111
2025-06-11T21:04:12.956Z,1749675852.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:12.970Z,1749675852.970 [DockingStepper](INFO): Stopping
2025-06-11T21:04:13.029Z,1749675853.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777800
2025-06-11T21:04:13.286Z,1749675853.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034601
2025-06-11T21:04:13.418Z,1749675853.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:13.431Z,1749675853.431 [DockingStepper](INFO): Stopping
2025-06-11T21:04:13.533Z,1749675853.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281840
2025-06-11T21:04:13.736Z,1749675853.736 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:04:13.785Z,1749675853.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533800
2025-06-11T21:04:13.791Z,1749675853.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:13.825Z,1749675853.825 [DockingStepper](INFO): Stopping
2025-06-11T21:04:14.037Z,1749675854.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785722
2025-06-11T21:04:14.196Z,1749675854.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:14.209Z,1749675854.209 [DockingStepper](INFO): Stopping
2025-06-11T21:04:14.291Z,1749675854.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039910
2025-06-11T21:04:14.541Z,1749675854.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289593
2025-06-11T21:04:14.595Z,1749675854.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:14.648Z,1749675854.648 [DockingStepper](INFO): Stopping
2025-06-11T21:04:14.793Z,1749675854.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541778
2025-06-11T21:04:14.988Z,1749675854.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:15.001Z,1749675855.001 [DockingStepper](INFO): Stopping
2025-06-11T21:04:15.045Z,1749675855.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793839
2025-06-11T21:04:15.300Z,1749675855.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047931
2025-06-11T21:04:15.404Z,1749675855.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:15.417Z,1749675855.417 [DockingStepper](INFO): Stopping
2025-06-11T21:04:15.550Z,1749675855.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299216
2025-06-11T21:04:15.784Z,1749675855.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:15.797Z,1749675855.797 [DockingStepper](INFO): Stopping
2025-06-11T21:04:15.802Z,1749675855.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.551391
2025-06-11T21:04:16.053Z,1749675856.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801688
2025-06-11T21:04:16.199Z,1749675856.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:16.211Z,1749675856.211 [DockingStepper](INFO): Stopping
2025-06-11T21:04:16.305Z,1749675856.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053715
2025-06-11T21:04:16.557Z,1749675856.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305868
2025-06-11T21:04:16.690Z,1749675856.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:16.693Z,1749675856.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:16.725Z,1749675856.725 [DockingStepper](INFO): Stopping
2025-06-11T21:04:16.809Z,1749675856.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557643
2025-06-11T21:04:16.999Z,1749675856.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:17.040Z,1749675857.040 [DockingStepper](INFO): Stopping
2025-06-11T21:04:17.062Z,1749675857.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811273
2025-06-11T21:04:17.316Z,1749675857.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064143
2025-06-11T21:04:17.466Z,1749675857.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:17.502Z,1749675857.502 [DockingStepper](INFO): Stopping
2025-06-11T21:04:17.565Z,1749675857.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313650
2025-06-11T21:04:17.817Z,1749675857.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565840
2025-06-11T21:04:17.819Z,1749675857.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:17.832Z,1749675857.832 [DockingStepper](INFO): Stopping
2025-06-11T21:04:18.069Z,1749675858.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817792
2025-06-11T21:04:18.205Z,1749675858.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:18.245Z,1749675858.245 [DockingStepper](INFO): Stopping
2025-06-11T21:04:18.322Z,1749675858.322 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:18.323Z,1749675858.323 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:18.324Z,1749675858.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:18.572Z,1749675858.572 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:18.573Z,1749675858.573 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:18.573Z,1749675858.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:18.652Z,1749675858.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:18.679Z,1749675858.679 [DockingStepper](INFO): Stopping
2025-06-11T21:04:18.827Z,1749675858.827 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:18.827Z,1749675858.827 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:18.828Z,1749675858.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:19.020Z,1749675859.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:19.036Z,1749675859.036 [DockingStepper](INFO): Stopping
2025-06-11T21:04:19.078Z,1749675859.078 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:19.079Z,1749675859.079 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:19.080Z,1749675859.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:19.330Z,1749675859.330 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:04:19.330Z,1749675859.330 [DAT](INFO): response not received
2025-06-11T21:04:19.331Z,1749675859.331 [DAT](INFO): DAT read: user:718>
2025-06-11T21:04:19.332Z,1749675859.332 [DAT](INFO): DAT read: Tx time:21:04:21.0610
2025-06-11T21:04:19.332Z,1749675859.332 [DAT](INFO): Ping request sent.
2025-06-11T21:04:19.332Z,1749675859.332 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:04:19.333Z,1749675859.333 [DAT](INFO): DAT read: TxSync time:21:04:21.0602
2025-06-11T21:04:19.333Z,1749675859.333 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:19.334Z,1749675859.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001613
2025-06-11T21:04:19.526Z,1749675859.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:19.549Z,1749675859.549 [DockingStepper](INFO): Stopping
2025-06-11T21:04:19.581Z,1749675859.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248845
2025-06-11T21:04:19.824Z,1749675859.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:19.833Z,1749675859.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500688
2025-06-11T21:04:19.839Z,1749675859.839 [DockingStepper](INFO): Stopping
2025-06-11T21:04:20.085Z,1749675860.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752680
2025-06-11T21:04:20.240Z,1749675860.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:20.255Z,1749675860.255 [DockingStepper](INFO): Stopping
2025-06-11T21:04:20.337Z,1749675860.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004908
2025-06-11T21:04:20.589Z,1749675860.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256618
2025-06-11T21:04:20.665Z,1749675860.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:20.690Z,1749675860.690 [DockingStepper](INFO): Stopping
2025-06-11T21:04:20.841Z,1749675860.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508644
2025-06-11T21:04:21.028Z,1749675861.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:21.043Z,1749675861.043 [DockingStepper](INFO): Stopping
2025-06-11T21:04:21.095Z,1749675861.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762319
2025-06-11T21:04:21.345Z,1749675861.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012672
2025-06-11T21:04:21.499Z,1749675861.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:21.536Z,1749675861.536 [DockingStepper](INFO): Stopping
2025-06-11T21:04:21.597Z,1749675861.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264659
2025-06-11T21:04:21.849Z,1749675861.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516877
2025-06-11T21:04:21.851Z,1749675861.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:21.865Z,1749675861.865 [DockingStepper](INFO): Stopping
2025-06-11T21:04:22.101Z,1749675862.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768671
2025-06-11T21:04:22.285Z,1749675862.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:22.329Z,1749675862.329 [DockingStepper](INFO): Stopping
2025-06-11T21:04:22.354Z,1749675862.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021516
2025-06-11T21:04:22.613Z,1749675862.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280661
2025-06-11T21:04:22.695Z,1749675862.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:22.729Z,1749675862.729 [DockingStepper](INFO): Stopping
2025-06-11T21:04:22.858Z,1749675862.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525274
2025-06-11T21:04:23.066Z,1749675863.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:23.109Z,1749675863.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776828
2025-06-11T21:04:23.216Z,1749675863.216 [DockingStepper](INFO): Stopping
2025-06-11T21:04:23.361Z,1749675863.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029201
2025-06-11T21:04:23.530Z,1749675863.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:23.613Z,1749675863.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280612
2025-06-11T21:04:23.693Z,1749675863.693 [DockingStepper](INFO): Stopping
2025-06-11T21:04:23.865Z,1749675863.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532775
2025-06-11T21:04:23.907Z,1749675863.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:24.068Z,1749675864.068 [DockingStepper](INFO): Stopping
2025-06-11T21:04:24.117Z,1749675864.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784733
2025-06-11T21:04:24.317Z,1749675864.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:24.329Z,1749675864.329 [DockingStepper](INFO): Stopping
2025-06-11T21:04:24.369Z,1749675864.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036682
2025-06-11T21:04:24.621Z,1749675864.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288658
2025-06-11T21:04:24.737Z,1749675864.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:24.749Z,1749675864.749 [DockingStepper](INFO): Stopping
2025-06-11T21:04:24.874Z,1749675864.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541966
2025-06-11T21:04:25.106Z,1749675865.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:25.118Z,1749675865.118 [DockingStepper](INFO): Stopped
2025-06-11T21:04:25.125Z,1749675865.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793188
2025-06-11T21:04:25.148Z,1749675865.148 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-11T21:04:25.148Z,1749675865.148 [DockingStepper] No Fault, FailCount= 1
2025-06-11T21:04:25.377Z,1749675865.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044654
2025-06-11T21:04:25.590Z,1749675865.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:25.626Z,1749675865.626 [DockingStepper](INFO): Start
2025-06-11T21:04:25.626Z,1749675865.626 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-11T21:04:25.631Z,1749675865.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299168
2025-06-11T21:04:25.745Z,1749675865.745 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-11T21:04:25.885Z,1749675865.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552739
2025-06-11T21:04:25.941Z,1749675865.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:25.966Z,1749675865.966 [DockingStepper](INFO): Starting
2025-06-11T21:04:26.137Z,1749675866.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804681
2025-06-11T21:04:26.335Z,1749675866.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:26.376Z,1749675866.376 [DockingStepper](INFO): Starting
2025-06-11T21:04:26.389Z,1749675866.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057040
2025-06-11T21:04:26.641Z,1749675866.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308684
2025-06-11T21:04:26.783Z,1749675866.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:26.816Z,1749675866.816 [DockingStepper](INFO): Starting
2025-06-11T21:04:26.864Z,1749675866.864 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-11T21:04:26.893Z,1749675866.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560771
2025-06-11T21:04:27.145Z,1749675867.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812737
2025-06-11T21:04:27.145Z,1749675867.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:27.166Z,1749675867.166 [DockingStepper](INFO): Starting
2025-06-11T21:04:27.397Z,1749675867.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064671
2025-06-11T21:04:27.584Z,1749675867.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:27.618Z,1749675867.618 [DockingStepper](INFO): Starting
2025-06-11T21:04:27.649Z,1749675867.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316839
2025-06-11T21:04:27.901Z,1749675867.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568740
2025-06-11T21:04:27.959Z,1749675867.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:28.000Z,1749675868.000 [DockingStepper](INFO): Starting
2025-06-11T21:04:28.153Z,1749675868.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820802
2025-06-11T21:04:28.354Z,1749675868.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:28.366Z,1749675868.366 [DockingStepper](INFO): Starting
2025-06-11T21:04:28.396Z,1749675868.396 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-11T21:04:28.405Z,1749675868.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072700
2025-06-11T21:04:28.657Z,1749675868.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324755
2025-06-11T21:04:28.788Z,1749675868.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:28.835Z,1749675868.835 [DockingStepper](INFO): Starting
2025-06-11T21:04:28.909Z,1749675868.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577266
2025-06-11T21:04:29.157Z,1749675869.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:29.161Z,1749675869.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828810
2025-06-11T21:04:29.171Z,1749675869.171 [DockingStepper](INFO): Changing to mode: 1
2025-06-11T21:04:29.171Z,1749675869.171 [DockingStepper](INFO): Standby mode.
2025-06-11T21:04:29.412Z,1749675869.412 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:29.613Z,1749675869.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:30.038Z,1749675870.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:30.169Z,1749675870.169 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:04:30.169Z,1749675870.169 [DAT](INFO): response not received
2025-06-11T21:04:30.170Z,1749675870.170 [DAT](INFO): DAT read: user:719>
2025-06-11T21:04:30.170Z,1749675870.170 [DAT](INFO): DAT read: Tx time:21:04:32.0126
2025-06-11T21:04:30.171Z,1749675870.171 [DAT](INFO): Ping request sent.
2025-06-11T21:04:30.171Z,1749675870.171 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:04:30.171Z,1749675870.171 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:30.172Z,1749675870.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-06-11T21:04:30.397Z,1749675870.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:30.423Z,1749675870.423 [DAT](INFO): DAT read: TxSync time:21:04:32.0119
2025-06-11T21:04:30.424Z,1749675870.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253082
2025-06-11T21:04:30.673Z,1749675870.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501947
2025-06-11T21:04:30.815Z,1749675870.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:30.925Z,1749675870.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754479
2025-06-11T21:04:31.177Z,1749675871.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005899
2025-06-11T21:04:31.200Z,1749675871.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:31.429Z,1749675871.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258655
2025-06-11T21:04:31.651Z,1749675871.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:31.681Z,1749675871.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510141
2025-06-11T21:04:31.933Z,1749675871.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762603
2025-06-11T21:04:31.984Z,1749675871.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:32.185Z,1749675872.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013900
2025-06-11T21:04:32.401Z,1749675872.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:32.439Z,1749675872.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268637
2025-06-11T21:04:32.689Z,1749675872.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517891
2025-06-11T21:04:32.843Z,1749675872.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:32.941Z,1749675872.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770055
2025-06-11T21:04:33.193Z,1749675873.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022128
2025-06-11T21:04:33.215Z,1749675873.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:33.445Z,1749675873.445 [DAT](INFO): DAT read: Rx Time:21:04:34.6346
2025-06-11T21:04:33.445Z,1749675873.445 [DAT](INFO): Rx dataTimestamp_ set to:1749675873.444957
2025-06-11T21:04:33.446Z,1749675873.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274998
2025-06-11T21:04:33.678Z,1749675873.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.99 m.
2025-06-11T21:04:33.697Z,1749675873.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526076
2025-06-11T21:04:33.958Z,1749675873.958 [DAT](INFO): DAT read: 21:04:34.6347 LVL= 30064, 18785, 23954, 32755, AGC= 67, IDX= 274, 0.20, 2.373,-2.274, 2.448, 1.972, PHS= 0.490, 2.084, 0.474, RAW= 330.5, -33.9, CAL= 333.0, -47.6, ROT= 177.0, 47.6
2025-06-11T21:04:33.959Z,1749675873.959 [DAT](INFO): got valid direction response:
21:04:34.6347 LVL= 30064, 18785, 23954, 32755, AGC= 67, IDX= 274, 0.20, 2.373,-2.274, 2.448, 1.972, PHS= 0.490, 2.084, 0.474, RAW= 330.5, -33.9, CAL= 333.0, -47.6, ROT= 177.0, 47.6
2025-06-11T21:04:33.961Z,1749675873.961 [DAT](INFO): DAT read: Bearing 177.0, 47.6 (Local)
2025-06-11T21:04:33.961Z,1749675873.961 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.0, 47.6 (Local)
2025-06-11T21:04:33.963Z,1749675873.963 [DAT](INFO): DAT read: Range 10 to 50 : 163.3 m (Round-trip 217.8 ms) speed 0.0 m/s
2025-06-11T21:04:33.965Z,1749675873.965 [DAT](INFO): DAT read: user:720>
2025-06-11T21:04:33.966Z,1749675873.966 [DAT](INFO): DAT read: Tx time:21:04:35.7112
2025-06-11T21:04:33.967Z,1749675873.967 [DAT](INFO): Ping request sent.
2025-06-11T21:04:33.967Z,1749675873.967 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:04:33.967Z,1749675873.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:33.969Z,1749675873.969 [DAT](INFO): direction in FSK: [-0.673378,0.035290,-0.738455]
2025-06-11T21:04:33.969Z,1749675873.969 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:33.969Z,1749675873.969 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:34.008Z,1749675874.008 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:34.009Z,1749675874.009 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:34.108Z,1749675874.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 163.300003 m,
deltaT: 26.214984 s,
deltaX: 80.600006 m,
approachRate: 3.074578 m/s,
rangeRepo size: 4
2025-06-11T21:04:34.110Z,1749675874.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 161.909348 m,
bearing: 105.704727 deg,
lat: 36.906419 deg,
lon: -122.115599 deg,
deltaT: 26.214984 s,
deltaX: 79.915749 m,
approachRate: 3.048476 m/s,
posRepo size: 4
2025-06-11T21:04:34.111Z,1749675874.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.91 m.
2025-06-11T21:04:34.111Z,1749675874.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 163.30 m. Resuming terminal guidance.
2025-06-11T21:04:34.111Z,1749675874.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-11T21:04:34.202Z,1749675874.202 [DAT](INFO): DAT read: TxSync time:21:04:35.7104
2025-06-11T21:04:34.421Z,1749675874.421 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-11T21:04:34.422Z,1749675874.422 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T21:04:34.422Z,1749675874.422 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-11T21:04:34.423Z,1749675874.423 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 163.300003 m (mode 1.000000 count ).
2025-06-11T21:04:34.423Z,1749675874.423 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-11T21:04:34.423Z,1749675874.423 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-11T21:04:34.854Z,1749675874.854 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-11T21:04:34.854Z,1749675874.854 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-11T21:04:34.855Z,1749675874.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:34.957Z,1749675874.957 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:04:34.957Z,1749675874.957 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:04:34.958Z,1749675874.958 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:35.209Z,1749675875.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242197
2025-06-11T21:04:35.229Z,1749675875.229 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-11T21:04:35.229Z,1749675875.229 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-11T21:04:35.461Z,1749675875.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494821
2025-06-11T21:04:35.684Z,1749675875.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:04:35.713Z,1749675875.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746084
2025-06-11T21:04:35.719Z,1749675875.719 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-11T21:04:35.719Z,1749675875.719 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T21:04:35.719Z,1749675875.719 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-11T21:04:35.719Z,1749675875.719 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T21:04:35.965Z,1749675875.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998259
2025-06-11T21:04:36.217Z,1749675876.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250139
2025-06-11T21:04:36.469Z,1749675876.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502285
2025-06-11T21:04:36.689Z,1749675876.689 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:04:36.721Z,1749675876.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754094
2025-06-11T21:04:36.885Z,1749675876.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:36.973Z,1749675876.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006771
2025-06-11T21:04:37.225Z,1749675877.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258151
2025-06-11T21:04:37.478Z,1749675877.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511505
2025-06-11T21:04:37.729Z,1749675877.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762264
2025-06-11T21:04:37.981Z,1749675877.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014095
2025-06-11T21:04:38.233Z,1749675878.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.266095
2025-06-11T21:04:38.485Z,1749675878.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.518254
2025-06-11T21:04:38.737Z,1749675878.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.770124
2025-06-11T21:04:38.906Z,1749675878.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:38.990Z,1749675878.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.023127
2025-06-11T21:04:39.241Z,1749675879.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.274714
2025-06-11T21:04:39.494Z,1749675879.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.526504
2025-06-11T21:04:39.745Z,1749675879.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.778219
2025-06-11T21:04:39.997Z,1749675879.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.030168
2025-06-11T21:04:40.251Z,1749675880.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.283569
2025-06-11T21:04:40.501Z,1749675880.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.534009
2025-06-11T21:04:40.753Z,1749675880.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.786754
2025-06-11T21:04:40.953Z,1749675880.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:41.006Z,1749675881.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.038878
2025-06-11T21:04:41.257Z,1749675881.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.290095
2025-06-11T21:04:41.510Z,1749675881.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.542610
2025-06-11T21:04:41.761Z,1749675881.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.794127
2025-06-11T21:04:42.013Z,1749675882.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.046352
2025-06-11T21:04:42.265Z,1749675882.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.298126
2025-06-11T21:04:42.518Z,1749675882.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.551279
2025-06-11T21:04:42.769Z,1749675882.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.802092
2025-06-11T21:04:42.975Z,1749675882.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:43.021Z,1749675883.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.054288
2025-06-11T21:04:43.273Z,1749675883.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.306094
2025-06-11T21:04:43.529Z,1749675883.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.561860
2025-06-11T21:04:43.777Z,1749675883.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.810369
2025-06-11T21:04:44.028Z,1749675884.028 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:44.029Z,1749675884.029 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:44.029Z,1749675884.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:44.281Z,1749675884.281 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:44.281Z,1749675884.281 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:44.282Z,1749675884.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:44.533Z,1749675884.533 [DAT](INFO): Reached modem response timeout
2025-06-11T21:04:44.533Z,1749675884.533 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:04:44.533Z,1749675884.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:44.795Z,1749675884.795 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:04:44.796Z,1749675884.796 [DAT](INFO): response not received
2025-06-11T21:04:44.797Z,1749675884.797 [DAT](INFO): DAT read: user:721>
2025-06-11T21:04:44.798Z,1749675884.798 [DAT](INFO): DAT read: Tx time:21:04:46.6612
2025-06-11T21:04:44.798Z,1749675884.798 [DAT](INFO): Ping request sent.
2025-06-11T21:04:44.798Z,1749675884.798 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:04:44.798Z,1749675884.798 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:44.799Z,1749675884.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-06-11T21:04:45.002Z,1749675885.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:45.038Z,1749675885.038 [DAT](INFO): DAT read: TxSync time:21:04:46.6604
2025-06-11T21:04:45.039Z,1749675885.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241211
2025-06-11T21:04:45.289Z,1749675885.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.490613
2025-06-11T21:04:45.541Z,1749675885.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743308
2025-06-11T21:04:45.796Z,1749675885.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997138
2025-06-11T21:04:46.045Z,1749675886.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246714
2025-06-11T21:04:46.297Z,1749675886.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498662
2025-06-11T21:04:46.549Z,1749675886.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750684
2025-06-11T21:04:46.805Z,1749675886.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006530
2025-06-11T21:04:47.034Z,1749675887.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:47.053Z,1749675887.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254765
2025-06-11T21:04:47.305Z,1749675887.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506642
2025-06-11T21:04:47.557Z,1749675887.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758695
2025-06-11T21:04:47.811Z,1749675887.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012957
2025-06-11T21:04:48.061Z,1749675888.061 [DAT](INFO): DAT read: Rx Time:21:04:49.2113
2025-06-11T21:04:48.061Z,1749675888.061 [DAT](INFO): Rx dataTimestamp_ set to:1749675888.061027
2025-06-11T21:04:48.062Z,1749675888.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263777
2025-06-11T21:04:48.313Z,1749675888.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514725
2025-06-11T21:04:48.571Z,1749675888.571 [DAT](INFO): DAT read: 21:04:49.2113 LVL= 23248, 16753, 15602, 24179, AGC= 64, IDX= 178, 0.04,-2.549,-0.098,-1.144,-1.275, PHS=-1.187, 1.224, 0.128, RAW= 297.0, -1.6, CAL= 299.9, -2.6, ROT= 210.1, 2.6
2025-06-11T21:04:48.572Z,1749675888.572 [DAT](INFO): got valid direction response:
21:04:49.2113 LVL= 23248, 16753, 15602, 24179, AGC= 64, IDX= 178, 0.04,-2.549,-0.098,-1.144,-1.275, PHS=-1.187, 1.224, 0.128, RAW= 297.0, -1.6, CAL= 299.9, -2.6, ROT= 210.1, 2.6
2025-06-11T21:04:48.573Z,1749675888.573 [DAT](INFO): DAT read: Bearing 210.1, 2.6 (Local)
2025-06-11T21:04:48.573Z,1749675888.573 [DAT](INFO): Local bearing/azimuth received:
Bearing 210.1, 2.6 (Local)
2025-06-11T21:04:48.585Z,1749675888.585 [DAT](INFO): DAT read: Range 10 to 50 : 109.3 m (Round-trip 145.8 ms) speed -0.4 m/s
2025-06-11T21:04:48.586Z,1749675888.586 [DAT](INFO): DAT read: user:722>
2025-06-11T21:04:48.586Z,1749675888.586 [DAT](INFO): DAT read: Tx time:21:04:50.3113
2025-06-11T21:04:48.587Z,1749675888.587 [DAT](INFO): Ping request sent.
2025-06-11T21:04:48.587Z,1749675888.587 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:04:48.587Z,1749675888.587 [DAT](INFO): DAT read: TxSync time:21:04:50.3105
2025-06-11T21:04:48.588Z,1749675888.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:48.589Z,1749675888.589 [DAT](INFO): direction in FSK: [-0.864261,-0.500995,-0.045363]
2025-06-11T21:04:48.589Z,1749675888.589 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:48.590Z,1749675888.590 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:48.601Z,1749675888.601 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:48.601Z,1749675888.601 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:48.710Z,1749675888.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 109.300003 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-06-11T21:04:48.721Z,1749675888.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 108.374657 m,
bearing: 96.989777 deg,
lat: 36.906419 deg,
lon: -122.115597 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-06-11T21:04:48.722Z,1749675888.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.37 m.
2025-06-11T21:04:48.728Z,1749675888.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 108.374657 m,
nav range: 108.178162 m,
bearing: 103.605419 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000000 deg/s,
cmd heading: 111.495781 deg,
new cmd heading: 103.605419 deg.
2025-06-11T21:04:48.729Z,1749675888.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.808256 target range: 108.374657 and range: 109.30 m.
2025-06-11T21:04:49.087Z,1749675889.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:49.096Z,1749675889.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.37 m.
2025-06-11T21:04:49.098Z,1749675889.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 108.374657 m,
nav range: 108.307114 m,
bearing: 103.512962 deg,
approach rate: 0.336144 m/s,
LOS rate: -0.240725 deg/s,
cmd heading: 103.605418 deg,
new cmd heading: 103.512962 deg.
2025-06-11T21:04:49.099Z,1749675889.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806642 target range: 108.374657 and range: 109.30 m.
2025-06-11T21:04:49.323Z,1749675889.323 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:04:49.323Z,1749675889.323 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:04:49.323Z,1749675889.323 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:49.432Z,1749675889.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.37 m.
2025-06-11T21:04:49.435Z,1749675889.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 108.374657 m,
nav range: 108.415955 m,
bearing: 103.430256 deg,
approach rate: 0.320783 m/s,
LOS rate: -0.243510 deg/s,
cmd heading: 103.512965 deg,
new cmd heading: 103.430256 deg.
2025-06-11T21:04:49.436Z,1749675889.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.805199 target range: 108.374657 and range: 109.30 m.
2025-06-11T21:04:49.573Z,1749675889.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985916
2025-06-11T21:04:49.828Z,1749675889.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240376
2025-06-11T21:04:49.910Z,1749675889.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.37 m.
2025-06-11T21:04:49.915Z,1749675889.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 108.374657 m,
nav range: 108.542305 m,
bearing: 103.318454 deg,
approach rate: 0.264573 m/s,
LOS rate: -0.233838 deg/s,
cmd heading: 103.430258 deg,
new cmd heading: 103.318454 deg.
2025-06-11T21:04:49.916Z,1749675889.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.803247 target range: 108.374657 and range: 109.30 m.
2025-06-11T21:04:50.077Z,1749675890.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489941
2025-06-11T21:04:50.257Z,1749675890.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.37 m.
2025-06-11T21:04:50.259Z,1749675890.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 108.374657 m,
nav range: 108.635452 m,
bearing: 103.236427 deg,
approach rate: 0.269168 m/s,
LOS rate: -0.236829 deg/s,
cmd heading: 103.318455 deg,
new cmd heading: 103.236427 deg.
2025-06-11T21:04:50.260Z,1749675890.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801816 target range: 108.374657 and range: 109.30 m.
2025-06-11T21:04:50.330Z,1749675890.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742751
2025-06-11T21:04:50.581Z,1749675890.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994478
2025-06-11T21:04:50.673Z,1749675890.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.37 m.
2025-06-11T21:04:50.675Z,1749675890.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 108.374657 m,
nav range: 108.746910 m,
bearing: 103.138715 deg,
approach rate: 0.267400 m/s,
LOS rate: -0.234183 deg/s,
cmd heading: 103.236424 deg,
new cmd heading: 103.138715 deg.
2025-06-11T21:04:50.677Z,1749675890.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.800110 target range: 108.374657 and range: 109.30 m.
2025-06-11T21:04:50.835Z,1749675890.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248108
2025-06-11T21:04:51.074Z,1749675891.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.37 m.
2025-06-11T21:04:51.076Z,1749675891.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 108.374657 m,
nav range: 108.835602 m,
bearing: 103.041041 deg,
approach rate: 0.221386 m/s,
LOS rate: -0.243608 deg/s,
cmd heading: 103.138711 deg,
new cmd heading: 103.041041 deg.
2025-06-11T21:04:51.077Z,1749675891.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798405 target range: 108.374657 and range: 109.30 m.
2025-06-11T21:04:51.085Z,1749675891.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498083
2025-06-11T21:04:51.337Z,1749675891.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750178
2025-06-11T21:04:51.453Z,1749675891.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:51.455Z,1749675891.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.37 m.
2025-06-11T21:04:51.458Z,1749675891.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 108.374657 m,
nav range: 108.915260 m,
bearing: 102.947036 deg,
approach rate: 0.208741 m/s,
LOS rate: -0.246154 deg/s,
cmd heading: 103.041040 deg,
new cmd heading: 102.947036 deg.
2025-06-11T21:04:51.459Z,1749675891.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.796765 target range: 108.374657 and range: 109.30 m.
2025-06-11T21:04:51.596Z,1749675891.596 [DAT](INFO): DAT read: Rx Time:21:04:52.8629
2025-06-11T21:04:51.596Z,1749675891.596 [DAT](INFO): Rx dataTimestamp_ set to:1749675891.595999
2025-06-11T21:04:51.597Z,1749675891.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010070
2025-06-11T21:04:51.845Z,1749675891.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256704
2025-06-11T21:04:51.960Z,1749675891.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.37 m.
2025-06-11T21:04:51.963Z,1749675891.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 108.374657 m,
nav range: 109.016548 m,
bearing: 102.822402 deg,
approach rate: 0.200710 m/s,
LOS rate: -0.246743 deg/s,
cmd heading: 102.947036 deg,
new cmd heading: 102.822402 deg.
2025-06-11T21:04:51.963Z,1749675891.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.794589 target range: 108.374657 and range: 109.30 m.
2025-06-11T21:04:52.099Z,1749675892.099 [DAT](INFO): DAT read: 21:04:52.8629 LVL= 22192, 23617, 12690, 24931, AGC= 61, IDX= 434, 0.30,-1.730, 0.752, 0.021,-0.325, PHS=-1.317, 1.124, 0.343, RAW= 288.3, -1.4, CAL= 291.4, -3.1, ROT= 218.6, 3.1
2025-06-11T21:04:52.100Z,1749675892.100 [DAT](INFO): got valid direction response:
21:04:52.8629 LVL= 22192, 23617, 12690, 24931, AGC= 61, IDX= 434, 0.30,-1.730, 0.752, 0.021,-0.325, PHS=-1.317, 1.124, 0.343, RAW= 288.3, -1.4, CAL= 291.4, -3.1, ROT= 218.6, 3.1
2025-06-11T21:04:52.101Z,1749675892.101 [DAT](INFO): DAT read: Bearing 218.6, 3.1 (Local)
2025-06-11T21:04:52.101Z,1749675892.101 [DAT](INFO): Local bearing/azimuth received:
Bearing 218.6, 3.1 (Local)
2025-06-11T21:04:52.103Z,1749675892.103 [DAT](INFO): DAT read: Range 10 to 50 : 110.6 m (Round-trip 147.5 ms) speed -0.4 m/s
2025-06-11T21:04:52.104Z,1749675892.104 [DAT](INFO): DAT read: user:723>
2025-06-11T21:04:52.105Z,1749675892.105 [DAT](INFO): DAT read: Tx time:21:04:53.9613
2025-06-11T21:04:52.105Z,1749675892.105 [DAT](INFO): Ping request sent.
2025-06-11T21:04:52.105Z,1749675892.105 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:04:52.105Z,1749675892.105 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:52.106Z,1749675892.106 [DAT](INFO): direction in FSK: [-0.780377,-0.622967,-0.054079]
2025-06-11T21:04:52.107Z,1749675892.107 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:52.107Z,1749675892.107 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:52.111Z,1749675892.111 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:52.111Z,1749675892.111 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:52.345Z,1749675892.345 [DAT](INFO): DAT read: TxSync time:21:04:53.9605
2025-06-11T21:04:52.434Z,1749675892.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 110.599998 m,
deltaT: 3.528134 s,
deltaX: 1.299995 m,
approachRate: 0.368465 m/s,
rangeRepo size: 2
2025-06-11T21:04:52.436Z,1749675892.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 109.664566 m,
bearing: 89.373806 deg,
lat: 36.906426 deg,
lon: -122.115570 deg,
deltaT: 3.528134 s,
deltaX: 1.289909 m,
approachRate: 0.365607 m/s,
posRepo size: 2
2025-06-11T21:04:52.437Z,1749675892.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.66 m.
2025-06-11T21:04:52.439Z,1749675892.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.664566 m,
nav range: 111.295563 m,
bearing: 102.058229 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.246743 deg/s,
cmd heading: 102.822399 deg,
new cmd heading: 102.471768 deg.
2025-06-11T21:04:52.441Z,1749675892.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.788470 target range: 109.664566 and range: 110.60 m.
2025-06-11T21:04:52.825Z,1749675892.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.66 m.
2025-06-11T21:04:52.828Z,1749675892.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.664566 m,
nav range: 111.366882 m,
bearing: 101.961000 deg,
approach rate: 0.182164 m/s,
LOS rate: -0.248181 deg/s,
cmd heading: 102.471771 deg,
new cmd heading: 102.180275 deg.
2025-06-11T21:04:52.830Z,1749675892.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.783382 target range: 109.664566 and range: 110.60 m.
2025-06-11T21:04:53.276Z,1749675893.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.66 m.
2025-06-11T21:04:53.279Z,1749675893.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.664566 m,
nav range: 111.443581 m,
bearing: 101.852688 deg,
approach rate: 0.169944 m/s,
LOS rate: -0.239829 deg/s,
cmd heading: 102.180272 deg,
new cmd heading: 101.855561 deg.
2025-06-11T21:04:53.280Z,1749675893.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777715 target range: 109.664566 and range: 110.60 m.
2025-06-11T21:04:53.638Z,1749675893.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:53.640Z,1749675893.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.66 m.
2025-06-11T21:04:53.643Z,1749675893.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.664566 m,
nav range: 111.501022 m,
bearing: 101.763476 deg,
approach rate: 0.158000 m/s,
LOS rate: -0.245259 deg/s,
cmd heading: 101.855558 deg,
new cmd heading: 101.588064 deg.
2025-06-11T21:04:53.643Z,1749675893.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.773046 target range: 109.664566 and range: 110.60 m.
2025-06-11T21:04:53.859Z,1749675893.859 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:04:53.859Z,1749675893.859 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:04:53.860Z,1749675893.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:54.060Z,1749675894.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.66 m.
2025-06-11T21:04:54.063Z,1749675894.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.664566 m,
nav range: 111.564171 m,
bearing: 101.659707 deg,
approach rate: 0.150172 m/s,
LOS rate: -0.246632 deg/s,
cmd heading: 101.588067 deg,
new cmd heading: 101.276938 deg.
2025-06-11T21:04:54.064Z,1749675894.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.767616 target range: 109.664566 and range: 110.60 m.
2025-06-11T21:04:54.110Z,1749675894.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004681
2025-06-11T21:04:54.361Z,1749675894.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255816
2025-06-11T21:04:54.448Z,1749675894.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.66 m.
2025-06-11T21:04:54.451Z,1749675894.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.664566 m,
nav range: 111.617371 m,
bearing: 101.563356 deg,
approach rate: 0.137343 m/s,
LOS rate: -0.248625 deg/s,
cmd heading: 101.276939 deg,
new cmd heading: 100.988026 deg.
2025-06-11T21:04:54.452Z,1749675894.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.762574 target range: 109.664566 and range: 110.60 m.
2025-06-11T21:04:54.613Z,1749675894.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507804
2025-06-11T21:04:54.850Z,1749675894.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.66 m.
2025-06-11T21:04:54.853Z,1749675894.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.664566 m,
nav range: 111.667168 m,
bearing: 101.462885 deg,
approach rate: 0.123852 m/s,
LOS rate: -0.249775 deg/s,
cmd heading: 100.988028 deg,
new cmd heading: 100.686752 deg.
2025-06-11T21:04:54.854Z,1749675894.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757315 target range: 109.664566 and range: 110.60 m.
2025-06-11T21:04:54.865Z,1749675894.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760099
2025-06-11T21:04:55.117Z,1749675895.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011779
2025-06-11T21:04:55.277Z,1749675895.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.66 m.
2025-06-11T21:04:55.279Z,1749675895.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.664566 m,
nav range: 111.721756 m,
bearing: 101.352775 deg,
approach rate: 0.127875 m/s,
LOS rate: -0.257809 deg/s,
cmd heading: 100.686749 deg,
new cmd heading: 100.356586 deg.
2025-06-11T21:04:55.280Z,1749675895.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.751553 target range: 109.664566 and range: 110.60 m.
2025-06-11T21:04:55.370Z,1749675895.370 [DAT](INFO): DAT read: Rx Time:21:04:56.5139
2025-06-11T21:04:55.371Z,1749675895.371 [DAT](INFO): Rx dataTimestamp_ set to:1749675895.370349
2025-06-11T21:04:55.371Z,1749675895.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266181
2025-06-11T21:04:55.621Z,1749675895.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515830
2025-06-11T21:04:55.719Z,1749675895.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:55.726Z,1749675895.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.66 m.
2025-06-11T21:04:55.733Z,1749675895.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.664566 m,
nav range: 111.771965 m,
bearing: 101.238536 deg,
approach rate: 0.111794 m/s,
LOS rate: -0.254248 deg/s,
cmd heading: 100.356584 deg,
new cmd heading: 100.014025 deg.
2025-06-11T21:04:55.734Z,1749675895.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745574 target range: 109.664566 and range: 110.60 m.
2025-06-11T21:04:55.893Z,1749675895.893 [DAT](INFO): DAT read: 21:04:56.5139 LVL= 18160, 14625, 13586, 21859, AGC= 61, IDX= 445,-0.18, 2.864,-1.278,-1.160,-1.853, PHS=-1.478, 0.622, 0.690, RAW= 268.4, 1.6, CAL= 270.7, 1.7, ROT= 239.3, -1.7
2025-06-11T21:04:55.897Z,1749675895.897 [DAT](INFO): got valid direction response:
21:04:56.5139 LVL= 18160, 14625, 13586, 21859, AGC= 61, IDX= 445,-0.18, 2.864,-1.278,-1.160,-1.853, PHS=-1.478, 0.622, 0.690, RAW= 268.4, 1.6, CAL= 270.7, 1.7, ROT= 239.3, -1.7
2025-06-11T21:04:55.901Z,1749675895.901 [DAT](INFO): DAT read: Bearing 239.3, -1.7 (Local)
2025-06-11T21:04:55.902Z,1749675895.902 [DAT](INFO): Local bearing/azimuth received:
Bearing 239.3, -1.7 (Local)
2025-06-11T21:04:55.907Z,1749675895.907 [DAT](INFO): DAT read: Range 10 to 50 : 111.3 m (Round-trip 148.5 ms) speed 0.0 m/s
2025-06-11T21:04:55.911Z,1749675895.911 [DAT](INFO): DAT read: user:724>
2025-06-11T21:04:55.914Z,1749675895.914 [DAT](INFO): DAT read: Tx time:21:04:57.6113
2025-06-11T21:04:55.915Z,1749675895.915 [DAT](INFO): Ping request sent.
2025-06-11T21:04:55.915Z,1749675895.915 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:04:55.918Z,1749675895.918 [DAT](INFO): DAT read: TxSync time:21:04:57.6105
2025-06-11T21:04:55.919Z,1749675895.919 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:55.949Z,1749675895.949 [DAT](INFO): direction in FSK: [-0.510318,-0.859474,0.029666]
2025-06-11T21:04:55.949Z,1749675895.949 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:55.949Z,1749675895.949 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:55.953Z,1749675895.953 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:55.953Z,1749675895.953 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:56.142Z,1749675896.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 111.300003 m,
deltaT: 3.779941 s,
deltaX: 0.700005 m,
approachRate: 0.185189 m/s,
rangeRepo size: 3
2025-06-11T21:04:56.148Z,1749675896.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 110.356255 m,
bearing: 94.930396 deg,
lat: 36.906529 deg,
lon: -122.115568 deg,
deltaT: 3.779941 s,
deltaX: 0.691689 m,
approachRate: 0.182989 m/s,
posRepo size: 3
2025-06-11T21:04:56.149Z,1749675896.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.36 m.
2025-06-11T21:04:56.151Z,1749675896.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.356255 m,
nav range: 110.318756 m,
bearing: 95.236542 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.254248 deg/s,
cmd heading: 100.014023 deg,
new cmd heading: 99.696969 deg.
2025-06-11T21:04:56.159Z,1749675896.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740040 target range: 110.356255 and range: 111.30 m.
2025-06-11T21:04:56.468Z,1749675896.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.36 m.
2025-06-11T21:04:56.470Z,1749675896.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.356255 m,
nav range: 110.368301 m,
bearing: 95.143506 deg,
approach rate: 0.151860 m/s,
LOS rate: -0.285033 deg/s,
cmd heading: 99.696966 deg,
new cmd heading: 99.417986 deg.
2025-06-11T21:04:56.471Z,1749675896.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.735171 target range: 110.356255 and range: 111.30 m.
2025-06-11T21:04:57.047Z,1749675897.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.36 m.
2025-06-11T21:04:57.066Z,1749675897.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.356255 m,
nav range: 110.438622 m,
bearing: 94.982030 deg,
approach rate: 0.121353 m/s,
LOS rate: -0.278486 deg/s,
cmd heading: 99.417986 deg,
new cmd heading: 98.933878 deg.
2025-06-11T21:04:57.067Z,1749675897.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726722 target range: 110.356255 and range: 111.30 m.
2025-06-11T21:04:57.284Z,1749675897.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.36 m.
2025-06-11T21:04:57.286Z,1749675897.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.356255 m,
nav range: 110.462570 m,
bearing: 94.919073 deg,
approach rate: 0.102975 m/s,
LOS rate: -0.270643 deg/s,
cmd heading: 98.933876 deg,
new cmd heading: 98.745048 deg.
2025-06-11T21:04:57.287Z,1749675897.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723426 target range: 110.356255 and range: 111.30 m.
2025-06-11T21:04:57.680Z,1749675897.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.36 m.
2025-06-11T21:04:57.683Z,1749675897.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.356255 m,
nav range: 110.500122 m,
bearing: 94.804065 deg,
approach rate: 0.093758 m/s,
LOS rate: -0.287052 deg/s,
cmd heading: 98.745049 deg,
new cmd heading: 98.400144 deg.
2025-06-11T21:04:57.684Z,1749675897.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.717407 target range: 110.356255 and range: 111.30 m.
2025-06-11T21:04:58.112Z,1749675898.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:04:58.114Z,1749675898.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.36 m.
2025-06-11T21:04:58.117Z,1749675898.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.356255 m,
nav range: 110.532059 m,
bearing: 94.674621 deg,
approach rate: 0.073578 m/s,
LOS rate: -0.298136 deg/s,
cmd heading: 98.400145 deg,
new cmd heading: 98.011933 deg.
2025-06-11T21:04:58.118Z,1749675898.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.710631 target range: 110.356255 and range: 111.30 m.
2025-06-11T21:04:58.141Z,1749675898.141 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:04:58.141Z,1749675898.141 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:04:58.141Z,1749675898.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:04:58.393Z,1749675898.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477894
2025-06-11T21:04:58.479Z,1749675898.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.36 m.
2025-06-11T21:04:58.482Z,1749675898.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.356255 m,
nav range: 110.553314 m,
bearing: 94.565100 deg,
approach rate: 0.058216 m/s,
LOS rate: -0.299905 deg/s,
cmd heading: 98.011931 deg,
new cmd heading: 97.683434 deg.
2025-06-11T21:04:58.483Z,1749675898.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.704898 target range: 110.356255 and range: 111.30 m.
2025-06-11T21:04:58.645Z,1749675898.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730391
2025-06-11T21:04:58.888Z,1749675898.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.36 m.
2025-06-11T21:04:58.891Z,1749675898.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.356255 m,
nav range: 110.570488 m,
bearing: 94.442347 deg,
approach rate: 0.041988 m/s,
LOS rate: -0.300072 deg/s,
cmd heading: 97.683433 deg,
new cmd heading: 97.315234 deg.
2025-06-11T21:04:58.892Z,1749675898.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.698471 target range: 110.356255 and range: 111.30 m.
2025-06-11T21:04:58.897Z,1749675898.897 [DAT](INFO): DAT read: Rx Time:21:05:00.1645
2025-06-11T21:04:58.898Z,1749675898.898 [DAT](INFO): Rx dataTimestamp_ set to:1749675898.897235
2025-06-11T21:04:58.898Z,1749675898.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983233
2025-06-11T21:04:59.149Z,1749675899.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233897
2025-06-11T21:04:59.370Z,1749675899.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.36 m.
2025-06-11T21:04:59.373Z,1749675899.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.356255 m,
nav range: 110.591835 m,
bearing: 94.292681 deg,
approach rate: 0.044308 m/s,
LOS rate: -0.310583 deg/s,
cmd heading: 97.315238 deg,
new cmd heading: 96.866337 deg.
2025-06-11T21:04:59.374Z,1749675899.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.690637 target range: 110.356255 and range: 111.30 m.
2025-06-11T21:04:59.430Z,1749675899.430 [DAT](INFO): DAT read: 21:05:00.1645 LVL= 21552, 15217, 16562, 30451, AGC= 62, IDX= 450, 0.22,-3.020,-1.704,-0.501,-1.722, PHS=-1.210, 0.065, 1.218, RAW= 241.7, -0.7, CAL= 244.1, -1.0, ROT= 265.9, 1.0
2025-06-11T21:04:59.445Z,1749675899.445 [DAT](INFO): got valid direction response:
21:05:00.1645 LVL= 21552, 15217, 16562, 30451, AGC= 62, IDX= 450, 0.22,-3.020,-1.704,-0.501,-1.722, PHS=-1.210, 0.065, 1.218, RAW= 241.7, -0.7, CAL= 244.1, -1.0, ROT= 265.9, 1.0
2025-06-11T21:04:59.446Z,1749675899.446 [DAT](INFO): DAT read: Bearing 265.9, 1.0 (Local)
2025-06-11T21:04:59.447Z,1749675899.447 [DAT](INFO): Local bearing/azimuth received:
Bearing 265.9, 1.0 (Local)
2025-06-11T21:04:59.450Z,1749675899.450 [DAT](INFO): DAT read: Range 10 to 50 : 111.7 m (Round-trip 149.0 ms) speed 0.0 m/s
2025-06-11T21:04:59.451Z,1749675899.451 [DAT](INFO): DAT read: user:725>
2025-06-11T21:04:59.457Z,1749675899.457 [DAT](INFO): DAT read: Tx time:21:05:01.2614
2025-06-11T21:04:59.457Z,1749675899.457 [DAT](INFO): Ping request sent.
2025-06-11T21:04:59.457Z,1749675899.457 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:04:59.458Z,1749675899.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:04:59.459Z,1749675899.459 [DAT](INFO): direction in FSK: [-0.071487,-0.997289,-0.017452]
2025-06-11T21:04:59.459Z,1749675899.459 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:59.468Z,1749675899.468 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:59.471Z,1749675899.471 [DAT](INFO): publishing transmit ping time
2025-06-11T21:04:59.471Z,1749675899.471 [DAT](INFO): publishing direction and range info
2025-06-11T21:04:59.669Z,1749675899.669 [DAT](INFO): DAT read: TxSync time:21:05:01.2606
2025-06-11T21:04:59.725Z,1749675899.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 111.699997 m,
deltaT: 3.544942 s,
deltaX: 0.399994 m,
approachRate: 0.112835 m/s,
rangeRepo size: 4
2025-06-11T21:04:59.727Z,1749675899.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 110.757401 m,
bearing: 106.258241 deg,
lat: 36.906529 deg,
lon: -122.115568 deg,
deltaT: 3.544942 s,
deltaX: 0.401146 m,
approachRate: 0.113160 m/s,
posRepo size: 4
2025-06-11T21:04:59.727Z,1749675899.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:04:59.734Z,1749675899.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.595421 m,
bearing: 94.189461 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.310583 deg/s,
cmd heading: 96.866337 deg,
new cmd heading: 96.540701 deg.
2025-06-11T21:04:59.735Z,1749675899.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684953 target range: 110.757401 and range: 111.70 m.
2025-06-11T21:05:00.123Z,1749675900.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:00.126Z,1749675900.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:00.128Z,1749675900.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.595078 m,
bearing: 94.050885 deg,
approach rate: -0.000846 m/s,
LOS rate: -0.341525 deg/s,
cmd heading: 96.540701 deg,
new cmd heading: 96.124980 deg.
2025-06-11T21:05:00.129Z,1749675900.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677697 target range: 110.757401 and range: 111.70 m.
2025-06-11T21:05:00.173Z,1749675900.173 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:00.173Z,1749675900.173 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:00.173Z,1749675900.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:00.425Z,1749675900.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967263
2025-06-11T21:05:00.525Z,1749675900.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:00.527Z,1749675900.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.588356 m,
bearing: 93.925807 deg,
approach rate: -0.016842 m/s,
LOS rate: -0.313423 deg/s,
cmd heading: 96.124981 deg,
new cmd heading: 95.749730 deg.
2025-06-11T21:05:00.532Z,1749675900.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671148 target range: 110.757401 and range: 111.70 m.
2025-06-11T21:05:00.677Z,1749675900.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219357
2025-06-11T21:05:00.930Z,1749675900.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471705
2025-06-11T21:05:00.962Z,1749675900.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:00.988Z,1749675900.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.573692 m,
bearing: 93.787291 deg,
approach rate: -0.033513 m/s,
LOS rate: -0.316615 deg/s,
cmd heading: 95.749731 deg,
new cmd heading: 95.334136 deg.
2025-06-11T21:05:00.991Z,1749675900.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663895 target range: 110.757401 and range: 111.70 m.
2025-06-11T21:05:01.181Z,1749675901.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723268
2025-06-11T21:05:01.336Z,1749675901.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:01.339Z,1749675901.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.544655 m,
bearing: 93.654127 deg,
approach rate: -0.077684 m/s,
LOS rate: -0.356350 deg/s,
cmd heading: 95.334134 deg,
new cmd heading: 94.934543 deg.
2025-06-11T21:05:01.340Z,1749675901.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656920 target range: 110.757401 and range: 111.70 m.
2025-06-11T21:05:01.433Z,1749675901.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975511
2025-06-11T21:05:01.686Z,1749675901.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228556
2025-06-11T21:05:01.737Z,1749675901.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:01.739Z,1749675901.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.508942 m,
bearing: 93.522822 deg,
approach rate: -0.089072 m/s,
LOS rate: -0.327592 deg/s,
cmd heading: 94.934541 deg,
new cmd heading: 94.540507 deg.
2025-06-11T21:05:01.741Z,1749675901.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650043 target range: 110.757401 and range: 111.70 m.
2025-06-11T21:05:01.937Z,1749675901.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479743
2025-06-11T21:05:02.146Z,1749675902.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:02.149Z,1749675902.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:02.151Z,1749675902.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.471458 m,
bearing: 93.385716 deg,
approach rate: -0.091225 m/s,
LOS rate: -0.333794 deg/s,
cmd heading: 94.540507 deg,
new cmd heading: 94.129057 deg.
2025-06-11T21:05:02.152Z,1749675902.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642862 target range: 110.757401 and range: 111.70 m.
2025-06-11T21:05:02.189Z,1749675902.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731565
2025-06-11T21:05:02.441Z,1749675902.441 [DAT](INFO): DAT read: Rx Time:21:05:03.8142
2025-06-11T21:05:02.441Z,1749675902.441 [DAT](INFO): Rx dataTimestamp_ set to:1749675902.441025
2025-06-11T21:05:02.442Z,1749675902.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984354
2025-06-11T21:05:02.533Z,1749675902.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:02.535Z,1749675902.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.429649 m,
bearing: 93.257635 deg,
approach rate: -0.108658 m/s,
LOS rate: -0.332998 deg/s,
cmd heading: 94.129057 deg,
new cmd heading: 93.744674 deg.
2025-06-11T21:05:02.536Z,1749675902.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636153 target range: 110.757401 and range: 111.70 m.
2025-06-11T21:05:02.693Z,1749675902.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235314
2025-06-11T21:05:02.948Z,1749675902.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490060
2025-06-11T21:05:02.955Z,1749675902.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:02.969Z,1749675902.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.378380 m,
bearing: 93.122684 deg,
approach rate: -0.121430 m/s,
LOS rate: -0.319775 deg/s,
cmd heading: 93.744674 deg,
new cmd heading: 93.339639 deg.
2025-06-11T21:05:02.970Z,1749675902.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629084 target range: 110.757401 and range: 111.70 m.
2025-06-11T21:05:03.198Z,1749675903.198 [DAT](INFO): DAT read: Range 10 to 50 : 111.5 m (Round-trip 148.7 ms) speed 0.0 m/s
2025-06-11T21:05:03.199Z,1749675903.199 [DAT](INFO): DAT read: user:726>
2025-06-11T21:05:03.200Z,1749675903.200 [DAT](INFO): DAT read: Tx time:21:05:04.9114
2025-06-11T21:05:03.200Z,1749675903.200 [DAT](INFO): Ping request sent.
2025-06-11T21:05:03.201Z,1749675903.201 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:03.201Z,1749675903.201 [DAT](INFO): DAT read: TxSync time:21:05:04.9106
2025-06-11T21:05:03.202Z,1749675903.202 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:05:03.202Z,1749675903.202 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:03.202Z,1749675903.202 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:03.355Z,1749675903.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 111.500000 m,
deltaT: 3.779446 s,
deltaX: -0.199997 m,
approachRate: -0.052917 m/s,
rangeRepo size: 4
2025-06-11T21:05:03.357Z,1749675903.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:03.359Z,1749675903.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.321243 m,
bearing: 92.985786 deg,
approach rate: -0.142814 m/s,
LOS rate: -0.342355 deg/s,
cmd heading: 93.339637 deg,
new cmd heading: 92.928739 deg.
2025-06-11T21:05:03.376Z,1749675903.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621912 target range: 110.757401 and range: 111.50 m.
2025-06-11T21:05:03.752Z,1749675903.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:03.754Z,1749675903.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.262131 m,
bearing: 92.860608 deg,
approach rate: -0.149005 m/s,
LOS rate: -0.315704 deg/s,
cmd heading: 92.928740 deg,
new cmd heading: 92.553012 deg.
2025-06-11T21:05:03.755Z,1749675903.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615355 target range: 110.757401 and range: 111.50 m.
2025-06-11T21:05:04.137Z,1749675904.137 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -39, -1,A
2025-06-11T21:05:04.151Z,1749675904.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:04.154Z,1749675904.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:04.157Z,1749675904.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.190254 m,
bearing: 92.724574 deg,
approach rate: -0.178623 m/s,
LOS rate: -0.338284 deg/s,
cmd heading: 92.553011 deg,
new cmd heading: 92.144650 deg.
2025-06-11T21:05:04.158Z,1749675904.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608227 target range: 110.757401 and range: 111.50 m.
2025-06-11T21:05:04.205Z,1749675904.205 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:04.205Z,1749675904.205 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:04.206Z,1749675904.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:04.457Z,1749675904.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256153
2025-06-11T21:05:04.565Z,1749675904.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:04.567Z,1749675904.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.115547 m,
bearing: 92.597227 deg,
approach rate: -0.181736 m/s,
LOS rate: -0.310002 deg/s,
cmd heading: 92.144648 deg,
new cmd heading: 91.762352 deg.
2025-06-11T21:05:04.569Z,1749675904.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.601555 target range: 110.757401 and range: 111.50 m.
2025-06-11T21:05:04.709Z,1749675904.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508427
2025-06-11T21:05:04.953Z,1749675904.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:04.961Z,1749675904.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760317
2025-06-11T21:05:04.955Z,1749675904.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 110.030708 m,
bearing: 92.466243 deg,
approach rate: -0.218792 m/s,
LOS rate: -0.338055 deg/s,
cmd heading: 91.762355 deg,
new cmd heading: 91.369108 deg.
2025-06-11T21:05:04.977Z,1749675904.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.594692 target range: 110.757401 and range: 111.50 m.
2025-06-11T21:05:05.213Z,1749675905.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012109
2025-06-11T21:05:05.370Z,1749675905.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:05.374Z,1749675905.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 109.939857 m,
bearing: 92.331844 deg,
approach rate: -0.217588 m/s,
LOS rate: -0.322152 deg/s,
cmd heading: 91.369107 deg,
new cmd heading: 90.965582 deg.
2025-06-11T21:05:05.375Z,1749675905.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.587649 target range: 110.757401 and range: 111.50 m.
2025-06-11T21:05:05.466Z,1749675905.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265103
2025-06-11T21:05:05.717Z,1749675905.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516209
2025-06-11T21:05:05.777Z,1749675905.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:05.784Z,1749675905.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 109.845848 m,
bearing: 92.204472 deg,
approach rate: -0.230988 m/s,
LOS rate: -0.313230 deg/s,
cmd heading: 90.965580 deg,
new cmd heading: 90.583142 deg.
2025-06-11T21:05:05.785Z,1749675905.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.580974 target range: 110.757401 and range: 111.50 m.
2025-06-11T21:05:05.969Z,1749675905.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768150
2025-06-11T21:05:06.178Z,1749675906.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:06.180Z,1749675906.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:06.183Z,1749675906.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 109.746361 m,
bearing: 92.076659 deg,
approach rate: -0.247293 m/s,
LOS rate: -0.317988 deg/s,
cmd heading: 90.583144 deg,
new cmd heading: 90.199365 deg.
2025-06-11T21:05:06.184Z,1749675906.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.574276 target range: 110.757401 and range: 111.50 m.
2025-06-11T21:05:06.222Z,1749675906.222 [DAT](INFO): DAT read: Rx Time:21:05:07.4635
2025-06-11T21:05:06.223Z,1749675906.223 [DAT](INFO): Rx dataTimestamp_ set to:1749675906.222301
2025-06-11T21:05:06.223Z,1749675906.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022565
2025-06-11T21:05:06.473Z,1749675906.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272223
2025-06-11T21:05:06.574Z,1749675906.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.76 m.
2025-06-11T21:05:06.581Z,1749675906.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.757401 m,
nav range: 109.646797 m,
bearing: 91.958467 deg,
approach rate: -0.252527 m/s,
LOS rate: -0.300047 deg/s,
cmd heading: 90.199362 deg,
new cmd heading: 89.844469 deg.
2025-06-11T21:05:06.582Z,1749675906.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.568082 target range: 110.757401 and range: 111.50 m.
2025-06-11T21:05:06.732Z,1749675906.732 [DAT](INFO): DAT read: 21:05:07.4635 LVL= 14608, 18273, 9922, 22003, AGC= 59, IDX= 440,-0.39,-1.690,-0.705, 0.892,-0.621, PHS=-0.981,-0.036, 1.510, RAW= 232.1, -4.6, CAL= 230.1, -11.5, ROT= 279.9, 11.5
2025-06-11T21:05:06.734Z,1749675906.734 [DAT](INFO): got valid direction response:
21:05:07.4635 LVL= 14608, 18273, 9922, 22003, AGC= 59, IDX= 440,-0.39,-1.690,-0.705, 0.892,-0.621, PHS=-0.981,-0.036, 1.510, RAW= 232.1, -4.6, CAL= 230.1, -11.5, ROT= 279.9, 11.5
2025-06-11T21:05:06.735Z,1749675906.735 [DAT](INFO): DAT read: Bearing 279.9, 11.5 (Local)
2025-06-11T21:05:06.735Z,1749675906.735 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.9, 11.5 (Local)
2025-06-11T21:05:06.743Z,1749675906.743 [DAT](INFO): DAT read: Range 10 to 50 : 111.0 m (Round-trip 148.0 ms) speed 0.1 m/s
2025-06-11T21:05:06.744Z,1749675906.744 [DAT](INFO): DAT read: user:727>
2025-06-11T21:05:06.745Z,1749675906.745 [DAT](INFO): DAT read: Tx time:21:05:08.5614
2025-06-11T21:05:06.745Z,1749675906.745 [DAT](INFO): Ping request sent.
2025-06-11T21:05:06.745Z,1749675906.745 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:06.745Z,1749675906.745 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:06.746Z,1749675906.746 [DAT](INFO): direction in FSK: [0.168478,-0.965333,-0.199368]
2025-06-11T21:05:06.747Z,1749675906.747 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:06.747Z,1749675906.747 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:06.784Z,1749675906.784 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:06.785Z,1749675906.784 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:06.808Z,1749675906.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:05:06.977Z,1749675906.977 [DAT](INFO): DAT read: TxSync time:21:05:08.5606
2025-06-11T21:05:06.978Z,1749675906.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 111.000000 m,
deltaT: 3.528010 s,
deltaX: -0.500000 m,
approachRate: -0.141723 m/s,
rangeRepo size: 4
2025-06-11T21:05:06.981Z,1749675906.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 110.063141 m,
bearing: 87.781050 deg,
lat: 36.906535 deg,
lon: -122.115570 deg,
deltaT: 7.307456 s,
deltaX: -0.694260 m,
approachRate: -0.095007 m/s,
posRepo size: 4
2025-06-11T21:05:06.981Z,1749675906.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.06 m.
2025-06-11T21:05:06.984Z,1749675906.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.063141 m,
nav range: 109.368416 m,
bearing: 91.526078 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.300047 deg/s,
cmd heading: 89.844472 deg,
new cmd heading: 89.482906 deg.
2025-06-11T21:05:06.985Z,1749675906.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561771 target range: 110.063141 and range: 111.00 m.
2025-06-11T21:05:07.408Z,1749675907.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.06 m.
2025-06-11T21:05:07.410Z,1749675907.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.063141 m,
nav range: 109.245033 m,
bearing: 91.399308 deg,
approach rate: -0.296552 m/s,
LOS rate: -0.305039 deg/s,
cmd heading: 89.482903 deg,
new cmd heading: 89.102167 deg.
2025-06-11T21:05:07.411Z,1749675907.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555126 target range: 110.063141 and range: 111.00 m.
2025-06-11T21:05:07.780Z,1749675907.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.06 m.
2025-06-11T21:05:07.783Z,1749675907.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.063141 m,
nav range: 109.128204 m,
bearing: 91.287050 deg,
approach rate: -0.310403 m/s,
LOS rate: -0.298575 deg/s,
cmd heading: 89.102167 deg,
new cmd heading: 88.765040 deg.
2025-06-11T21:05:07.788Z,1749675907.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549242 target range: 110.063141 and range: 111.00 m.
2025-06-11T21:05:07.812Z,1749675907.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:05:08.197Z,1749675908.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:08.199Z,1749675908.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.06 m.
2025-06-11T21:05:08.202Z,1749675908.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.063141 m,
nav range: 108.982918 m,
bearing: 91.159826 deg,
approach rate: -0.337272 m/s,
LOS rate: -0.295734 deg/s,
cmd heading: 88.765043 deg,
new cmd heading: 88.382868 deg.
2025-06-11T21:05:08.202Z,1749675908.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542572 target range: 110.063141 and range: 111.00 m.
2025-06-11T21:05:08.237Z,1749675908.237 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:08.237Z,1749675908.237 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:08.237Z,1749675908.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:08.490Z,1749675908.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745476
2025-06-11T21:05:08.584Z,1749675908.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.06 m.
2025-06-11T21:05:08.587Z,1749675908.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.063141 m,
nav range: 108.846199 m,
bearing: 91.047473 deg,
approach rate: -0.355257 m/s,
LOS rate: -0.292311 deg/s,
cmd heading: 88.382866 deg,
new cmd heading: 88.045388 deg.
2025-06-11T21:05:08.587Z,1749675908.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536682 target range: 110.063141 and range: 111.00 m.
2025-06-11T21:05:08.741Z,1749675908.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995875
2025-06-11T21:05:08.993Z,1749675908.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247884
2025-06-11T21:05:08.997Z,1749675908.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.06 m.
2025-06-11T21:05:08.000Z,1749675909.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.063141 m,
nav range: 108.693909 m,
bearing: 90.929587 deg,
approach rate: -0.368227 m/s,
LOS rate: -0.285440 deg/s,
cmd heading: 88.045387 deg,
new cmd heading: 87.691236 deg.
2025-06-11T21:05:09.001Z,1749675909.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530501 target range: 110.063141 and range: 111.00 m.
2025-06-11T21:05:09.245Z,1749675909.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499794
2025-06-11T21:05:09.412Z,1749675909.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.06 m.
2025-06-11T21:05:09.414Z,1749675909.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.063141 m,
nav range: 108.528404 m,
bearing: 90.810356 deg,
approach rate: -0.399428 m/s,
LOS rate: -0.288190 deg/s,
cmd heading: 87.691235 deg,
new cmd heading: 87.333001 deg.
2025-06-11T21:05:09.415Z,1749675909.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524248 target range: 110.063141 and range: 111.00 m.
2025-06-11T21:05:09.498Z,1749675909.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753116
2025-06-11T21:05:09.749Z,1749675909.749 [DAT](INFO): DAT read: Rx Time:21:05:11.1122
2025-06-11T21:05:09.749Z,1749675909.749 [DAT](INFO): Rx dataTimestamp_ set to:1749675909.748967
2025-06-11T21:05:09.750Z,1749675909.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004861
2025-06-11T21:05:09.830Z,1749675909.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.06 m.
2025-06-11T21:05:09.837Z,1749675909.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.063141 m,
nav range: 108.359238 m,
bearing: 90.695169 deg,
approach rate: -0.404352 m/s,
LOS rate: -0.275755 deg/s,
cmd heading: 87.332998 deg,
new cmd heading: 86.986904 deg.
2025-06-11T21:05:09.838Z,1749675909.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.518208 target range: 110.063141 and range: 111.00 m.
2025-06-11T21:05:10.001Z,1749675910.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255815
2025-06-11T21:05:10.222Z,1749675910.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:10.225Z,1749675910.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.06 m.
2025-06-11T21:05:10.235Z,1749675910.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.063141 m,
nav range: 108.187462 m,
bearing: 90.584618 deg,
approach rate: -0.435208 m/s,
LOS rate: -0.280534 deg/s,
cmd heading: 86.986906 deg,
new cmd heading: 86.654731 deg.
2025-06-11T21:05:10.256Z,1749675910.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510109
2025-06-11T21:05:10.269Z,1749675910.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512410 target range: 110.063141 and range: 111.00 m.
2025-06-11T21:05:10.511Z,1749675910.511 [DAT](INFO): DAT read: 21:05:11.1122 LVL= 20400, 25985, 14194, 24643, AGC= 62, IDX= 425,-0.43, 1.220, 1.500,-2.824, 2.021, PHS=-0.713,-0.475, 1.434, RAW= 215.8, -2.4, CAL= 214.3, -9.1, ROT= 295.7, 9.1
2025-06-11T21:05:10.512Z,1749675910.512 [DAT](INFO): got valid direction response:
21:05:11.1122 LVL= 20400, 25985, 14194, 24643, AGC= 62, IDX= 425,-0.43, 1.220, 1.500,-2.824, 2.021, PHS=-0.713,-0.475, 1.434, RAW= 215.8, -2.4, CAL= 214.3, -9.1, ROT= 295.7, 9.1
2025-06-11T21:05:10.513Z,1749675910.513 [DAT](INFO): DAT read: Bearing 295.7, 9.1 (Local)
2025-06-11T21:05:10.514Z,1749675910.514 [DAT](INFO): Local bearing/azimuth received:
Bearing 295.7, 9.1 (Local)
2025-06-11T21:05:10.515Z,1749675910.515 [DAT](INFO): DAT read: Range 10 to 50 : 109.8 m (Round-trip 146.5 ms) speed 0.3 m/s
2025-06-11T21:05:10.516Z,1749675910.516 [DAT](INFO): DAT read: user:728>
2025-06-11T21:05:10.517Z,1749675910.517 [DAT](INFO): DAT read: Tx time:21:05:12.2115
2025-06-11T21:05:10.517Z,1749675910.517 [DAT](INFO): Ping request sent.
2025-06-11T21:05:10.517Z,1749675910.517 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:10.518Z,1749675910.518 [DAT](INFO): DAT read: TxSync time:21:05:12.2107
2025-06-11T21:05:10.519Z,1749675910.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:10.520Z,1749675910.520 [DAT](INFO): direction in FSK: [0.428201,-0.889736,-0.158158]
2025-06-11T21:05:10.520Z,1749675910.520 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:10.520Z,1749675910.520 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:10.523Z,1749675910.523 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:10.524Z,1749675910.524 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:10.812Z,1749675910.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 109.800003 m,
deltaT: 3.779512 s,
deltaX: -1.199997 m,
approachRate: -0.317501 m/s,
rangeRepo size: 4
2025-06-11T21:05:10.814Z,1749675910.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 108.870430 m,
bearing: 89.898499 deg,
lat: 36.906544 deg,
lon: -122.115574 deg,
deltaT: 3.779512 s,
deltaX: -1.192711 m,
approachRate: -0.315573 m/s,
posRepo size: 4
2025-06-11T21:05:10.815Z,1749675910.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.87 m.
2025-06-11T21:05:10.822Z,1749675910.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.870430 m,
nav range: 107.512001 m,
bearing: 89.898136 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.280534 deg/s,
cmd heading: 86.654733 deg,
new cmd heading: 86.164403 deg.
2025-06-11T21:05:10.823Z,1749675910.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503852 target range: 108.870430 and range: 109.80 m.
2025-06-11T21:05:11.022Z,1749675911.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.87 m.
2025-06-11T21:05:11.025Z,1749675911.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.870430 m,
nav range: 107.415169 m,
bearing: 89.833593 deg,
approach rate: -0.451271 m/s,
LOS rate: -0.301063 deg/s,
cmd heading: 86.164400 deg,
new cmd heading: 85.970598 deg.
2025-06-11T21:05:11.026Z,1749675911.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500470 target range: 108.870430 and range: 109.80 m.
2025-06-11T21:05:11.442Z,1749675911.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.87 m.
2025-06-11T21:05:11.461Z,1749675911.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.870430 m,
nav range: 107.218872 m,
bearing: 89.724095 deg,
approach rate: -0.467544 m/s,
LOS rate: -0.261281 deg/s,
cmd heading: 85.970601 deg,
new cmd heading: 85.641511 deg.
2025-06-11T21:05:11.462Z,1749675911.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494726 target range: 108.870430 and range: 109.80 m.
2025-06-11T21:05:11.855Z,1749675911.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.87 m.
2025-06-11T21:05:11.863Z,1749675911.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.870430 m,
nav range: 107.033607 m,
bearing: 89.625662 deg,
approach rate: -0.448169 m/s,
LOS rate: -0.238530 deg/s,
cmd heading: 85.641509 deg,
new cmd heading: 85.345700 deg.
2025-06-11T21:05:11.868Z,1749675911.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489563 target range: 108.870430 and range: 109.80 m.
2025-06-11T21:05:12.237Z,1749675912.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:12.239Z,1749675912.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.87 m.
2025-06-11T21:05:12.242Z,1749675912.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.870430 m,
nav range: 106.832993 m,
bearing: 89.519826 deg,
approach rate: -0.522305 m/s,
LOS rate: -0.276064 deg/s,
cmd heading: 85.345700 deg,
new cmd heading: 85.027599 deg.
2025-06-11T21:05:12.243Z,1749675912.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.484012 target range: 108.870430 and range: 109.80 m.
2025-06-11T21:05:12.269Z,1749675912.269 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:12.269Z,1749675912.269 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:12.269Z,1749675912.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:12.521Z,1749675912.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003391
2025-06-11T21:05:12.628Z,1749675912.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.87 m.
2025-06-11T21:05:12.630Z,1749675912.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.870430 m,
nav range: 106.637962 m,
bearing: 89.422166 deg,
approach rate: -0.502127 m/s,
LOS rate: -0.251896 deg/s,
cmd heading: 85.027597 deg,
new cmd heading: 84.734084 deg.
2025-06-11T21:05:12.631Z,1749675912.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478889 target range: 108.870430 and range: 109.80 m.
2025-06-11T21:05:12.773Z,1749675912.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255339
2025-06-11T21:05:13.029Z,1749675913.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511436
2025-06-11T21:05:13.043Z,1749675913.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.87 m.
2025-06-11T21:05:13.050Z,1749675913.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.870430 m,
nav range: 106.432899 m,
bearing: 89.324923 deg,
approach rate: -0.493551 m/s,
LOS rate: -0.234497 deg/s,
cmd heading: 84.734084 deg,
new cmd heading: 84.441796 deg.
2025-06-11T21:05:13.051Z,1749675913.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473787 target range: 108.870430 and range: 109.80 m.
2025-06-11T21:05:13.277Z,1749675913.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759400
2025-06-11T21:05:13.450Z,1749675913.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.87 m.
2025-06-11T21:05:13.453Z,1749675913.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.870430 m,
nav range: 106.213051 m,
bearing: 89.222890 deg,
approach rate: -0.539561 m/s,
LOS rate: -0.250931 deg/s,
cmd heading: 84.441793 deg,
new cmd heading: 84.135064 deg.
2025-06-11T21:05:13.454Z,1749675913.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468434 target range: 108.870430 and range: 109.80 m.
2025-06-11T21:05:13.530Z,1749675913.530 [DAT](INFO): DAT read: Rx Time:21:05:14.7601
2025-06-11T21:05:13.531Z,1749675913.531 [DAT](INFO): Rx dataTimestamp_ set to:1749675913.530034
2025-06-11T21:05:13.531Z,1749675913.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013714
2025-06-11T21:05:13.781Z,1749675913.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263624
2025-06-11T21:05:13.858Z,1749675913.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.87 m.
2025-06-11T21:05:13.883Z,1749675913.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.870430 m,
nav range: 106.002487 m,
bearing: 89.124622 deg,
approach rate: -0.516969 m/s,
LOS rate: -0.241744 deg/s,
cmd heading: 84.135062 deg,
new cmd heading: 83.839676 deg.
2025-06-11T21:05:13.910Z,1749675913.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463278 target range: 108.870430 and range: 109.80 m.
2025-06-11T21:05:14.044Z,1749675914.044 [DAT](INFO): DAT read: 21:05:14.7601 LVL= 23536, 25969, 13906, 30243, AGC= 61, IDX= 419, 0.42,-2.581,-2.968,-1.004,-2.038, PHS=-0.455,-0.883, 1.031, RAW= 197.7, 3.6, CAL= 197.9, -4.3, ROT= 312.1, 4.3
2025-06-11T21:05:14.045Z,1749675914.045 [DAT](INFO): got valid direction response:
21:05:14.7601 LVL= 23536, 25969, 13906, 30243, AGC= 61, IDX= 419, 0.42,-2.581,-2.968,-1.004,-2.038, PHS=-0.455,-0.883, 1.031, RAW= 197.7, 3.6, CAL= 197.9, -4.3, ROT= 312.1, 4.3
2025-06-11T21:05:14.046Z,1749675914.046 [DAT](INFO): DAT read: Bearing 312.1, 4.3 (Local)
2025-06-11T21:05:14.047Z,1749675914.047 [DAT](INFO): Local bearing/azimuth received:
Bearing 312.1, 4.3 (Local)
2025-06-11T21:05:14.052Z,1749675914.052 [DAT](INFO): DAT read: Range 10 to 50 : 108.3 m (Round-trip 144.5 ms) speed 0.4 m/s
2025-06-11T21:05:14.053Z,1749675914.053 [DAT](INFO): DAT read: user:729>
2025-06-11T21:05:14.054Z,1749675914.054 [DAT](INFO): DAT read: Tx time:21:05:15.8615
2025-06-11T21:05:14.054Z,1749675914.054 [DAT](INFO): Ping request sent.
2025-06-11T21:05:14.054Z,1749675914.054 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:14.055Z,1749675914.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:14.056Z,1749675914.056 [DAT](INFO): direction in FSK: [0.668539,-0.739887,-0.074979]
2025-06-11T21:05:14.057Z,1749675914.057 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:14.057Z,1749675914.057 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:14.061Z,1749675914.061 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:14.061Z,1749675914.061 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:14.285Z,1749675914.285 [DAT](INFO): DAT read: TxSync time:21:05:15.8607
2025-06-11T21:05:14.329Z,1749675914.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 108.300003 m,
deltaT: 3.531187 s,
deltaX: -1.500000 m,
approachRate: -0.424786 m/s,
rangeRepo size: 4
2025-06-11T21:05:14.331Z,1749675914.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 107.383034 m,
bearing: 89.353862 deg,
lat: 36.906538 deg,
lon: -122.115574 deg,
deltaT: 3.531187 s,
deltaX: -1.487396 m,
approachRate: -0.421217 m/s,
posRepo size: 4
2025-06-11T21:05:14.336Z,1749675914.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.38 m.
2025-06-11T21:05:14.339Z,1749675914.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.383034 m,
nav range: 105.755875 m,
bearing: 89.344772 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.241744 deg/s,
cmd heading: 83.839677 deg,
new cmd heading: 83.498204 deg.
2025-06-11T21:05:14.344Z,1749675914.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457319 target range: 107.383034 and range: 108.30 m.
2025-06-11T21:05:14.643Z,1749675914.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:14.645Z,1749675914.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.38 m.
2025-06-11T21:05:14.648Z,1749675914.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.383034 m,
nav range: 105.567169 m,
bearing: 89.267401 deg,
approach rate: -0.595569 m/s,
LOS rate: -0.244624 deg/s,
cmd heading: 83.498202 deg,
new cmd heading: 83.265677 deg.
2025-06-11T21:05:14.649Z,1749675914.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.453260 target range: 107.383034 and range: 108.30 m.
2025-06-11T21:05:14.789Z,1749675914.789 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:14.789Z,1749675914.789 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:14.789Z,1749675914.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:15.041Z,1749675915.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986432
2025-06-11T21:05:15.061Z,1749675915.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.38 m.
2025-06-11T21:05:15.064Z,1749675915.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.383034 m,
nav range: 105.333809 m,
bearing: 89.176749 deg,
approach rate: -0.561104 m/s,
LOS rate: -0.218450 deg/s,
cmd heading: 83.265675 deg,
new cmd heading: 82.993120 deg.
2025-06-11T21:05:15.065Z,1749675915.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448503 target range: 107.383034 and range: 108.30 m.
2025-06-11T21:05:15.293Z,1749675915.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238519
2025-06-11T21:05:15.471Z,1749675915.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.38 m.
2025-06-11T21:05:15.474Z,1749675915.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.383034 m,
nav range: 105.101814 m,
bearing: 89.086431 deg,
approach rate: -0.565693 m/s,
LOS rate: -0.220718 deg/s,
cmd heading: 82.993116 deg,
new cmd heading: 82.721564 deg.
2025-06-11T21:05:15.475Z,1749675915.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443764 target range: 107.383034 and range: 108.30 m.
2025-06-11T21:05:15.546Z,1749675915.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491317
2025-06-11T21:05:15.797Z,1749675915.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742343
2025-06-11T21:05:15.870Z,1749675915.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.38 m.
2025-06-11T21:05:15.873Z,1749675915.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.383034 m,
nav range: 104.871841 m,
bearing: 89.002092 deg,
approach rate: -0.577370 m/s,
LOS rate: -0.212206 deg/s,
cmd heading: 82.721562 deg,
new cmd heading: 82.467992 deg.
2025-06-11T21:05:15.874Z,1749675915.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439338 target range: 107.383034 and range: 108.30 m.
2025-06-11T21:05:16.049Z,1749675916.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994364
2025-06-11T21:05:16.301Z,1749675916.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246493
2025-06-11T21:05:16.312Z,1749675916.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.38 m.
2025-06-11T21:05:16.315Z,1749675916.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.383034 m,
nav range: 104.619217 m,
bearing: 88.907473 deg,
approach rate: -0.571284 m/s,
LOS rate: -0.214486 deg/s,
cmd heading: 82.467991 deg,
new cmd heading: 82.183453 deg.
2025-06-11T21:05:16.316Z,1749675916.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434372 target range: 107.383034 and range: 108.30 m.
2025-06-11T21:05:16.553Z,1749675916.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498351
2025-06-11T21:05:16.663Z,1749675916.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:16.665Z,1749675916.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.38 m.
2025-06-11T21:05:16.668Z,1749675916.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.383034 m,
nav range: 104.413498 m,
bearing: 88.834959 deg,
approach rate: -0.582033 m/s,
LOS rate: -0.205566 deg/s,
cmd heading: 82.183452 deg,
new cmd heading: 81.965482 deg.
2025-06-11T21:05:16.669Z,1749675916.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430568 target range: 107.383034 and range: 108.30 m.
2025-06-11T21:05:16.805Z,1749675916.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750491
2025-06-11T21:05:17.057Z,1749675917.057 [DAT](INFO): DAT read: Rx Time:21:05:18.4076
2025-06-11T21:05:17.057Z,1749675917.057 [DAT](INFO): Rx dataTimestamp_ set to:1749675917.057192
2025-06-11T21:05:17.058Z,1749675917.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003657
2025-06-11T21:05:17.066Z,1749675917.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.38 m.
2025-06-11T21:05:17.069Z,1749675917.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.383034 m,
nav range: 104.177132 m,
bearing: 88.756659 deg,
approach rate: -0.589511 m/s,
LOS rate: -0.195728 deg/s,
cmd heading: 81.965480 deg,
new cmd heading: 81.730049 deg.
2025-06-11T21:05:17.070Z,1749675917.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426458 target range: 107.383034 and range: 108.30 m.
2025-06-11T21:05:17.309Z,1749675917.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254396
2025-06-11T21:05:17.509Z,1749675917.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.38 m.
2025-06-11T21:05:17.591Z,1749675917.591 [DAT](INFO): DAT read: 21:05:18.4076 LVL= 31616, 32753, 18930, 32755, AGC= 67, IDX= 410,-0.23, 1.458, 0.527, 2.651, 1.751, PHS=-0.204,-1.177, 0.898, RAW= 182.1, 5.4, CAL= 182.0, -3.5, ROT= 328.0, 3.5
2025-06-11T21:05:17.592Z,1749675917.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.383034 m,
nav range: 103.912498 m,
bearing: 88.666878 deg,
approach rate: -0.597707 m/s,
LOS rate: -0.203299 deg/s,
cmd heading: 81.730050 deg,
new cmd heading: 81.460022 deg.
2025-06-11T21:05:17.593Z,1749675917.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421746 target range: 107.383034 and range: 108.30 m.
2025-06-11T21:05:17.600Z,1749675917.600 [DAT](INFO): got valid direction response:
21:05:18.4076 LVL= 31616, 32753, 18930, 32755, AGC= 67, IDX= 410,-0.23, 1.458, 0.527, 2.651, 1.751, PHS=-0.204,-1.177, 0.898, RAW= 182.1, 5.4, CAL= 182.0, -3.5, ROT= 328.0, 3.5
2025-06-11T21:05:17.601Z,1749675917.601 [DAT](INFO): DAT read: Bearing 328.0, 3.5 (Local)
2025-06-11T21:05:17.602Z,1749675917.602 [DAT](INFO): Local bearing/azimuth received:
Bearing 328.0, 3.5 (Local)
2025-06-11T21:05:17.603Z,1749675917.603 [DAT](INFO): DAT read: Range 10 to 50 : 106.4 m (Round-trip 141.9 ms) speed 0.6 m/s
2025-06-11T21:05:17.612Z,1749675917.612 [DAT](INFO): DAT read: user:730>
2025-06-11T21:05:17.613Z,1749675917.613 [DAT](INFO): DAT read: Tx time:21:05:19.5115
2025-06-11T21:05:17.613Z,1749675917.613 [DAT](INFO): Ping request sent.
2025-06-11T21:05:17.613Z,1749675917.613 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:17.614Z,1749675917.614 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:17.615Z,1749675917.615 [DAT](INFO): direction in FSK: [0.846466,-0.528931,-0.061049]
2025-06-11T21:05:17.615Z,1749675917.615 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:17.615Z,1749675917.615 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:17.631Z,1749675917.631 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:17.631Z,1749675917.631 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:17.817Z,1749675917.817 [DAT](INFO): DAT read: TxSync time:21:05:19.5107
2025-06-11T21:05:17.922Z,1749675917.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 106.400002 m,
deltaT: 3.530467 s,
deltaX: -1.900002 m,
approachRate: -0.538173 m/s,
rangeRepo size: 4
2025-06-11T21:05:17.929Z,1749675917.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 105.499237 m,
bearing: 91.491785 deg,
lat: 36.906538 deg,
lon: -122.115574 deg,
deltaT: 3.530467 s,
deltaX: -1.883797 m,
approachRate: -0.533583 m/s,
posRepo size: 4
2025-06-11T21:05:17.930Z,1749675917.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m.
2025-06-11T21:05:17.945Z,1749675917.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.499237 m,
nav range: 103.680824 m,
bearing: 88.587828 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.203299 deg/s,
cmd heading: 81.460026 deg,
new cmd heading: 81.209011 deg.
2025-06-11T21:05:17.946Z,1749675917.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417365 target range: 105.499237 and range: 106.40 m.
2025-06-11T21:05:18.344Z,1749675918.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m.
2025-06-11T21:05:18.347Z,1749675918.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.499237 m,
nav range: 103.420891 m,
bearing: 88.507387 deg,
approach rate: -0.619959 m/s,
LOS rate: -0.192338 deg/s,
cmd heading: 81.209009 deg,
new cmd heading: 80.967083 deg.
2025-06-11T21:05:18.352Z,1749675918.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413142 target range: 105.499237 and range: 106.40 m.
2025-06-11T21:05:18.679Z,1749675918.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:18.697Z,1749675918.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m.
2025-06-11T21:05:18.708Z,1749675918.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.499237 m,
nav range: 103.195724 m,
bearing: 88.441744 deg,
approach rate: -0.630040 m/s,
LOS rate: -0.184077 deg/s,
cmd heading: 80.967084 deg,
new cmd heading: 80.769727 deg.
2025-06-11T21:05:18.709Z,1749675918.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409698 target range: 105.499237 and range: 106.40 m.
2025-06-11T21:05:18.824Z,1749675918.824 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:18.825Z,1749675918.825 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:18.825Z,1749675918.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:19.077Z,1749675919.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463189
2025-06-11T21:05:19.094Z,1749675919.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m.
2025-06-11T21:05:19.120Z,1749675919.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.499237 m,
nav range: 102.935013 m,
bearing: 88.370328 deg,
approach rate: -0.658080 m/s,
LOS rate: -0.180723 deg/s,
cmd heading: 80.769726 deg,
new cmd heading: 80.554936 deg.
2025-06-11T21:05:19.121Z,1749675919.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405949 target range: 105.499237 and range: 106.40 m.
2025-06-11T21:05:19.330Z,1749675919.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716071
2025-06-11T21:05:19.504Z,1749675919.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m.
2025-06-11T21:05:19.507Z,1749675919.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.499237 m,
nav range: 102.674919 m,
bearing: 88.296870 deg,
approach rate: -0.633770 m/s,
LOS rate: -0.179450 deg/s,
cmd heading: 80.554937 deg,
new cmd heading: 80.334004 deg.
2025-06-11T21:05:19.508Z,1749675919.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402093 target range: 105.499237 and range: 106.40 m.
2025-06-11T21:05:19.581Z,1749675919.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967418
2025-06-11T21:05:19.833Z,1749675919.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219208
2025-06-11T21:05:19.901Z,1749675919.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m.
2025-06-11T21:05:19.906Z,1749675919.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.499237 m,
nav range: 102.419640 m,
bearing: 88.229679 deg,
approach rate: -0.642822 m/s,
LOS rate: -0.169615 deg/s,
cmd heading: 80.334001 deg,
new cmd heading: 80.131927 deg.
2025-06-11T21:05:19.907Z,1749675919.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398566 target range: 105.499237 and range: 106.40 m.
2025-06-11T21:05:20.085Z,1749675920.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471954
2025-06-11T21:05:20.337Z,1749675920.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723472
2025-06-11T21:05:20.373Z,1749675920.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m.
2025-06-11T21:05:20.380Z,1749675920.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.499237 m,
nav range: 102.124817 m,
bearing: 88.153225 deg,
approach rate: -0.624587 m/s,
LOS rate: -0.162438 deg/s,
cmd heading: 80.131930 deg,
new cmd heading: 79.901905 deg.
2025-06-11T21:05:20.381Z,1749675920.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394551 target range: 105.499237 and range: 106.40 m.
2025-06-11T21:05:20.589Z,1749675920.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975320
2025-06-11T21:05:20.696Z,1749675920.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:20.698Z,1749675920.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m.
2025-06-11T21:05:20.701Z,1749675920.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.499237 m,
nav range: 101.892700 m,
bearing: 88.097258 deg,
approach rate: -0.714678 m/s,
LOS rate: -0.172712 deg/s,
cmd heading: 79.901902 deg,
new cmd heading: 79.733620 deg.
2025-06-11T21:05:20.702Z,1749675920.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391614 target range: 105.499237 and range: 106.40 m.
2025-06-11T21:05:20.841Z,1749675920.841 [DAT](INFO): DAT read: Rx Time:21:05:22.0545
2025-06-11T21:05:20.841Z,1749675920.841 [DAT](INFO): Rx dataTimestamp_ set to:1749675920.841057
2025-06-11T21:05:20.842Z,1749675920.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228389
2025-06-11T21:05:21.093Z,1749675921.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479180
2025-06-11T21:05:21.113Z,1749675921.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m.
2025-06-11T21:05:21.115Z,1749675921.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.499237 m,
nav range: 101.611969 m,
bearing: 88.034538 deg,
approach rate: -0.676916 m/s,
LOS rate: -0.151653 deg/s,
cmd heading: 79.733620 deg,
new cmd heading: 79.544940 deg.
2025-06-11T21:05:21.136Z,1749675921.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388321 target range: 105.499237 and range: 106.40 m.
2025-06-11T21:05:21.351Z,1749675921.351 [DAT](INFO): DAT read: 21:05:22.0545 LVL= 28272, 32625, 18370, 32755, AGC= 68, IDX= 410, 0.16,-1.974,-2.794,-1.045,-1.960, PHS= 0.074,-0.788, 0.911, RAW= 179.5, -2.7, CAL= 180.4, -10.0, ROT= 329.6, 10.0
2025-06-11T21:05:21.352Z,1749675921.352 [DAT](INFO): got valid direction response:
21:05:22.0545 LVL= 28272, 32625, 18370, 32755, AGC= 68, IDX= 410, 0.16,-1.974,-2.794,-1.045,-1.960, PHS= 0.074,-0.788, 0.911, RAW= 179.5, -2.7, CAL= 180.4, -10.0, ROT= 329.6, 10.0
2025-06-11T21:05:21.353Z,1749675921.353 [DAT](INFO): DAT read: Bearing 329.6, 10.0 (Local)
2025-06-11T21:05:21.353Z,1749675921.353 [DAT](INFO): Local bearing/azimuth received:
Bearing 329.6, 10.0 (Local)
2025-06-11T21:05:21.355Z,1749675921.355 [DAT](INFO): DAT read: Range 10 to 50 : 104.1 m (Round-trip 138.8 ms) speed 0.8 m/s
2025-06-11T21:05:21.356Z,1749675921.356 [DAT](INFO): DAT read: user:731>
2025-06-11T21:05:21.357Z,1749675921.357 [DAT](INFO): DAT read: Tx time:21:05:23.1616
2025-06-11T21:05:21.357Z,1749675921.357 [DAT](INFO): Ping request sent.
2025-06-11T21:05:21.357Z,1749675921.357 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:21.357Z,1749675921.357 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:21.358Z,1749675921.358 [DAT](INFO): direction in FSK: [0.849410,-0.498346,-0.173648]
2025-06-11T21:05:21.359Z,1749675921.359 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:21.359Z,1749675921.359 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:21.373Z,1749675921.373 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:21.373Z,1749675921.373 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:21.568Z,1749675921.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 104.099998 m,
deltaT: 3.778664 s,
deltaX: -2.300003 m,
approachRate: -0.608682 m/s,
rangeRepo size: 4
2025-06-11T21:05:21.570Z,1749675921.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 103.217766 m,
bearing: 75.190151 deg,
lat: 36.906544 deg,
lon: -122.115574 deg,
deltaT: 3.778664 s,
deltaX: -2.281471 m,
approachRate: -0.603777 m/s,
posRepo size: 4
2025-06-11T21:05:21.571Z,1749675921.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.22 m.
2025-06-11T21:05:21.594Z,1749675921.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.217766 m,
nav range: 101.344391 m,
bearing: 87.632904 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.151653 deg/s,
cmd heading: 79.544943 deg,
new cmd heading: 79.339973 deg.
2025-06-11T21:05:21.595Z,1749675921.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384744 target range: 103.217766 and range: 104.10 m.
2025-06-11T21:05:21.597Z,1749675921.597 [DAT](INFO): DAT read: TxSync time:21:05:23.1608
2025-06-11T21:05:21.926Z,1749675921.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.22 m.
2025-06-11T21:05:21.931Z,1749675921.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.217766 m,
nav range: 101.092697 m,
bearing: 87.581268 deg,
approach rate: -0.693736 m/s,
LOS rate: -0.142678 deg/s,
cmd heading: 79.339969 deg,
new cmd heading: 79.184675 deg.
2025-06-11T21:05:21.932Z,1749675921.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382033 target range: 103.217766 and range: 104.10 m.
2025-06-11T21:05:22.379Z,1749675922.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.22 m.
2025-06-11T21:05:22.389Z,1749675922.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.217766 m,
nav range: 100.787415 m,
bearing: 87.524039 deg,
approach rate: -0.674154 m/s,
LOS rate: -0.126761 deg/s,
cmd heading: 79.184678 deg,
new cmd heading: 79.012472 deg.
2025-06-11T21:05:22.390Z,1749675922.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379028 target range: 103.217766 and range: 104.10 m.
2025-06-11T21:05:22.722Z,1749675922.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:22.724Z,1749675922.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.22 m.
2025-06-11T21:05:22.727Z,1749675922.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.217766 m,
nav range: 100.558556 m,
bearing: 87.484638 deg,
approach rate: -0.662154 m/s,
LOS rate: -0.114259 deg/s,
cmd heading: 79.012475 deg,
new cmd heading: 78.894002 deg.
2025-06-11T21:05:22.728Z,1749675922.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376960 target range: 103.217766 and range: 104.10 m.
2025-06-11T21:05:22.857Z,1749675922.857 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:22.857Z,1749675922.857 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:22.857Z,1749675922.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:23.110Z,1749675923.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752710
2025-06-11T21:05:23.154Z,1749675923.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.22 m.
2025-06-11T21:05:23.158Z,1749675923.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.217766 m,
nav range: 100.279083 m,
bearing: 87.441465 deg,
approach rate: -0.650983 m/s,
LOS rate: -0.100844 deg/s,
cmd heading: 78.894006 deg,
new cmd heading: 78.764126 deg.
2025-06-11T21:05:23.159Z,1749675923.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374693 target range: 103.217766 and range: 104.10 m.
2025-06-11T21:05:23.363Z,1749675923.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005715
2025-06-11T21:05:23.551Z,1749675923.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.22 m.
2025-06-11T21:05:23.554Z,1749675923.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.217766 m,
nav range: 99.987503 m,
bearing: 87.401924 deg,
approach rate: -0.733482 m/s,
LOS rate: -0.099756 deg/s,
cmd heading: 78.764123 deg,
new cmd heading: 78.645155 deg.
2025-06-11T21:05:23.555Z,1749675923.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372617 target range: 103.217766 and range: 104.10 m.
2025-06-11T21:05:23.613Z,1749675923.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256436
2025-06-11T21:05:23.865Z,1749675923.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507780
2025-06-11T21:05:24.030Z,1749675924.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.22 m.
2025-06-11T21:05:24.033Z,1749675924.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.217766 m,
nav range: 99.661995 m,
bearing: 87.363129 deg,
approach rate: -0.680025 m/s,
LOS rate: -0.081312 deg/s,
cmd heading: 78.645155 deg,
new cmd heading: 78.528390 deg.
2025-06-11T21:05:24.034Z,1749675924.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370579 target range: 103.217766 and range: 104.10 m.
2025-06-11T21:05:24.118Z,1749675924.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760242
2025-06-11T21:05:24.369Z,1749675924.369 [DAT](INFO): DAT read: Rx Time:21:05:25.7012
2025-06-11T21:05:24.369Z,1749675924.369 [DAT](INFO): Rx dataTimestamp_ set to:1749675924.369157
2025-06-11T21:05:24.370Z,1749675924.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012970
2025-06-11T21:05:24.468Z,1749675924.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.22 m.
2025-06-11T21:05:24.471Z,1749675924.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.217766 m,
nav range: 99.342392 m,
bearing: 87.334657 deg,
approach rate: -0.736886 m/s,
LOS rate: -0.065858 deg/s,
cmd heading: 78.528392 deg,
new cmd heading: 78.442701 deg.
2025-06-11T21:05:24.476Z,1749675924.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369083 target range: 103.217766 and range: 104.10 m.
2025-06-11T21:05:24.621Z,1749675924.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263781
2025-06-11T21:05:24.769Z,1749675924.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:24.771Z,1749675924.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.22 m.
2025-06-11T21:05:24.774Z,1749675924.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.217766 m,
nav range: 99.112549 m,
bearing: 87.317936 deg,
approach rate: -0.746891 m/s,
LOS rate: -0.054463 deg/s,
cmd heading: 78.442701 deg,
new cmd heading: 78.392421 deg.
2025-06-11T21:05:24.775Z,1749675924.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368206 target range: 103.217766 and range: 104.10 m.
2025-06-11T21:05:24.887Z,1749675924.887 [DAT](INFO): DAT read: 21:05:25.7012 LVL= 23440, 30017, 17602, 32755, AGC= 67, IDX= 408,-0.20,-0.159,-1.327, 0.214,-0.480, PHS= 0.409,-0.800, 0.691, RAW= 160.3, -4.4, CAL= 163.6, -12.2, ROT= 346.4, 12.2
2025-06-11T21:05:24.888Z,1749675924.888 [DAT](INFO): got valid direction response:
21:05:25.7012 LVL= 23440, 30017, 17602, 32755, AGC= 67, IDX= 408,-0.20,-0.159,-1.327, 0.214,-0.480, PHS= 0.409,-0.800, 0.691, RAW= 160.3, -4.4, CAL= 163.6, -12.2, ROT= 346.4, 12.2
2025-06-11T21:05:24.889Z,1749675924.889 [DAT](INFO): DAT read: Bearing 346.4, 12.2 (Local)
2025-06-11T21:05:24.889Z,1749675924.889 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.4, 12.2 (Local)
2025-06-11T21:05:24.891Z,1749675924.891 [DAT](INFO): DAT read: Range 10 to 50 : 101.6 m (Round-trip 135.5 ms) speed 0.6 m/s
2025-06-11T21:05:24.897Z,1749675924.897 [DAT](INFO): DAT read: user:732>
2025-06-11T21:05:24.897Z,1749675924.897 [DAT](INFO): DAT read: Tx time:21:05:26.8116
2025-06-11T21:05:24.898Z,1749675924.898 [DAT](INFO): Ping request sent.
2025-06-11T21:05:24.898Z,1749675924.898 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:24.898Z,1749675924.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:24.899Z,1749675924.899 [DAT](INFO): direction in FSK: [0.950010,-0.229832,-0.211325]
2025-06-11T21:05:24.899Z,1749675924.899 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:24.908Z,1749675924.908 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:24.917Z,1749675924.917 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:24.918Z,1749675924.918 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:25.125Z,1749675925.125 [DAT](INFO): DAT read: TxSync time:21:05:26.8108
2025-06-11T21:05:25.162Z,1749675925.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 101.599998 m,
deltaT: 3.529506 s,
deltaX: -2.500000 m,
approachRate: -0.708314 m/s,
rangeRepo size: 4
2025-06-11T21:05:25.164Z,1749675925.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 100.739365 m,
bearing: 77.420888 deg,
lat: 36.906544 deg,
lon: -122.115574 deg,
deltaT: 3.529506 s,
deltaX: -2.478401 m,
approachRate: -0.702195 m/s,
posRepo size: 4
2025-06-11T21:05:25.165Z,1749675925.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.74 m.
2025-06-11T21:05:25.168Z,1749675925.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.739365 m,
nav range: 98.830223 m,
bearing: 87.301921 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.054463 deg/s,
cmd heading: 78.392424 deg,
new cmd heading: 78.328694 deg.
2025-06-11T21:05:25.169Z,1749675925.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367094 target range: 100.739365 and range: 101.60 m.
2025-06-11T21:05:25.585Z,1749675925.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.74 m.
2025-06-11T21:05:25.588Z,1749675925.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.739365 m,
nav range: 98.521652 m,
bearing: 87.288967 deg,
approach rate: -0.727760 m/s,
LOS rate: -0.030648 deg/s,
cmd heading: 78.328691 deg,
new cmd heading: 78.289708 deg.
2025-06-11T21:05:25.589Z,1749675925.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366413 target range: 100.739365 and range: 101.60 m.
2025-06-11T21:05:25.970Z,1749675925.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.74 m.
2025-06-11T21:05:25.973Z,1749675925.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.739365 m,
nav range: 98.246178 m,
bearing: 87.277333 deg,
approach rate: -0.715632 m/s,
LOS rate: -0.030306 deg/s,
cmd heading: 78.289705 deg,
new cmd heading: 78.254706 deg.
2025-06-11T21:05:25.974Z,1749675925.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365802 target range: 100.739365 and range: 101.60 m.
2025-06-11T21:05:26.424Z,1749675926.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.74 m.
2025-06-11T21:05:26.430Z,1749675926.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.739365 m,
nav range: 97.927696 m,
bearing: 87.278825 deg,
approach rate: -0.708395 m/s,
LOS rate: 0.003329 deg/s,
cmd heading: 78.254707 deg,
new cmd heading: 78.259197 deg.
2025-06-11T21:05:26.431Z,1749675926.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365881 target range: 100.739365 and range: 101.60 m.
2025-06-11T21:05:26.782Z,1749675926.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:26.785Z,1749675926.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.74 m.
2025-06-11T21:05:26.788Z,1749675926.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.739365 m,
nav range: 97.651413 m,
bearing: 87.289987 deg,
approach rate: -0.757225 m/s,
LOS rate: 0.030680 deg/s,
cmd heading: 78.259194 deg,
new cmd heading: 78.292776 deg.
2025-06-11T21:05:26.789Z,1749675926.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366467 target range: 100.739365 and range: 101.60 m.
2025-06-11T21:05:26.889Z,1749675926.889 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:26.890Z,1749675926.890 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:26.890Z,1749675926.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:27.141Z,1749675927.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242804
2025-06-11T21:05:27.182Z,1749675927.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.74 m.
2025-06-11T21:05:27.189Z,1749675927.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.739365 m,
nav range: 97.374023 m,
bearing: 87.305658 deg,
approach rate: -0.698600 m/s,
LOS rate: 0.039578 deg/s,
cmd heading: 78.292778 deg,
new cmd heading: 78.339923 deg.
2025-06-11T21:05:27.190Z,1749675927.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367290 target range: 100.739365 and range: 101.60 m.
2025-06-11T21:05:27.397Z,1749675927.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498397
2025-06-11T21:05:27.593Z,1749675927.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.74 m.
2025-06-11T21:05:27.596Z,1749675927.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.739365 m,
nav range: 97.053925 m,
bearing: 87.329895 deg,
approach rate: -0.778072 m/s,
LOS rate: 0.059107 deg/s,
cmd heading: 78.339920 deg,
new cmd heading: 78.412870 deg.
2025-06-11T21:05:27.597Z,1749675927.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368563 target range: 100.739365 and range: 101.60 m.
2025-06-11T21:05:27.646Z,1749675927.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748190
2025-06-11T21:05:27.897Z,1749675927.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998846
2025-06-11T21:05:27.972Z,1749675927.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.74 m.
2025-06-11T21:05:27.975Z,1749675927.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.739365 m,
nav range: 96.773964 m,
bearing: 87.355249 deg,
approach rate: -0.740108 m/s,
LOS rate: 0.067221 deg/s,
cmd heading: 78.412873 deg,
new cmd heading: 78.489156 deg.
2025-06-11T21:05:27.976Z,1749675927.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369894 target range: 100.739365 and range: 101.60 m.
2025-06-11T21:05:28.149Z,1749675928.149 [DAT](INFO): DAT read: Rx Time:21:05:29.3479
2025-06-11T21:05:28.149Z,1749675928.149 [DAT](INFO): Rx dataTimestamp_ set to:1749675928.149018
2025-06-11T21:05:28.150Z,1749675928.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252028
2025-06-11T21:05:28.404Z,1749675928.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505262
2025-06-11T21:05:28.449Z,1749675928.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.74 m.
2025-06-11T21:05:28.456Z,1749675928.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.739365 m,
nav range: 96.441048 m,
bearing: 87.390105 deg,
approach rate: -0.697248 m/s,
LOS rate: 0.073254 deg/s,
cmd heading: 78.489153 deg,
new cmd heading: 78.594083 deg.
2025-06-11T21:05:28.457Z,1749675928.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.371726 target range: 100.739365 and range: 101.60 m.
2025-06-11T21:05:28.659Z,1749675928.659 [DAT](INFO): DAT read: 21:05:29.3479 LVL= 26384, 30353, 24818, 32755, AGC= 68, IDX= 406, 0.10,-2.709, 2.136,-2.984, 2.877, PHS= 0.785,-0.694, 0.418, RAW= 136.2, -7.7, CAL= 142.1, -18.5, ROT= 7.9, 18.5
2025-06-11T21:05:28.660Z,1749675928.660 [DAT](INFO): got valid direction response:
21:05:29.3479 LVL= 26384, 30353, 24818, 32755, AGC= 68, IDX= 406, 0.10,-2.709, 2.136,-2.984, 2.877, PHS= 0.785,-0.694, 0.418, RAW= 136.2, -7.7, CAL= 142.1, -18.5, ROT= 7.9, 18.5
2025-06-11T21:05:28.661Z,1749675928.661 [DAT](INFO): DAT read: Bearing 7.9, 18.5 (Local)
2025-06-11T21:05:28.661Z,1749675928.661 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.9, 18.5 (Local)
2025-06-11T21:05:28.663Z,1749675928.663 [DAT](INFO): DAT read: Range 10 to 50 : 99.1 m (Round-trip 132.2 ms) speed 0.5 m/s
2025-06-11T21:05:28.664Z,1749675928.664 [DAT](INFO): DAT read: user:733>
2025-06-11T21:05:28.664Z,1749675928.664 [DAT](INFO): DAT read: Tx time:21:05:30.4616
2025-06-11T21:05:28.665Z,1749675928.665 [DAT](INFO): Ping request sent.
2025-06-11T21:05:28.665Z,1749675928.665 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:28.665Z,1749675928.665 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:28.666Z,1749675928.666 [DAT](INFO): direction in FSK: [0.939324,0.130342,-0.317305]
2025-06-11T21:05:28.666Z,1749675928.666 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:28.667Z,1749675928.667 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:28.670Z,1749675928.670 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:28.670Z,1749675928.670 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:28.906Z,1749675928.906 [DAT](INFO): DAT read: TxSync time:21:05:30.4608
2025-06-11T21:05:28.922Z,1749675928.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 99.099998 m,
deltaT: 3.778139 s,
deltaX: -2.500000 m,
approachRate: -0.661701 m/s,
rangeRepo size: 4
2025-06-11T21:05:28.930Z,1749675928.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 98.260445 m,
bearing: 86.151953 deg,
lat: 36.906562 deg,
lon: -122.115586 deg,
deltaT: 3.778139 s,
deltaX: -2.478920 m,
approachRate: -0.656122 m/s,
posRepo size: 4
2025-06-11T21:05:28.931Z,1749675928.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m.
2025-06-11T21:05:28.939Z,1749675928.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.260445 m,
nav range: 95.217430 m,
bearing: 86.151631 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.073254 deg/s,
cmd heading: 78.594085 deg,
new cmd heading: 78.697919 deg.
2025-06-11T21:05:28.942Z,1749675928.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373538 target range: 98.260445 and range: 99.10 m.
2025-06-11T21:05:29.225Z,1749675929.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:29.227Z,1749675929.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m.
2025-06-11T21:05:29.230Z,1749675929.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.260445 m,
nav range: 94.965126 m,
bearing: 86.180142 deg,
approach rate: -0.825071 m/s,
LOS rate: 0.093483 deg/s,
cmd heading: 78.697918 deg,
new cmd heading: 78.783678 deg.
2025-06-11T21:05:29.231Z,1749675929.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375035 target range: 98.260445 and range: 99.10 m.
2025-06-11T21:05:29.411Z,1749675929.411 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:29.411Z,1749675929.411 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:29.412Z,1749675929.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:29.631Z,1749675929.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m.
2025-06-11T21:05:29.634Z,1749675929.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.260445 m,
nav range: 94.661766 m,
bearing: 86.212584 deg,
approach rate: -0.751848 m/s,
LOS rate: 0.080661 deg/s,
cmd heading: 78.783678 deg,
new cmd heading: 78.881314 deg.
2025-06-11T21:05:29.635Z,1749675929.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376739 target range: 98.260445 and range: 99.10 m.
2025-06-11T21:05:29.661Z,1749675929.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995740
2025-06-11T21:05:29.914Z,1749675929.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248597
2025-06-11T21:05:30.016Z,1749675930.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m.
2025-06-11T21:05:30.019Z,1749675930.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.260445 m,
nav range: 94.373619 m,
bearing: 86.245890 deg,
approach rate: -0.748478 m/s,
LOS rate: 0.086778 deg/s,
cmd heading: 78.881315 deg,
new cmd heading: 78.981538 deg.
2025-06-11T21:05:30.020Z,1749675930.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.378488 target range: 98.260445 and range: 99.10 m.
2025-06-11T21:05:30.165Z,1749675930.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499894
2025-06-11T21:05:30.421Z,1749675930.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755171
2025-06-11T21:05:30.526Z,1749675930.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m.
2025-06-11T21:05:30.533Z,1749675930.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.260445 m,
nav range: 94.015610 m,
bearing: 86.284818 deg,
approach rate: -0.701964 m/s,
LOS rate: 0.076620 deg/s,
cmd heading: 78.981541 deg,
new cmd heading: 79.098772 deg.
2025-06-11T21:05:30.534Z,1749675930.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380534 target range: 98.260445 and range: 99.10 m.
2025-06-11T21:05:30.669Z,1749675930.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003829
2025-06-11T21:05:30.849Z,1749675930.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m.
2025-06-11T21:05:30.852Z,1749675930.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.260445 m,
nav range: 93.758003 m,
bearing: 86.314857 deg,
approach rate: -0.795983 m/s,
LOS rate: 0.093073 deg/s,
cmd heading: 79.098775 deg,
new cmd heading: 79.189139 deg.
2025-06-11T21:05:30.853Z,1749675930.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382111 target range: 98.260445 and range: 99.10 m.
2025-06-11T21:05:30.923Z,1749675930.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257691
2025-06-11T21:05:31.173Z,1749675931.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507871
2025-06-11T21:05:31.247Z,1749675931.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:31.249Z,1749675931.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m.
2025-06-11T21:05:31.251Z,1749675931.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.260445 m,
nav range: 93.464424 m,
bearing: 86.350915 deg,
approach rate: -0.735026 m/s,
LOS rate: 0.090559 deg/s,
cmd heading: 79.189138 deg,
new cmd heading: 79.297650 deg.
2025-06-11T21:05:31.252Z,1749675931.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384005 target range: 98.260445 and range: 99.10 m.
2025-06-11T21:05:31.428Z,1749675931.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762081
2025-06-11T21:05:31.681Z,1749675931.681 [DAT](INFO): DAT read: Rx Time:21:05:32.9943
2025-06-11T21:05:31.682Z,1749675931.682 [DAT](INFO): Rx dataTimestamp_ set to:1749675931.681317
2025-06-11T21:05:31.682Z,1749675931.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017251
2025-06-11T21:05:31.694Z,1749675931.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m.
2025-06-11T21:05:31.701Z,1749675931.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.260445 m,
nav range: 93.153343 m,
bearing: 86.378817 deg,
approach rate: -0.698567 m/s,
LOS rate: 0.062868 deg/s,
cmd heading: 79.297649 deg,
new cmd heading: 79.381637 deg.
2025-06-11T21:05:31.702Z,1749675931.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385471 target range: 98.260445 and range: 99.10 m.
2025-06-11T21:05:31.930Z,1749675931.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264579
2025-06-11T21:05:32.064Z,1749675932.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m.
2025-06-11T21:05:32.066Z,1749675932.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.260445 m,
nav range: 92.863075 m,
bearing: 86.405613 deg,
approach rate: -0.785383 m/s,
LOS rate: 0.072727 deg/s,
cmd heading: 79.381633 deg,
new cmd heading: 79.462271 deg.
2025-06-11T21:05:32.067Z,1749675932.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386878 target range: 98.260445 and range: 99.10 m.
2025-06-11T21:05:32.188Z,1749675932.188 [DAT](INFO): DAT read: 21:05:32.9944 LVL= 24416, 30353, 25138, 32755, AGC= 66, IDX= 401, 0.07,-1.730, 2.889,-2.203,-2.444, PHS= 0.802,-0.903, 0.238, RAW= 131.1, -1.9, CAL= 136.7, -11.3, ROT= 13.3, 11.3
2025-06-11T21:05:32.189Z,1749675932.189 [DAT](INFO): got valid direction response:
21:05:32.9944 LVL= 24416, 30353, 25138, 32755, AGC= 66, IDX= 401, 0.07,-1.730, 2.889,-2.203,-2.444, PHS= 0.802,-0.903, 0.238, RAW= 131.1, -1.9, CAL= 136.7, -11.3, ROT= 13.3, 11.3
2025-06-11T21:05:32.190Z,1749675932.190 [DAT](INFO): DAT read: Bearing 13.3, 11.3 (Local)
2025-06-11T21:05:32.190Z,1749675932.190 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.3, 11.3 (Local)
2025-06-11T21:05:32.196Z,1749675932.196 [DAT](INFO): DAT read: Range 10 to 50 : 96.4 m (Round-trip 128.6 ms) speed 0.6 m/s
2025-06-11T21:05:32.197Z,1749675932.197 [DAT](INFO): DAT read: user:734>
2025-06-11T21:05:32.197Z,1749675932.197 [DAT](INFO): DAT read: Tx time:21:05:34.1117
2025-06-11T21:05:32.198Z,1749675932.198 [DAT](INFO): Ping request sent.
2025-06-11T21:05:32.198Z,1749675932.198 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:32.198Z,1749675932.198 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:32.199Z,1749675932.199 [DAT](INFO): direction in FSK: [0.954313,0.225590,-0.195946]
2025-06-11T21:05:32.199Z,1749675932.199 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:32.212Z,1749675932.212 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:32.221Z,1749675932.221 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:32.221Z,1749675932.221 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:32.435Z,1749675932.435 [DAT](INFO): DAT read: TxSync time:21:05:34.1109
2025-06-11T21:05:32.548Z,1749675932.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 96.400002 m,
deltaT: 3.528929 s,
deltaX: -2.699997 m,
approachRate: -0.765104 m/s,
rangeRepo size: 4
2025-06-11T21:05:32.550Z,1749675932.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 95.582909 m,
bearing: 86.862860 deg,
lat: 36.906562 deg,
lon: -122.115586 deg,
deltaT: 3.528929 s,
deltaX: -2.677536 m,
approachRate: -0.758739 m/s,
posRepo size: 4
2025-06-11T21:05:32.551Z,1749675932.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-06-11T21:05:32.555Z,1749675932.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.582909 m,
nav range: 92.513222 m,
bearing: 86.427216 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.072727 deg/s,
cmd heading: 79.462271 deg,
new cmd heading: 79.567801 deg.
2025-06-11T21:05:32.555Z,1749675932.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388720 target range: 95.582909 and range: 96.40 m.
2025-06-11T21:05:32.889Z,1749675932.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-06-11T21:05:32.893Z,1749675932.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.582909 m,
nav range: 92.261902 m,
bearing: 86.442837 deg,
approach rate: -0.734888 m/s,
LOS rate: 0.045802 deg/s,
cmd heading: 79.567804 deg,
new cmd heading: 79.614794 deg.
2025-06-11T21:05:32.893Z,1749675932.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389540 target range: 95.582909 and range: 96.40 m.
2025-06-11T21:05:33.282Z,1749675933.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:33.309Z,1749675933.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-06-11T21:05:33.316Z,1749675933.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.582909 m,
nav range: 91.977463 m,
bearing: 86.459467 deg,
approach rate: -0.677384 m/s,
LOS rate: 0.039725 deg/s,
cmd heading: 79.614795 deg,
new cmd heading: 79.664838 deg.
2025-06-11T21:05:33.317Z,1749675933.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390414 target range: 95.582909 and range: 96.40 m.
2025-06-11T21:05:33.441Z,1749675933.441 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:33.441Z,1749675933.441 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:33.441Z,1749675933.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:33.708Z,1749675933.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509768
2025-06-11T21:05:33.745Z,1749675933.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-06-11T21:05:33.747Z,1749675933.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.582909 m,
nav range: 91.649002 m,
bearing: 86.469466 deg,
approach rate: -0.754222 m/s,
LOS rate: 0.023043 deg/s,
cmd heading: 79.664840 deg,
new cmd heading: 79.694946 deg.
2025-06-11T21:05:33.753Z,1749675933.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390939 target range: 95.582909 and range: 96.40 m.
2025-06-11T21:05:33.961Z,1749675933.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762971
2025-06-11T21:05:34.087Z,1749675934.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-06-11T21:05:34.090Z,1749675934.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.582909 m,
nav range: 91.392982 m,
bearing: 86.476111 deg,
approach rate: -0.747740 m/s,
LOS rate: 0.019462 deg/s,
cmd heading: 79.694948 deg,
new cmd heading: 79.714939 deg.
2025-06-11T21:05:34.091Z,1749675934.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391288 target range: 95.582909 and range: 96.40 m.
2025-06-11T21:05:34.215Z,1749675934.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017184
2025-06-11T21:05:34.471Z,1749675934.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273357
2025-06-11T21:05:34.570Z,1749675934.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-06-11T21:05:34.574Z,1749675934.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.582909 m,
nav range: 91.051895 m,
bearing: 86.471084 deg,
approach rate: -0.706001 m/s,
LOS rate: -0.010445 deg/s,
cmd heading: 79.714940 deg,
new cmd heading: 79.699800 deg.
2025-06-11T21:05:34.575Z,1749675934.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391024 target range: 95.582909 and range: 96.40 m.
2025-06-11T21:05:34.721Z,1749675934.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522973
2025-06-11T21:05:34.894Z,1749675934.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-06-11T21:05:34.897Z,1749675934.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.582909 m,
nav range: 90.823570 m,
bearing: 86.466329 deg,
approach rate: -0.705523 m/s,
LOS rate: -0.014730 deg/s,
cmd heading: 79.699797 deg,
new cmd heading: 79.685497 deg.
2025-06-11T21:05:34.898Z,1749675934.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390774 target range: 95.582909 and range: 96.40 m.
2025-06-11T21:05:34.974Z,1749675934.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775854
2025-06-11T21:05:35.225Z,1749675935.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027075
2025-06-11T21:05:35.292Z,1749675935.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:35.294Z,1749675935.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-06-11T21:05:35.297Z,1749675935.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.582909 m,
nav range: 90.541916 m,
bearing: 86.458735 deg,
approach rate: -0.703555 m/s,
LOS rate: -0.019027 deg/s,
cmd heading: 79.685495 deg,
new cmd heading: 79.662644 deg.
2025-06-11T21:05:35.298Z,1749675935.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390375 target range: 95.582909 and range: 96.40 m.
2025-06-11T21:05:35.481Z,1749675935.481 [DAT](INFO): DAT read: Rx Time:21:05:36.6408
2025-06-11T21:05:35.482Z,1749675935.482 [DAT](INFO): Rx dataTimestamp_ set to:1749675935.481130
2025-06-11T21:05:35.485Z,1749675935.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285884
2025-06-11T21:05:35.729Z,1749675935.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531119
2025-06-11T21:05:35.750Z,1749675935.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-06-11T21:05:35.753Z,1749675935.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.582909 m,
nav range: 90.222168 m,
bearing: 86.452037 deg,
approach rate: -0.701637 m/s,
LOS rate: -0.014750 deg/s,
cmd heading: 79.662641 deg,
new cmd heading: 79.642475 deg.
2025-06-11T21:05:35.754Z,1749675935.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390023 target range: 95.582909 and range: 96.40 m.
2025-06-11T21:05:35.987Z,1749675935.987 [DAT](INFO): DAT read: 21:05:36.6408 LVL= 25312, 31089, 27186, 32755, AGC= 66, IDX= 412,-0.19, 0.708,-0.841, 0.399, 0.025, PHS= 0.772,-0.818, 0.372, RAW= 136.0, -4.6, CAL= 141.6, -14.7, ROT= 8.4, 14.7
2025-06-11T21:05:35.988Z,1749675935.988 [DAT](INFO): got valid direction response:
21:05:36.6408 LVL= 25312, 31089, 27186, 32755, AGC= 66, IDX= 412,-0.19, 0.708,-0.841, 0.399, 0.025, PHS= 0.772,-0.818, 0.372, RAW= 136.0, -4.6, CAL= 141.6, -14.7, ROT= 8.4, 14.7
2025-06-11T21:05:35.990Z,1749675935.990 [DAT](INFO): DAT read: Bearing 8.4, 14.7 (Local)
2025-06-11T21:05:35.990Z,1749675935.990 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.4, 14.7 (Local)
2025-06-11T21:05:35.993Z,1749675935.993 [DAT](INFO): DAT read: Range 10 to 50 : 93.7 m (Round-trip 125.0 ms) speed 0.8 m/s
2025-06-11T21:05:35.994Z,1749675935.994 [DAT](INFO): DAT read: user:735>
2025-06-11T21:05:35.997Z,1749675935.997 [DAT](INFO): DAT read: Tx time:21:05:37.7617
2025-06-11T21:05:35.998Z,1749675935.998 [DAT](INFO): Ping request sent.
2025-06-11T21:05:35.998Z,1749675935.998 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:35.998Z,1749675935.998 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:36.001Z,1749675936.001 [DAT](INFO): direction in FSK: [0.956891,0.141301,-0.253758]
2025-06-11T21:05:36.002Z,1749675936.002 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:36.002Z,1749675936.002 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:36.008Z,1749675936.008 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:36.009Z,1749675936.009 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:36.233Z,1749675936.233 [DAT](INFO): DAT read: TxSync time:21:05:37.7609
2025-06-11T21:05:36.283Z,1749675936.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 93.699997 m,
deltaT: 3.799187 s,
deltaX: -2.700005 m,
approachRate: -0.710680 m/s,
rangeRepo size: 4
2025-06-11T21:05:36.289Z,1749675936.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.903099 m,
bearing: 87.468477 deg,
lat: 36.906562 deg,
lon: -122.115586 deg,
deltaT: 3.799187 s,
deltaX: -2.679810 m,
approachRate: -0.705364 m/s,
posRepo size: 4
2025-06-11T21:05:36.290Z,1749675936.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.90 m.
2025-06-11T21:05:36.297Z,1749675936.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.903099 m,
nav range: 89.860725 m,
bearing: 86.440525 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.014750 deg/s,
cmd heading: 79.642478 deg,
new cmd heading: 79.618925 deg.
2025-06-11T21:05:36.298Z,1749675936.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389612 target range: 92.903099 and range: 93.70 m.
2025-06-11T21:05:36.708Z,1749675936.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.90 m.
2025-06-11T21:05:36.711Z,1749675936.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.903099 m,
nav range: 89.566002 m,
bearing: 86.428056 deg,
approach rate: -0.691768 m/s,
LOS rate: -0.029363 deg/s,
cmd heading: 79.618928 deg,
new cmd heading: 79.581398 deg.
2025-06-11T21:05:36.716Z,1749675936.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388957 target range: 92.903099 and range: 93.70 m.
2025-06-11T21:05:37.056Z,1749675937.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.90 m.
2025-06-11T21:05:37.059Z,1749675937.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.903099 m,
nav range: 89.309296 m,
bearing: 86.416023 deg,
approach rate: -0.738294 m/s,
LOS rate: -0.034708 deg/s,
cmd heading: 79.581396 deg,
new cmd heading: 79.545192 deg.
2025-06-11T21:05:37.060Z,1749675937.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388325 target range: 92.903099 and range: 93.70 m.
2025-06-11T21:05:37.455Z,1749675937.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:37.458Z,1749675937.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.90 m.
2025-06-11T21:05:37.481Z,1749675937.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.903099 m,
nav range: 89.029785 m,
bearing: 86.401625 deg,
approach rate: -0.694838 m/s,
LOS rate: -0.035905 deg/s,
cmd heading: 79.545189 deg,
new cmd heading: 79.501859 deg.
2025-06-11T21:05:37.482Z,1749675937.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387569 target range: 92.903099 and range: 93.70 m.
2025-06-11T21:05:37.494Z,1749675937.494 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:37.494Z,1749675937.494 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:37.495Z,1749675937.495 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:37.745Z,1749675937.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747049
2025-06-11T21:05:37.889Z,1749675937.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.90 m.
2025-06-11T21:05:37.891Z,1749675937.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.903099 m,
nav range: 88.725677 m,
bearing: 86.392473 deg,
approach rate: -0.706334 m/s,
LOS rate: -0.021329 deg/s,
cmd heading: 79.501858 deg,
new cmd heading: 79.474308 deg.
2025-06-11T21:05:37.892Z,1749675937.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387088 target range: 92.903099 and range: 93.70 m.
2025-06-11T21:05:37.940Z,1749675937.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:05:37.998Z,1749675937.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999839
2025-06-11T21:05:38.249Z,1749675938.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251026
2025-06-11T21:05:38.283Z,1749675938.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.90 m.
2025-06-11T21:05:38.286Z,1749675938.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.903099 m,
nav range: 88.448196 m,
bearing: 86.383688 deg,
approach rate: -0.704327 m/s,
LOS rate: -0.022368 deg/s,
cmd heading: 79.474305 deg,
new cmd heading: 79.447869 deg.
2025-06-11T21:05:38.287Z,1749675938.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386627 target range: 92.903099 and range: 93.70 m.
2025-06-11T21:05:38.501Z,1749675938.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503080
2025-06-11T21:05:38.697Z,1749675938.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.90 m.
2025-06-11T21:05:38.700Z,1749675938.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.903099 m,
nav range: 88.145004 m,
bearing: 86.381057 deg,
approach rate: -0.731811 m/s,
LOS rate: -0.006372 deg/s,
cmd heading: 79.447866 deg,
new cmd heading: 79.439946 deg.
2025-06-11T21:05:38.701Z,1749675938.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386489 target range: 92.903099 and range: 93.70 m.
2025-06-11T21:05:38.754Z,1749675938.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755965
2025-06-11T21:05:38.944Z,1749675938.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:05:39.005Z,1749675939.005 [DAT](INFO): DAT read: Rx Time:21:05:40.2870
2025-06-11T21:05:39.005Z,1749675939.005 [DAT](INFO): Rx dataTimestamp_ set to:1749675939.005095
2025-06-11T21:05:39.006Z,1749675939.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008222
2025-06-11T21:05:39.091Z,1749675939.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.90 m.
2025-06-11T21:05:39.094Z,1749675939.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.903099 m,
nav range: 87.856293 m,
bearing: 86.378535 deg,
approach rate: -0.732022 m/s,
LOS rate: -0.006416 deg/s,
cmd heading: 79.439943 deg,
new cmd heading: 79.432351 deg.
2025-06-11T21:05:39.095Z,1749675939.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386356 target range: 92.903099 and range: 93.70 m.
2025-06-11T21:05:39.258Z,1749675939.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260275
2025-06-11T21:05:39.515Z,1749675939.515 [DAT](INFO): DAT read: 21:05:40.2870 LVL= 29904, 32753, 32354, 32755, AGC= 68, IDX= 405, 0.14,-1.375,-2.943,-1.612,-2.154, PHS= 0.868,-0.742, 0.539, RAW= 138.8, -9.1, CAL= 145.3, -19.4, ROT= 4.7, 19.4
2025-06-11T21:05:39.516Z,1749675939.516 [DAT](INFO): got valid direction response:
21:05:40.2870 LVL= 29904, 32753, 32354, 32755, AGC= 68, IDX= 405, 0.14,-1.375,-2.943,-1.612,-2.154, PHS= 0.868,-0.742, 0.539, RAW= 138.8, -9.1, CAL= 145.3, -19.4, ROT= 4.7, 19.4
2025-06-11T21:05:39.517Z,1749675939.517 [DAT](INFO): DAT read: Bearing 4.7, 19.4 (Local)
2025-06-11T21:05:39.517Z,1749675939.517 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.7, 19.4 (Local)
2025-06-11T21:05:39.521Z,1749675939.521 [DAT](INFO): DAT read: Range 10 to 50 : 90.8 m (Round-trip 121.1 ms) speed 0.5 m/s
2025-06-11T21:05:39.524Z,1749675939.524 [DAT](INFO): DAT read: user:736>
2025-06-11T21:05:39.525Z,1749675939.525 [DAT](INFO): DAT read: Tx time:21:05:41.4117
2025-06-11T21:05:39.525Z,1749675939.525 [DAT](INFO): Ping request sent.
2025-06-11T21:05:39.525Z,1749675939.525 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:39.525Z,1749675939.525 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:39.526Z,1749675939.526 [DAT](INFO): direction in FSK: [0.940051,0.077286,-0.332161]
2025-06-11T21:05:39.527Z,1749675939.527 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:39.527Z,1749675939.527 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:39.617Z,1749675939.617 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:39.617Z,1749675939.617 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:39.666Z,1749675939.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 90.800003 m,
deltaT: 3.528165 s,
deltaX: -2.899994 m,
approachRate: -0.821955 m/s,
rangeRepo size: 4
2025-06-11T21:05:39.682Z,1749675939.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 90.026352 m,
bearing: 85.791181 deg,
lat: 36.906562 deg,
lon: -122.115572 deg,
deltaT: 3.528165 s,
deltaX: -2.876747 m,
approachRate: -0.815366 m/s,
posRepo size: 4
2025-06-11T21:05:39.683Z,1749675939.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.03 m.
2025-06-11T21:05:39.686Z,1749675939.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.026352 m,
nav range: 88.690994 m,
bearing: 86.425372 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006416 deg/s,
cmd heading: 79.432354 deg,
new cmd heading: 79.421312 deg.
2025-06-11T21:05:39.687Z,1749675939.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386163 target range: 90.026352 and range: 90.80 m.
2025-06-11T21:05:39.761Z,1749675939.761 [DAT](INFO): DAT read: TxSync time:21:05:41.4109
2025-06-11T21:05:40.124Z,1749675940.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:40.127Z,1749675940.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.03 m.
2025-06-11T21:05:40.130Z,1749675940.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.026352 m,
nav range: 88.320107 m,
bearing: 86.430529 deg,
approach rate: -0.803873 m/s,
LOS rate: 0.011224 deg/s,
cmd heading: 79.421310 deg,
new cmd heading: 79.436846 deg.
2025-06-11T21:05:40.130Z,1749675940.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386435 target range: 90.026352 and range: 90.80 m.
2025-06-11T21:05:40.265Z,1749675940.265 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:40.265Z,1749675940.265 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:40.265Z,1749675940.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:40.517Z,1749675940.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991727
2025-06-11T21:05:40.540Z,1749675940.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.03 m.
2025-06-11T21:05:40.557Z,1749675940.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.026352 m,
nav range: 88.026268 m,
bearing: 86.434272 deg,
approach rate: -0.712892 m/s,
LOS rate: 0.009110 deg/s,
cmd heading: 79.436849 deg,
new cmd heading: 79.448113 deg.
2025-06-11T21:05:40.565Z,1749675940.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386631 target range: 90.026352 and range: 90.80 m.
2025-06-11T21:05:40.769Z,1749675940.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243573
2025-06-11T21:05:40.960Z,1749675940.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.03 m.
2025-06-11T21:05:40.963Z,1749675940.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.026352 m,
nav range: 87.685898 m,
bearing: 86.447441 deg,
approach rate: -0.807916 m/s,
LOS rate: 0.031381 deg/s,
cmd heading: 79.448112 deg,
new cmd heading: 79.487773 deg.
2025-06-11T21:05:40.980Z,1749675940.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387323 target range: 90.026352 and range: 90.80 m.
2025-06-11T21:05:41.021Z,1749675941.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495732
2025-06-11T21:05:41.273Z,1749675941.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747635
2025-06-11T21:05:41.345Z,1749675941.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.03 m.
2025-06-11T21:05:41.348Z,1749675941.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.026352 m,
nav range: 87.388222 m,
bearing: 86.459283 deg,
approach rate: -0.772807 m/s,
LOS rate: 0.030847 deg/s,
cmd heading: 79.487774 deg,
new cmd heading: 79.523420 deg.
2025-06-11T21:05:41.349Z,1749675941.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387946 target range: 90.026352 and range: 90.80 m.
2025-06-11T21:05:41.525Z,1749675941.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999621
2025-06-11T21:05:41.755Z,1749675941.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.03 m.
2025-06-11T21:05:41.757Z,1749675941.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.026352 m,
nav range: 87.060463 m,
bearing: 86.481914 deg,
approach rate: -0.800802 m/s,
LOS rate: 0.055504 deg/s,
cmd heading: 79.523421 deg,
new cmd heading: 79.591572 deg.
2025-06-11T21:05:41.758Z,1749675941.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389135 target range: 90.026352 and range: 90.80 m.
2025-06-11T21:05:41.777Z,1749675941.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251555
2025-06-11T21:05:42.029Z,1749675942.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503634
2025-06-11T21:05:42.150Z,1749675942.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:42.153Z,1749675942.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.03 m.
2025-06-11T21:05:42.155Z,1749675942.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.026352 m,
nav range: 86.741875 m,
bearing: 86.504078 deg,
approach rate: -0.800183 m/s,
LOS rate: 0.055871 deg/s,
cmd heading: 79.591573 deg,
new cmd heading: 79.658306 deg.
2025-06-11T21:05:42.156Z,1749675942.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390300 target range: 90.026352 and range: 90.80 m.
2025-06-11T21:05:42.281Z,1749675942.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755577
2025-06-11T21:05:42.533Z,1749675942.533 [DAT](INFO): DAT read: Rx Time:21:05:43.9332
2025-06-11T21:05:42.533Z,1749675942.533 [DAT](INFO): Rx dataTimestamp_ set to:1749675942.533151
2025-06-11T21:05:42.534Z,1749675942.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008815
2025-06-11T21:05:42.543Z,1749675942.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.03 m.
2025-06-11T21:05:42.546Z,1749675942.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.026352 m,
nav range: 86.431236 m,
bearing: 86.526132 deg,
approach rate: -0.795607 m/s,
LOS rate: 0.056688 deg/s,
cmd heading: 79.658304 deg,
new cmd heading: 79.724704 deg.
2025-06-11T21:05:42.547Z,1749675942.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391459 target range: 90.026352 and range: 90.80 m.
2025-06-11T21:05:42.786Z,1749675942.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260897
2025-06-11T21:05:42.988Z,1749675942.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.03 m.
2025-06-11T21:05:42.991Z,1749675942.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.026352 m,
nav range: 86.066528 m,
bearing: 86.560349 deg,
approach rate: -0.819797 m/s,
LOS rate: 0.077240 deg/s,
cmd heading: 79.724707 deg,
new cmd heading: 79.827793 deg.
2025-06-11T21:05:42.994Z,1749675942.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393258 target range: 90.026352 and range: 90.80 m.
2025-06-11T21:05:43.037Z,1749675943.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511708
2025-06-11T21:05:43.294Z,1749675943.294 [DAT](INFO): DAT read: 21:05:43.9332 LVL= 32752, 31665, 31602, 32755, AGC= 66, IDX= 398,-0.03,-0.467,-2.009,-0.661,-1.157, PHS= 0.777,-0.806, 0.492, RAW= 140.3, -6.4, CAL= 146.2, -16.0, ROT= 3.8, 16.0
2025-06-11T21:05:43.295Z,1749675943.295 [DAT](INFO): got valid direction response:
21:05:43.9332 LVL= 32752, 31665, 31602, 32755, AGC= 66, IDX= 398,-0.03,-0.467,-2.009,-0.661,-1.157, PHS= 0.777,-0.806, 0.492, RAW= 140.3, -6.4, CAL= 146.2, -16.0, ROT= 3.8, 16.0
2025-06-11T21:05:43.296Z,1749675943.296 [DAT](INFO): DAT read: Bearing 3.8, 16.0 (Local)
2025-06-11T21:05:43.297Z,1749675943.297 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.8, 16.0 (Local)
2025-06-11T21:05:43.297Z,1749675943.297 [DAT](INFO): DAT read: Range 10 to 50 : 87.9
2025-06-11T21:05:43.298Z,1749675943.298 [DAT](INFO): DAT read: user:737>
2025-06-11T21:05:43.299Z,1749675943.299 [DAT](INFO): DAT read: Tx time:21:05:45.0617
2025-06-11T21:05:43.299Z,1749675943.299 [DAT](INFO): Ping request sent.
2025-06-11T21:05:43.299Z,1749675943.299 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:43.299Z,1749675943.299 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:43.301Z,1749675943.301 [DAT](INFO): direction in FSK: [0.959148,0.063707,-0.275637]
2025-06-11T21:05:43.301Z,1749675943.301 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:43.301Z,1749675943.301 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:43.304Z,1749675943.304 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:43.305Z,1749675943.305 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:43.541Z,1749675943.541 [DAT](INFO): DAT read: TxSync time:21:05:45.0609
2025-06-11T21:05:43.560Z,1749675943.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 87.900002 m,
deltaT: 3.779820 s,
deltaX: -2.900002 m,
approachRate: -0.767233 m/s,
rangeRepo size: 4
2025-06-11T21:05:43.562Z,1749675943.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 87.150734 m,
bearing: 83.846867 deg,
lat: 36.906562 deg,
lon: -122.115564 deg,
deltaT: 3.779820 s,
deltaX: -2.875618 m,
approachRate: -0.760782 m/s,
posRepo size: 4
2025-06-11T21:05:43.563Z,1749675943.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-06-11T21:05:43.570Z,1749675943.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.150734 m,
nav range: 86.333183 m,
bearing: 86.630993 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.077240 deg/s,
cmd heading: 79.827795 deg,
new cmd heading: 79.959278 deg.
2025-06-11T21:05:43.571Z,1749675943.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395553 target range: 87.150734 and range: 87.90 m.
2025-06-11T21:05:44.018Z,1749675944.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-06-11T21:05:44.037Z,1749675944.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.150734 m,
nav range: 85.934753 m,
bearing: 86.670567 deg,
approach rate: -0.861129 m/s,
LOS rate: 0.085927 deg/s,
cmd heading: 79.959276 deg,
new cmd heading: 80.078547 deg.
2025-06-11T21:05:44.038Z,1749675944.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397634 target range: 87.150734 and range: 87.90 m.
2025-06-11T21:05:44.451Z,1749675944.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:44.454Z,1749675944.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-06-11T21:05:44.456Z,1749675944.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.150734 m,
nav range: 85.571510 m,
bearing: 86.706561 deg,
approach rate: -0.833972 m/s,
LOS rate: 0.082992 deg/s,
cmd heading: 80.078545 deg,
new cmd heading: 80.186988 deg.
2025-06-11T21:05:44.457Z,1749675944.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399527 target range: 87.150734 and range: 87.90 m.
2025-06-11T21:05:44.550Z,1749675944.550 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:44.550Z,1749675944.550 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:44.550Z,1749675944.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:44.801Z,1749675944.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501675
2025-06-11T21:05:44.896Z,1749675944.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-06-11T21:05:44.899Z,1749675944.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.150734 m,
nav range: 85.201492 m,
bearing: 86.745199 deg,
approach rate: -0.836639 m/s,
LOS rate: 0.087742 deg/s,
cmd heading: 80.186988 deg,
new cmd heading: 80.303404 deg.
2025-06-11T21:05:44.912Z,1749675944.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401559 target range: 87.150734 and range: 87.90 m.
2025-06-11T21:05:45.053Z,1749675945.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753703
2025-06-11T21:05:45.239Z,1749675945.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-06-11T21:05:45.242Z,1749675945.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.150734 m,
nav range: 84.914177 m,
bearing: 86.775535 deg,
approach rate: -0.836540 m/s,
LOS rate: 0.088624 deg/s,
cmd heading: 80.303402 deg,
new cmd heading: 80.394717 deg.
2025-06-11T21:05:45.243Z,1749675945.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403152 target range: 87.150734 and range: 87.90 m.
2025-06-11T21:05:45.305Z,1749675945.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005852
2025-06-11T21:05:45.557Z,1749675945.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257677
2025-06-11T21:05:45.715Z,1749675945.715 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061113070780,35.0, 0.0,1490.9, 0
2025-06-11T21:05:45.730Z,1749675945.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-06-11T21:05:45.733Z,1749675945.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.150734 m,
nav range: 84.503777 m,
bearing: 86.819088 deg,
approach rate: -0.836355 m/s,
LOS rate: 0.089189 deg/s,
cmd heading: 80.394714 deg,
new cmd heading: 80.526009 deg.
2025-06-11T21:05:45.734Z,1749675945.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405444 target range: 87.150734 and range: 87.90 m.
2025-06-11T21:05:45.810Z,1749675945.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510435
2025-06-11T21:05:46.061Z,1749675946.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761574
2025-06-11T21:05:46.044Z,1749675946.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-06-11T21:05:46.068Z,1749675946.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.150734 m,
nav range: 84.240974 m,
bearing: 86.847035 deg,
approach rate: -0.838335 m/s,
LOS rate: 0.089426 deg/s,
cmd heading: 80.526011 deg,
new cmd heading: 80.610111 deg.
2025-06-11T21:05:46.069Z,1749675946.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406912 target range: 87.150734 and range: 87.90 m.
2025-06-11T21:05:46.314Z,1749675946.314 [DAT](INFO): DAT read: Rx Time:21:05:47.5792
2025-06-11T21:05:46.314Z,1749675946.314 [DAT](INFO): Rx dataTimestamp_ set to:1749675946.313812
2025-06-11T21:05:46.315Z,1749675946.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015584
2025-06-11T21:05:46.455Z,1749675946.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:46.457Z,1749675946.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.15 m.
2025-06-11T21:05:46.460Z,1749675946.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.150734 m,
nav range: 83.894501 m,
bearing: 86.883835 deg,
approach rate: -0.837314 m/s,
LOS rate: 0.089302 deg/s,
cmd heading: 80.610111 deg,
new cmd heading: 80.720969 deg.
2025-06-11T21:05:46.461Z,1749675946.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408847 target range: 87.150734 and range: 87.90 m.
2025-06-11T21:05:46.565Z,1749675946.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266003
2025-06-11T21:05:46.830Z,1749675946.830 [DAT](INFO): DAT read: 21:05:47.5792 LVL= 24048, 30049, 23490, 32755, AGC= 66, IDX= 405,-0.02,-0.113,-1.710,-0.360,-0.854, PHS= 0.829,-0.809, 0.490, RAW= 138.7, -6.9, CAL= 144.7, -16.9, ROT= 5.3, 16.9
2025-06-11T21:05:46.831Z,1749675946.831 [DAT](INFO): got valid direction response:
21:05:47.5792 LVL= 24048, 30049, 23490, 32755, AGC= 66, IDX= 405,-0.02,-0.113,-1.710,-0.360,-0.854, PHS= 0.829,-0.809, 0.490, RAW= 138.7, -6.9, CAL= 144.7, -16.9, ROT= 5.3, 16.9
2025-06-11T21:05:46.833Z,1749675946.833 [DAT](INFO): DAT read: Bearing 5.3, 16.9 (Local)
2025-06-11T21:05:46.833Z,1749675946.833 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.3, 16.9 (Local)
2025-06-11T21:05:46.835Z,1749675946.835 [DAT](INFO): DAT read: Range 10 to 50 : 84.9 m (Round-trip 113.3 ms) speed 0.7 m/s
2025-06-11T21:05:46.835Z,1749675946.835 [DAT](INFO): DAT read: user:738>
2025-06-11T21:05:46.836Z,1749675946.836 [DAT](INFO): DAT read: Tx time:21:05:48.6618
2025-06-11T21:05:46.837Z,1749675946.837 [DAT](INFO): Ping request sent.
2025-06-11T21:05:46.837Z,1749675946.837 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:46.837Z,1749675946.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:46.838Z,1749675946.838 [DAT](INFO): direction in FSK: [0.952723,0.088381,-0.290702]
2025-06-11T21:05:46.838Z,1749675946.838 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:46.838Z,1749675946.838 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:46.878Z,1749675946.878 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:46.878Z,1749675946.878 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:47.030Z,1749675947.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 84.900002 m,
deltaT: 3.528548 s,
deltaX: -3.000000 m,
approachRate: -0.850208 m/s,
rangeRepo size: 4
2025-06-11T21:05:47.037Z,1749675947.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 84.176811 m,
bearing: 86.033687 deg,
lat: 36.906571 deg,
lon: -122.115564 deg,
deltaT: 3.528548 s,
deltaX: -2.973923 m,
approachRate: -0.842818 m/s,
posRepo size: 4
2025-06-11T21:05:47.037Z,1749675947.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.18 m.
2025-06-11T21:05:47.044Z,1749675947.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.176811 m,
nav range: 83.493340 m,
bearing: 86.242388 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.089302 deg/s,
cmd heading: 80.720972 deg,
new cmd heading: 80.874242 deg.
2025-06-11T21:05:47.045Z,1749675947.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411522 target range: 84.176811 and range: 84.90 m.
2025-06-11T21:05:47.074Z,1749675947.074 [DAT](INFO): DAT read: TxSync time:21:05:48.6610
2025-06-11T21:05:47.318Z,1749675947.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.18 m.
2025-06-11T21:05:47.322Z,1749675947.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.176811 m,
nav range: 83.240860 m,
bearing: 86.258521 deg,
approach rate: -0.873898 m/s,
LOS rate: 0.056007 deg/s,
cmd heading: 80.874241 deg,
new cmd heading: 80.922785 deg.
2025-06-11T21:05:47.323Z,1749675947.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412369 target range: 84.176811 and range: 84.90 m.
2025-06-11T21:05:47.764Z,1749675947.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.18 m.
2025-06-11T21:05:47.767Z,1749675947.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.176811 m,
nav range: 82.883446 m,
bearing: 86.274400 deg,
approach rate: -0.802039 m/s,
LOS rate: 0.035787 deg/s,
cmd heading: 80.922784 deg,
new cmd heading: 80.970628 deg.
2025-06-11T21:05:47.768Z,1749675947.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413204 target range: 84.176811 and range: 84.90 m.
2025-06-11T21:05:48.115Z,1749675948.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.18 m.
2025-06-11T21:05:48.118Z,1749675948.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.176811 m,
nav range: 82.600708 m,
bearing: 86.286842 deg,
approach rate: -0.804615 m/s,
LOS rate: 0.035529 deg/s,
cmd heading: 80.970629 deg,
new cmd heading: 81.008083 deg.
2025-06-11T21:05:48.119Z,1749675948.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413858 target range: 84.176811 and range: 84.90 m.
2025-06-11T21:05:48.538Z,1749675948.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:48.540Z,1749675948.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.18 m.
2025-06-11T21:05:48.543Z,1749675948.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.176811 m,
nav range: 82.260246 m,
bearing: 86.301938 deg,
approach rate: -0.801726 m/s,
LOS rate: 0.035696 deg/s,
cmd heading: 81.008086 deg,
new cmd heading: 81.053561 deg.
2025-06-11T21:05:48.544Z,1749675948.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414652 target range: 84.176811 and range: 84.90 m.
2025-06-11T21:05:48.581Z,1749675948.581 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:48.581Z,1749675948.581 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:48.581Z,1749675948.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:48.833Z,1749675948.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996113
2025-06-11T21:05:48.976Z,1749675948.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.18 m.
2025-06-11T21:05:48.979Z,1749675948.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.176811 m,
nav range: 81.929489 m,
bearing: 86.304744 deg,
approach rate: -0.765971 m/s,
LOS rate: 0.006523 deg/s,
cmd heading: 81.053561 deg,
new cmd heading: 81.062012 deg.
2025-06-11T21:05:48.985Z,1749675948.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414799 target range: 84.176811 and range: 84.90 m.
2025-06-11T21:05:49.085Z,1749675949.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248196
2025-06-11T21:05:49.332Z,1749675949.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.18 m.
2025-06-11T21:05:49.335Z,1749675949.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.176811 m,
nav range: 81.633644 m,
bearing: 86.306941 deg,
approach rate: -0.821185 m/s,
LOS rate: 0.006120 deg/s,
cmd heading: 81.062010 deg,
new cmd heading: 81.068625 deg.
2025-06-11T21:05:49.337Z,1749675949.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500222
2025-06-11T21:05:49.338Z,1749675949.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414914 target range: 84.176811 and range: 84.90 m.
2025-06-11T21:05:49.589Z,1749675949.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752073
2025-06-11T21:05:49.795Z,1749675949.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.18 m.
2025-06-11T21:05:49.814Z,1749675949.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.176811 m,
nav range: 81.274361 m,
bearing: 86.300014 deg,
approach rate: -0.775598 m/s,
LOS rate: -0.015019 deg/s,
cmd heading: 81.068622 deg,
new cmd heading: 81.047750 deg.
2025-06-11T21:05:49.815Z,1749675949.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414550 target range: 84.176811 and range: 84.90 m.
2025-06-11T21:05:49.841Z,1749675949.841 [DAT](INFO): DAT read: Rx Time:21:05:51.1753
2025-06-11T21:05:49.841Z,1749675949.841 [DAT](INFO): Rx dataTimestamp_ set to:1749675949.841205
2025-06-11T21:05:49.842Z,1749675949.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005376
2025-06-11T21:05:50.093Z,1749675950.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256072
2025-06-11T21:05:50.153Z,1749675950.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.18 m.
2025-06-11T21:05:50.155Z,1749675950.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.176811 m,
nav range: 81.003403 m,
bearing: 86.294535 deg,
approach rate: -0.768394 m/s,
LOS rate: -0.015591 deg/s,
cmd heading: 81.047749 deg,
new cmd heading: 81.031256 deg.
2025-06-11T21:05:50.165Z,1749675950.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414262 target range: 84.176811 and range: 84.90 m.
2025-06-11T21:05:50.361Z,1749675950.361 [DAT](INFO): DAT read: 21:05:51.1753 LVL= 23120, 32497, 25298, 32755, AGC= 67, IDX= 397,-0.24, 0.887,-0.657, 0.590, 0.095, PHS= 0.879,-0.705, 0.492, RAW= 136.4, -9.4, CAL= 142.5, -20.3, ROT= 7.5, 20.3
2025-06-11T21:05:50.362Z,1749675950.362 [DAT](INFO): got valid direction response:
21:05:51.1753 LVL= 23120, 32497, 25298, 32755, AGC= 67, IDX= 397,-0.24, 0.887,-0.657, 0.590, 0.095, PHS= 0.879,-0.705, 0.492, RAW= 136.4, -9.4, CAL= 142.5, -20.3, ROT= 7.5, 20.3
2025-06-11T21:05:50.363Z,1749675950.363 [DAT](INFO): DAT read: Bearing 7.5, 20.3 (Local)
2025-06-11T21:05:50.368Z,1749675950.368 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.5, 20.3 (Local)
2025-06-11T21:05:50.370Z,1749675950.370 [DAT](INFO): DAT read: Range 10 to 50 : 82.0 m (Round-trip 109.4 ms) speed 0.6 m/s
2025-06-11T21:05:50.371Z,1749675950.371 [DAT](INFO): DAT read: user:739>
2025-06-11T21:05:50.371Z,1749675950.371 [DAT](INFO): DAT read: Tx time:21:05:52.2618
2025-06-11T21:05:50.372Z,1749675950.372 [DAT](INFO): Ping request sent.
2025-06-11T21:05:50.372Z,1749675950.372 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:50.372Z,1749675950.372 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:50.373Z,1749675950.373 [DAT](INFO): direction in FSK: [0.929865,0.122419,-0.346936]
2025-06-11T21:05:50.373Z,1749675950.373 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:50.374Z,1749675950.374 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:50.393Z,1749675950.393 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:50.393Z,1749675950.393 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:50.578Z,1749675950.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.000000 m,
deltaT: 3.528390 s,
deltaX: -2.900002 m,
approachRate: -0.821905 m/s,
rangeRepo size: 4
2025-06-11T21:05:50.584Z,1749675950.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.301331 m,
bearing: 89.335402 deg,
lat: 36.906571 deg,
lon: -122.115566 deg,
deltaT: 3.528390 s,
deltaX: -2.875481 m,
approachRate: -0.814955 m/s,
posRepo size: 4
2025-06-11T21:05:50.585Z,1749675950.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-06-11T21:05:50.592Z,1749675950.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.301331 m,
nav range: 80.513573 m,
bearing: 86.279811 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.015591 deg/s,
cmd heading: 81.031254 deg,
new cmd heading: 81.011164 deg.
2025-06-11T21:05:50.593Z,1749675950.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413912 target range: 81.301331 and range: 82.00 m.
2025-06-11T21:05:50.597Z,1749675950.597 [DAT](INFO): DAT read: TxSync time:21:05:52.2610
2025-06-11T21:05:50.975Z,1749675950.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:50.978Z,1749675950.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-06-11T21:05:50.980Z,1749675950.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.301331 m,
nav range: 80.188347 m,
bearing: 86.264816 deg,
approach rate: -0.812695 m/s,
LOS rate: -0.037622 deg/s,
cmd heading: 81.011166 deg,
new cmd heading: 80.965999 deg.
2025-06-11T21:05:50.981Z,1749675950.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413123 target range: 81.301331 and range: 82.00 m.
2025-06-11T21:05:51.101Z,1749675951.101 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:51.101Z,1749675951.101 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:51.101Z,1749675951.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:51.353Z,1749675951.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980959
2025-06-11T21:05:51.383Z,1749675951.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-06-11T21:05:51.386Z,1749675951.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.301331 m,
nav range: 79.876419 m,
bearing: 86.249732 deg,
approach rate: -0.770354 m/s,
LOS rate: -0.037397 deg/s,
cmd heading: 80.965998 deg,
new cmd heading: 80.920570 deg.
2025-06-11T21:05:51.386Z,1749675951.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412330 target range: 81.301331 and range: 82.00 m.
2025-06-11T21:05:51.606Z,1749675951.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234259
2025-06-11T21:05:51.849Z,1749675951.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-06-11T21:05:51.857Z,1749675951.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485269
2025-06-11T21:05:51.858Z,1749675951.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.301331 m,
nav range: 79.537766 m,
bearing: 86.228260 deg,
approach rate: -0.725760 m/s,
LOS rate: -0.046212 deg/s,
cmd heading: 80.920571 deg,
new cmd heading: 80.855880 deg.
2025-06-11T21:05:51.859Z,1749675951.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411201 target range: 81.301331 and range: 82.00 m.
2025-06-11T21:05:52.109Z,1749675952.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736994
2025-06-11T21:05:52.209Z,1749675952.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-06-11T21:05:52.212Z,1749675952.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.301331 m,
nav range: 79.252663 m,
bearing: 86.209911 deg,
approach rate: -0.792434 m/s,
LOS rate: -0.051183 deg/s,
cmd heading: 80.855882 deg,
new cmd heading: 80.800638 deg.
2025-06-11T21:05:52.213Z,1749675952.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410237 target range: 81.301331 and range: 82.00 m.
2025-06-11T21:05:52.361Z,1749675952.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989085
2025-06-11T21:05:52.613Z,1749675952.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241262
2025-06-11T21:05:52.621Z,1749675952.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-06-11T21:05:52.624Z,1749675952.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.301331 m,
nav range: 78.936539 m,
bearing: 86.190001 deg,
approach rate: -0.766313 m/s,
LOS rate: -0.048459 deg/s,
cmd heading: 80.800639 deg,
new cmd heading: 80.740668 deg.
2025-06-11T21:05:52.625Z,1749675952.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409191 target range: 81.301331 and range: 82.00 m.
2025-06-11T21:05:52.865Z,1749675952.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493035
2025-06-11T21:05:53.045Z,1749675953.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:53.047Z,1749675953.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-06-11T21:05:53.050Z,1749675953.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.301331 m,
nav range: 78.607986 m,
bearing: 86.166406 deg,
approach rate: -0.771585 m/s,
LOS rate: -0.055641 deg/s,
cmd heading: 80.740670 deg,
new cmd heading: 80.669592 deg.
2025-06-11T21:05:53.051Z,1749675953.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407950 target range: 81.301331 and range: 82.00 m.
2025-06-11T21:05:53.117Z,1749675953.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745229
2025-06-11T21:05:53.369Z,1749675953.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997147
2025-06-11T21:05:53.425Z,1749675953.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-06-11T21:05:53.428Z,1749675953.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.301331 m,
nav range: 78.316628 m,
bearing: 86.145554 deg,
approach rate: -0.770452 m/s,
LOS rate: -0.055347 deg/s,
cmd heading: 80.669595 deg,
new cmd heading: 80.606804 deg.
2025-06-11T21:05:53.429Z,1749675953.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406854 target range: 81.301331 and range: 82.00 m.
2025-06-11T21:05:53.621Z,1749675953.621 [DAT](INFO): DAT read: Rx Time:21:05:54.7714
2025-06-11T21:05:53.621Z,1749675953.621 [DAT](INFO): Rx dataTimestamp_ set to:1749675953.621005
2025-06-11T21:05:53.622Z,1749675953.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250177
2025-06-11T21:05:53.859Z,1749675953.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.30 m.
2025-06-11T21:05:53.862Z,1749675953.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.301331 m,
nav range: 77.976654 m,
bearing: 86.119555 deg,
approach rate: -0.783793 m/s,
LOS rate: -0.060200 deg/s,
cmd heading: 80.606805 deg,
new cmd heading: 80.528469 deg.
2025-06-11T21:05:53.863Z,1749675953.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405487 target range: 81.301331 and range: 82.00 m.
2025-06-11T21:05:53.873Z,1749675953.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501242
2025-06-11T21:05:54.138Z,1749675954.138 [DAT](INFO): DAT read: 21:05:54.7714 LVL= 22608, 32753, 20930, 32755, AGC= 68, IDX= 405,-0.02, 2.672, 1.169, 2.393, 1.915, PHS= 0.845,-0.700, 0.474, RAW= 136.7, -8.9, CAL= 142.8, -19.8, ROT= 7.2, 19.8
2025-06-11T21:05:54.139Z,1749675954.139 [DAT](INFO): got valid direction response:
21:05:54.7714 LVL= 22608, 32753, 20930, 32755, AGC= 68, IDX= 405,-0.02, 2.672, 1.169, 2.393, 1.915, PHS= 0.845,-0.700, 0.474, RAW= 136.7, -8.9, CAL= 142.8, -19.8, ROT= 7.2, 19.8
2025-06-11T21:05:54.141Z,1749675954.141 [DAT](INFO): DAT read: Bearing 7.2, 19.8 (Local)
2025-06-11T21:05:54.142Z,1749675954.142 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.2, 19.8 (Local)
2025-06-11T21:05:54.158Z,1749675954.158 [DAT](INFO): DAT read: Range 10 to 50 : 79.1 m (Round-trip 105.5 ms) speed 0.7 m/s
2025-06-11T21:05:54.160Z,1749675954.160 [DAT](INFO): DAT read: user:740>
2025-06-11T21:05:54.161Z,1749675954.161 [DAT](INFO): DAT read: Tx time:21:05:55.8618
2025-06-11T21:05:54.161Z,1749675954.161 [DAT](INFO): Ping request sent.
2025-06-11T21:05:54.161Z,1749675954.161 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:54.162Z,1749675954.162 [DAT](INFO): DAT read: TxSync time:21:05:55.8610
2025-06-11T21:05:54.162Z,1749675954.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:54.163Z,1749675954.163 [DAT](INFO): direction in FSK: [0.933462,0.117924,-0.338738]
2025-06-11T21:05:54.188Z,1749675954.188 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:54.188Z,1749675954.188 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:54.191Z,1749675954.191 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:54.208Z,1749675954.208 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:54.316Z,1749675954.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.099998 m,
deltaT: 3.781242 s,
deltaX: -2.900002 m,
approachRate: -0.766944 m/s,
rangeRepo size: 4
2025-06-11T21:05:54.318Z,1749675954.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.425224 m,
bearing: 88.742725 deg,
lat: 36.906571 deg,
lon: -122.115572 deg,
deltaT: 3.781242 s,
deltaX: -2.876106 m,
approachRate: -0.760625 m/s,
posRepo size: 4
2025-06-11T21:05:54.320Z,1749675954.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.43 m.
2025-06-11T21:05:54.323Z,1749675954.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.425224 m,
nav range: 77.114990 m,
bearing: 86.067265 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.060200 deg/s,
cmd heading: 80.528470 deg,
new cmd heading: 80.450315 deg.
2025-06-11T21:05:54.324Z,1749675954.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.404123 target range: 78.425224 and range: 79.10 m.
2025-06-11T21:05:54.657Z,1749675954.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.43 m.
2025-06-11T21:05:54.665Z,1749675954.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.425224 m,
nav range: 76.829178 m,
bearing: 86.044177 deg,
approach rate: -0.781987 m/s,
LOS rate: -0.063404 deg/s,
cmd heading: 80.450312 deg,
new cmd heading: 80.380790 deg.
2025-06-11T21:05:54.666Z,1749675954.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402909 target range: 78.425224 and range: 79.10 m.
2025-06-11T21:05:55.063Z,1749675955.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:55.066Z,1749675955.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.43 m.
2025-06-11T21:05:55.069Z,1749675955.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.425224 m,
nav range: 76.485886 m,
bearing: 86.023592 deg,
approach rate: -0.840953 m/s,
LOS rate: -0.050654 deg/s,
cmd heading: 80.380788 deg,
new cmd heading: 80.318755 deg.
2025-06-11T21:05:55.069Z,1749675955.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401827 target range: 78.425224 and range: 79.10 m.
2025-06-11T21:05:55.133Z,1749675955.133 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:55.133Z,1749675955.133 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:55.134Z,1749675955.134 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:55.385Z,1749675955.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223383
2025-06-11T21:05:55.460Z,1749675955.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.43 m.
2025-06-11T21:05:55.463Z,1749675955.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.425224 m,
nav range: 76.183220 m,
bearing: 86.004844 deg,
approach rate: -0.768086 m/s,
LOS rate: -0.047767 deg/s,
cmd heading: 80.318756 deg,
new cmd heading: 80.262287 deg.
2025-06-11T21:05:55.463Z,1749675955.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400841 target range: 78.425224 and range: 79.10 m.
2025-06-11T21:05:55.638Z,1749675955.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476225
2025-06-11T21:05:55.889Z,1749675955.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727419
2025-06-11T21:05:55.917Z,1749675955.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.43 m.
2025-06-11T21:05:55.945Z,1749675955.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.425224 m,
nav range: 75.802849 m,
bearing: 85.991638 deg,
approach rate: -0.831692 m/s,
LOS rate: -0.029020 deg/s,
cmd heading: 80.262291 deg,
new cmd heading: 80.222474 deg.
2025-06-11T21:05:55.946Z,1749675955.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400146 target range: 78.425224 and range: 79.10 m.
2025-06-11T21:05:56.142Z,1749675956.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980154
2025-06-11T21:05:56.267Z,1749675956.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.43 m.
2025-06-11T21:05:56.270Z,1749675956.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.425224 m,
nav range: 75.514267 m,
bearing: 85.981530 deg,
approach rate: -0.824331 m/s,
LOS rate: -0.028983 deg/s,
cmd heading: 80.222477 deg,
new cmd heading: 80.192038 deg.
2025-06-11T21:05:56.271Z,1749675956.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399615 target range: 78.425224 and range: 79.10 m.
2025-06-11T21:05:56.393Z,1749675956.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231416
2025-06-11T21:05:56.645Z,1749675956.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483451
2025-06-11T21:05:56.658Z,1749675956.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.43 m.
2025-06-11T21:05:56.661Z,1749675956.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.425224 m,
nav range: 75.196747 m,
bearing: 85.970273 deg,
approach rate: -0.812486 m/s,
LOS rate: -0.028927 deg/s,
cmd heading: 80.192035 deg,
new cmd heading: 80.158121 deg.
2025-06-11T21:05:56.662Z,1749675956.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399023 target range: 78.425224 and range: 79.10 m.
2025-06-11T21:05:56.897Z,1749675956.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735333
2025-06-11T21:05:57.146Z,1749675957.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:57.149Z,1749675957.149 [DAT](INFO): DAT read: Rx Time:21:05:58.3675
2025-06-11T21:05:57.149Z,1749675957.149 [DAT](INFO): Rx dataTimestamp_ set to:1749675957.149185
2025-06-11T21:05:57.150Z,1749675957.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988643
2025-06-11T21:05:57.151Z,1749675957.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.43 m.
2025-06-11T21:05:57.153Z,1749675957.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.425224 m,
nav range: 74.786415 m,
bearing: 85.974732 deg,
approach rate: -0.837466 m/s,
LOS rate: 0.009150 deg/s,
cmd heading: 80.158123 deg,
new cmd heading: 80.171573 deg.
2025-06-11T21:05:57.154Z,1749675957.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399258 target range: 78.425224 and range: 79.10 m.
2025-06-11T21:05:57.401Z,1749675957.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240084
2025-06-11T21:05:57.526Z,1749675957.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.43 m.
2025-06-11T21:05:57.561Z,1749675957.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.425224 m,
nav range: 74.499298 m,
bearing: 85.977694 deg,
approach rate: -0.761559 m/s,
LOS rate: 0.007887 deg/s,
cmd heading: 80.171572 deg,
new cmd heading: 80.180492 deg.
2025-06-11T21:05:57.562Z,1749675957.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399414 target range: 78.425224 and range: 79.10 m.
2025-06-11T21:05:57.659Z,1749675957.659 [DAT](INFO): DAT read: 21:05:58.3675 LVL= 27312, 30929, 28530, 32755, AGC= 67, IDX= 397,-0.10, 1.700, 0.201, 1.400, 0.914, PHS= 0.874,-0.666, 0.482, RAW= 135.8, -10.0, CAL= 141.7, -20.8, ROT= 8.3, 20.8
2025-06-11T21:05:57.661Z,1749675957.661 [DAT](INFO): got valid direction response:
21:05:58.3675 LVL= 27312, 30929, 28530, 32755, AGC= 67, IDX= 397,-0.10, 1.700, 0.201, 1.400, 0.914, PHS= 0.874,-0.666, 0.482, RAW= 135.8, -10.0, CAL= 141.7, -20.8, ROT= 8.3, 20.8
2025-06-11T21:05:57.662Z,1749675957.662 [DAT](INFO): DAT read: Bearing 8.3, 20.8 (Local)
2025-06-11T21:05:57.662Z,1749675957.662 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.3, 20.8 (Local)
2025-06-11T21:05:57.664Z,1749675957.664 [DAT](INFO): DAT read: Range 10 to 50 : 76.2 m (Round-trip 101.6 ms) speed 0.8 m/s
2025-06-11T21:05:57.665Z,1749675957.665 [DAT](INFO): DAT read: user:741>
2025-06-11T21:05:57.665Z,1749675957.665 [DAT](INFO): DAT read: Tx time:21:05:59.4618
2025-06-11T21:05:57.666Z,1749675957.666 [DAT](INFO): Ping request sent.
2025-06-11T21:05:57.666Z,1749675957.666 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:05:57.666Z,1749675957.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:05:57.667Z,1749675957.667 [DAT](INFO): direction in FSK: [0.925034,0.134948,-0.355107]
2025-06-11T21:05:57.667Z,1749675957.667 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:57.667Z,1749675957.667 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:57.671Z,1749675957.671 [DAT](INFO): publishing transmit ping time
2025-06-11T21:05:57.671Z,1749675957.671 [DAT](INFO): publishing direction and range info
2025-06-11T21:05:57.906Z,1749675957.906 [DAT](INFO): DAT read: TxSync time:21:05:59.4611
2025-06-11T21:05:58.086Z,1749675958.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 76.199997 m,
deltaT: 3.525871 s,
deltaX: -2.900002 m,
approachRate: -0.822492 m/s,
rangeRepo size: 4
2025-06-11T21:05:58.099Z,1749675958.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 75.550209 m,
bearing: 90.137362 deg,
lat: 36.906539 deg,
lon: -122.115578 deg,
deltaT: 3.525871 s,
deltaX: -2.875015 m,
approachRate: -0.815406 m/s,
posRepo size: 4
2025-06-11T21:05:58.105Z,1749675958.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T21:05:58.112Z,1749675958.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.550209 m,
nav range: 73.274910 m,
bearing: 88.778337 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007887 deg/s,
cmd heading: 80.180492 deg,
new cmd heading: 80.193739 deg.
2025-06-11T21:05:58.113Z,1749675958.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399645 target range: 75.550209 and range: 76.20 m.
2025-06-11T21:05:58.471Z,1749675958.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T21:05:58.474Z,1749675958.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.550209 m,
nav range: 72.938660 m,
bearing: 88.797577 deg,
approach rate: -0.869745 m/s,
LOS rate: 0.049996 deg/s,
cmd heading: 80.193743 deg,
new cmd heading: 80.251729 deg.
2025-06-11T21:05:58.475Z,1749675958.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400657 target range: 75.550209 and range: 76.20 m.
2025-06-11T21:05:58.959Z,1749675958.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T21:05:58.962Z,1749675958.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.550209 m,
nav range: 72.511185 m,
bearing: 88.834544 deg,
approach rate: -0.877116 m/s,
LOS rate: 0.076298 deg/s,
cmd heading: 80.251731 deg,
new cmd heading: 80.363285 deg.
2025-06-11T21:05:58.963Z,1749675958.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402604 target range: 75.550209 and range: 76.20 m.
2025-06-11T21:05:59.278Z,1749675959.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:05:59.281Z,1749675959.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T21:05:59.283Z,1749675959.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.550209 m,
nav range: 72.233383 m,
bearing: 88.858265 deg,
approach rate: -0.863250 m/s,
LOS rate: 0.073996 deg/s,
cmd heading: 80.363282 deg,
new cmd heading: 80.434720 deg.
2025-06-11T21:05:59.284Z,1749675959.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403851 target range: 75.550209 and range: 76.20 m.
2025-06-11T21:05:59.417Z,1749675959.417 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:05:59.417Z,1749675959.417 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:05:59.417Z,1749675959.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:05:59.669Z,1749675959.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003154
2025-06-11T21:05:59.682Z,1749675959.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T21:05:59.685Z,1749675959.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.550209 m,
nav range: 71.888000 m,
bearing: 88.888516 deg,
approach rate: -0.860278 m/s,
LOS rate: 0.075711 deg/s,
cmd heading: 80.434719 deg,
new cmd heading: 80.525908 deg.
2025-06-11T21:05:59.686Z,1749675959.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405442 target range: 75.550209 and range: 76.20 m.
2025-06-11T21:05:59.922Z,1749675959.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256166
2025-06-11T21:06:00.126Z,1749675960.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T21:06:00.133Z,1749675960.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.550209 m,
nav range: 71.510269 m,
bearing: 88.932027 deg,
approach rate: -0.851281 m/s,
LOS rate: 0.098576 deg/s,
cmd heading: 80.525909 deg,
new cmd heading: 80.657129 deg.
2025-06-11T21:06:00.134Z,1749675960.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407732 target range: 75.550209 and range: 76.20 m.
2025-06-11T21:06:00.173Z,1749675960.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507344
2025-06-11T21:06:00.425Z,1749675960.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759041
2025-06-11T21:06:00.507Z,1749675960.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T21:06:00.518Z,1749675960.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.550209 m,
nav range: 71.172714 m,
bearing: 88.971366 deg,
approach rate: -0.885213 m/s,
LOS rate: 0.103655 deg/s,
cmd heading: 80.657130 deg,
new cmd heading: 80.775709 deg.
2025-06-11T21:06:00.519Z,1749675960.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409802 target range: 75.550209 and range: 76.20 m.
2025-06-11T21:06:00.678Z,1749675960.678 [DAT](INFO): DAT read: Rx Time:21:06:01.9636
2025-06-11T21:06:00.679Z,1749675960.679 [DAT](INFO): Rx dataTimestamp_ set to:1749675960.678519
2025-06-11T21:06:00.679Z,1749675960.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013654
2025-06-11T21:06:00.930Z,1749675960.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264444
2025-06-11T21:06:01.021Z,1749675961.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.55 m.
2025-06-11T21:06:01.023Z,1749675961.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.550209 m,
nav range: 70.731461 m,
bearing: 89.019894 deg,
approach rate: -0.859420 m/s,
LOS rate: 0.095107 deg/s,
cmd heading: 80.775709 deg,
new cmd heading: 80.922201 deg.
2025-06-11T21:06:01.024Z,1749675961.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412359 target range: 75.550209 and range: 76.20 m.
2025-06-11T21:06:01.187Z,1749675961.187 [DAT](INFO): DAT read: 21:06:01.9636 LVL= 24096, 30017, 23906, 32755, AGC= 67, IDX= 404,-0.33, 2.483, 1.003, 2.178, 1.701, PHS= 0.870,-0.651, 0.474, RAW= 135.5, -10.2, CAL= 141.3, -21.0, ROT= 8.7, 21.0
2025-06-11T21:06:01.188Z,1749675961.188 [DAT](INFO): got valid direction response:
21:06:01.9636 LVL= 24096, 30017, 23906, 32755, AGC= 67, IDX= 404,-0.33, 2.483, 1.003, 2.178, 1.701, PHS= 0.870,-0.651, 0.474, RAW= 135.5, -10.2, CAL= 141.3, -21.0, ROT= 8.7, 21.0
2025-06-11T21:06:01.189Z,1749675961.189 [DAT](INFO): DAT read: Bearing 8.7, 21.0 (Local)
2025-06-11T21:06:01.189Z,1749675961.189 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.7, 21.0 (Local)
2025-06-11T21:06:01.191Z,1749675961.191 [DAT](INFO): DAT read: Range 10 to 50 : 73.2 m (Round-trip 97.6 ms) speed 0.8 m/s
2025-06-11T21:06:01.193Z,1749675961.193 [DAT](INFO): DAT read: user:742>
2025-06-11T21:06:01.194Z,1749675961.194 [DAT](INFO): DAT read: Tx time:21:06:03.0619
2025-06-11T21:06:01.194Z,1749675961.194 [DAT](INFO): Ping request sent.
2025-06-11T21:06:01.194Z,1749675961.194 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:01.195Z,1749675961.195 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:01.196Z,1749675961.196 [DAT](INFO): direction in FSK: [0.922839,0.141214,-0.358368]
2025-06-11T21:06:01.196Z,1749675961.196 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:01.196Z,1749675961.196 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:01.199Z,1749675961.199 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:01.204Z,1749675961.204 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:01.406Z,1749675961.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 73.199997 m,
deltaT: 3.527969 s,
deltaX: -3.000000 m,
approachRate: -0.850348 m/s,
rangeRepo size: 4
2025-06-11T21:06:01.412Z,1749675961.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 72.575912 m,
bearing: 90.959039 deg,
lat: 36.906532 deg,
lon: -122.115580 deg,
deltaT: 3.527969 s,
deltaX: -2.974297 m,
approachRate: -0.843062 m/s,
posRepo size: 4
2025-06-11T21:06:01.413Z,1749675961.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:06:01.415Z,1749675961.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.575912 m,
nav range: 70.246986 m,
bearing: 89.614250 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.095107 deg/s,
cmd heading: 80.922203 deg,
new cmd heading: 81.031965 deg.
2025-06-11T21:06:01.428Z,1749675961.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414275 target range: 72.575912 and range: 73.20 m.
2025-06-11T21:06:01.433Z,1749675961.433 [DAT](INFO): DAT read: TxSync time:21:06:03.0611
2025-06-11T21:06:01.821Z,1749675961.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:01.823Z,1749675961.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:06:01.826Z,1749675961.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.575912 m,
nav range: 69.875122 m,
bearing: 89.658328 deg,
approach rate: -0.890266 m/s,
LOS rate: 0.106088 deg/s,
cmd heading: 81.031964 deg,
new cmd heading: 81.164903 deg.
2025-06-11T21:06:01.827Z,1749675961.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.416595 target range: 72.575912 and range: 73.20 m.
2025-06-11T21:06:01.937Z,1749675961.937 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:01.937Z,1749675961.937 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:01.938Z,1749675961.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:02.189Z,1749675962.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994448
2025-06-11T21:06:02.283Z,1749675962.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:06:02.290Z,1749675962.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.575912 m,
nav range: 69.497871 m,
bearing: 89.702572 deg,
approach rate: -0.820835 m/s,
LOS rate: 0.096789 deg/s,
cmd heading: 81.164900 deg,
new cmd heading: 81.298351 deg.
2025-06-11T21:06:02.291Z,1749675962.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.418924 target range: 72.575912 and range: 73.20 m.
2025-06-11T21:06:02.441Z,1749675962.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246463
2025-06-11T21:06:02.637Z,1749675962.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:06:02.656Z,1749675962.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.575912 m,
nav range: 69.176468 m,
bearing: 89.739500 deg,
approach rate: -0.905745 m/s,
LOS rate: 0.104551 deg/s,
cmd heading: 81.298348 deg,
new cmd heading: 81.409648 deg.
2025-06-11T21:06:02.657Z,1749675962.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420866 target range: 72.575912 and range: 73.20 m.
2025-06-11T21:06:02.696Z,1749675962.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501483
2025-06-11T21:06:02.945Z,1749675962.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750519
2025-06-11T21:06:03.116Z,1749675963.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:06:03.119Z,1749675963.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.575912 m,
nav range: 68.772064 m,
bearing: 89.777737 deg,
approach rate: -0.845006 m/s,
LOS rate: 0.080366 deg/s,
cmd heading: 81.409646 deg,
new cmd heading: 81.525031 deg.
2025-06-11T21:06:03.120Z,1749675963.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422880 target range: 72.575912 and range: 73.20 m.
2025-06-11T21:06:03.198Z,1749675963.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003191
2025-06-11T21:06:03.442Z,1749675963.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:06:03.445Z,1749675963.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.575912 m,
nav range: 68.497208 m,
bearing: 89.804194 deg,
approach rate: -0.842728 m/s,
LOS rate: 0.081445 deg/s,
cmd heading: 81.525029 deg,
new cmd heading: 81.604718 deg.
2025-06-11T21:06:03.446Z,1749675963.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424271 target range: 72.575912 and range: 73.20 m.
2025-06-11T21:06:03.449Z,1749675963.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254699
2025-06-11T21:06:03.701Z,1749675963.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506410
2025-06-11T21:06:03.844Z,1749675963.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:03.846Z,1749675963.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:06:03.849Z,1749675963.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.575912 m,
nav range: 68.155220 m,
bearing: 89.837634 deg,
approach rate: -0.846408 m/s,
LOS rate: 0.083178 deg/s,
cmd heading: 81.604716 deg,
new cmd heading: 81.705539 deg.
2025-06-11T21:06:03.850Z,1749675963.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426031 target range: 72.575912 and range: 73.20 m.
2025-06-11T21:06:03.956Z,1749675963.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761181
2025-06-11T21:06:04.205Z,1749675964.205 [DAT](INFO): DAT read: Rx Time:21:06:05.5595
2025-06-11T21:06:04.205Z,1749675964.205 [DAT](INFO): Rx dataTimestamp_ set to:1749675964.205018
2025-06-11T21:06:04.206Z,1749675964.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011561
2025-06-11T21:06:04.286Z,1749675964.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:06:04.293Z,1749675964.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.575912 m,
nav range: 67.795647 m,
bearing: 89.868326 deg,
approach rate: -0.817688 m/s,
LOS rate: 0.070165 deg/s,
cmd heading: 81.705537 deg,
new cmd heading: 81.798101 deg.
2025-06-11T21:06:04.294Z,1749675964.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.427646 target range: 72.575912 and range: 73.20 m.
2025-06-11T21:06:04.457Z,1749675964.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262458
2025-06-11T21:06:04.650Z,1749675964.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.58 m.
2025-06-11T21:06:04.653Z,1749675964.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.575912 m,
nav range: 67.485580 m,
bearing: 89.895238 deg,
approach rate: -0.851028 m/s,
LOS rate: 0.074206 deg/s,
cmd heading: 81.798100 deg,
new cmd heading: 81.879208 deg.
2025-06-11T21:06:04.654Z,1749675964.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429062 target range: 72.575912 and range: 73.20 m.
2025-06-11T21:06:04.712Z,1749675964.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517022
2025-06-11T21:06:04.976Z,1749675964.976 [DAT](INFO): DAT read: 21:06:05.5595 LVL= 21536, 29105, 23250, 32755, AGC= 65, IDX= 394,-0.44, 1.974, 0.483, 1.699, 1.244, PHS= 0.818,-0.714, 0.452, RAW= 136.8, -8.1, CAL= 142.8, -18.8, ROT= 7.2, 18.8
2025-06-11T21:06:04.977Z,1749675964.977 [DAT](INFO): got valid direction response:
21:06:05.5595 LVL= 21536, 29105, 23250, 32755, AGC= 65, IDX= 394,-0.44, 1.974, 0.483, 1.699, 1.244, PHS= 0.818,-0.714, 0.452, RAW= 136.8, -8.1, CAL= 142.8, -18.8, ROT= 7.2, 18.8
2025-06-11T21:06:04.978Z,1749675964.978 [DAT](INFO): DAT read: Bearing 7.2, 18.8 (Local)
2025-06-11T21:06:04.978Z,1749675964.978 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.2, 18.8 (Local)
2025-06-11T21:06:04.980Z,1749675964.980 [DAT](INFO): DAT read: Range 10 to 50 : 70.1 m (Round-trip 93.5 ms) speed 0.8 m/s
2025-06-11T21:06:04.981Z,1749675964.981 [DAT](INFO): DAT read: user:743>
2025-06-11T21:06:04.982Z,1749675964.982 [DAT](INFO): DAT read: Tx time:21:06:06.6619
2025-06-11T21:06:04.982Z,1749675964.982 [DAT](INFO): Ping request sent.
2025-06-11T21:06:04.982Z,1749675964.982 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:04.983Z,1749675964.983 [DAT](INFO): DAT read: TxSync time:21:06:06.6611
2025-06-11T21:06:04.983Z,1749675964.983 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:04.992Z,1749675964.992 [DAT](INFO): direction in FSK: [0.939185,0.118647,-0.322266]
2025-06-11T21:06:04.993Z,1749675964.993 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:04.993Z,1749675964.993 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:05.008Z,1749675965.008 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:05.009Z,1749675965.009 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:05.154Z,1749675965.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 70.099998 m,
deltaT: 3.781596 s,
deltaX: -3.099998 m,
approachRate: -0.819759 m/s,
rangeRepo size: 4
2025-06-11T21:06:05.160Z,1749675965.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 69.500038 m,
bearing: 89.664148 deg,
lat: 36.906532 deg,
lon: -122.115582 deg,
deltaT: 3.781596 s,
deltaX: -3.075874 m,
approachRate: -0.813380 m/s,
posRepo size: 4
2025-06-11T21:06:05.161Z,1749675965.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.50 m.
2025-06-11T21:06:05.163Z,1749675965.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.500038 m,
nav range: 66.891693 m,
bearing: 89.913584 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.074206 deg/s,
cmd heading: 81.879208 deg,
new cmd heading: 81.991137 deg.
2025-06-11T21:06:05.168Z,1749675965.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431015 target range: 69.500038 and range: 70.10 m.
2025-06-11T21:06:05.466Z,1749675965.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.50 m.
2025-06-11T21:06:05.469Z,1749675965.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.500038 m,
nav range: 66.622101 m,
bearing: 89.925820 deg,
approach rate: -0.861455 m/s,
LOS rate: 0.039255 deg/s,
cmd heading: 81.991134 deg,
new cmd heading: 82.027989 deg.
2025-06-11T21:06:05.470Z,1749675965.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431659 target range: 69.500038 and range: 70.10 m.
2025-06-11T21:06:05.888Z,1749675965.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:05.890Z,1749675965.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.50 m.
2025-06-11T21:06:05.893Z,1749675965.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.500038 m,
nav range: 66.273849 m,
bearing: 89.941181 deg,
approach rate: -0.820757 m/s,
LOS rate: 0.036394 deg/s,
cmd heading: 82.027990 deg,
new cmd heading: 82.074317 deg.
2025-06-11T21:06:05.894Z,1749675965.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432467 target range: 69.500038 and range: 70.10 m.
2025-06-11T21:06:05.972Z,1749675965.972 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:05.973Z,1749675965.973 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:05.974Z,1749675965.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:06.221Z,1749675966.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238788
2025-06-11T21:06:06.313Z,1749675966.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.50 m.
2025-06-11T21:06:06.315Z,1749675966.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.500038 m,
nav range: 65.934174 m,
bearing: 89.945301 deg,
approach rate: -0.804037 m/s,
LOS rate: 0.009803 deg/s,
cmd heading: 82.074319 deg,
new cmd heading: 82.086744 deg.
2025-06-11T21:06:06.317Z,1749675966.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432684 target range: 69.500038 and range: 70.10 m.
2025-06-11T21:06:06.474Z,1749675966.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492011
2025-06-11T21:06:06.725Z,1749675966.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742846
2025-06-11T21:06:06.731Z,1749675966.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.50 m.
2025-06-11T21:06:06.734Z,1749675966.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.500038 m,
nav range: 65.599335 m,
bearing: 89.949517 deg,
approach rate: -0.800313 m/s,
LOS rate: 0.010128 deg/s,
cmd heading: 82.086743 deg,
new cmd heading: 82.099455 deg.
2025-06-11T21:06:06.735Z,1749675966.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432906 target range: 69.500038 and range: 70.10 m.
2025-06-11T21:06:06.979Z,1749675966.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996774
2025-06-11T21:06:07.171Z,1749675967.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.50 m.
2025-06-11T21:06:07.173Z,1749675967.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.500038 m,
nav range: 65.250412 m,
bearing: 89.940190 deg,
approach rate: -0.793869 m/s,
LOS rate: -0.021335 deg/s,
cmd heading: 82.099454 deg,
new cmd heading: 82.071323 deg.
2025-06-11T21:06:07.174Z,1749675967.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432415 target range: 69.500038 and range: 70.10 m.
2025-06-11T21:06:07.230Z,1749675967.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247562
2025-06-11T21:06:07.481Z,1749675967.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498758
2025-06-11T21:06:07.553Z,1749675967.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.50 m.
2025-06-11T21:06:07.555Z,1749675967.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.500038 m,
nav range: 64.954849 m,
bearing: 89.932362 deg,
approach rate: -0.775287 m/s,
LOS rate: -0.020626 deg/s,
cmd heading: 82.071321 deg,
new cmd heading: 82.047731 deg.
2025-06-11T21:06:07.565Z,1749675967.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432003 target range: 69.500038 and range: 70.10 m.
2025-06-11T21:06:07.733Z,1749675967.733 [DAT](INFO): DAT read: Rx Time:21:06:09.1555
2025-06-11T21:06:07.733Z,1749675967.733 [DAT](INFO): Rx dataTimestamp_ set to:1749675967.733096
2025-06-11T21:06:07.734Z,1749675967.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751938
2025-06-11T21:06:07.987Z,1749675967.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004902
2025-06-11T21:06:08.029Z,1749675968.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:08.031Z,1749675968.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.50 m.
2025-06-11T21:06:08.076Z,1749675968.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.500038 m,
nav range: 64.613235 m,
bearing: 89.923199 deg,
approach rate: -0.712906 m/s,
LOS rate: -0.019223 deg/s,
cmd heading: 82.047729 deg,
new cmd heading: 82.020095 deg.
2025-06-11T21:06:08.077Z,1749675968.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431521 target range: 69.500038 and range: 70.10 m.
2025-06-11T21:06:08.238Z,1749675968.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255700
2025-06-11T21:06:08.407Z,1749675968.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.50 m.
2025-06-11T21:06:08.409Z,1749675968.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 69.500038 m,
nav range: 64.270760 m,
bearing: 89.908546 deg,
approach rate: -0.911868 m/s,
LOS rate: -0.039224 deg/s,
cmd heading: 82.020094 deg,
new cmd heading: 81.975900 deg.
2025-06-11T21:06:08.410Z,1749675968.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430749 target range: 69.500038 and range: 70.10 m.
2025-06-11T21:06:08.500Z,1749675968.500 [DAT](INFO): DAT read: 21:06:09.1555 LVL= 23584, 23969, 19058, 32227, AGC= 68, IDX= 400, 0.44,-2.513, 2.362,-2.671, 3.140, PHS= 0.718,-0.731, 0.469, RAW= 140.8, -6.9, CAL= 146.8, -16.5, ROT= 3.2, 16.5
2025-06-11T21:06:08.501Z,1749675968.501 [DAT](INFO): got valid direction response:
21:06:09.1555 LVL= 23584, 23969, 19058, 32227, AGC= 68, IDX= 400, 0.44,-2.513, 2.362,-2.671, 3.140, PHS= 0.718,-0.731, 0.469, RAW= 140.8, -6.9, CAL= 146.8, -16.5, ROT= 3.2, 16.5
2025-06-11T21:06:08.502Z,1749675968.502 [DAT](INFO): DAT read: Bearing 3.2, 16.5 (Local)
2025-06-11T21:06:08.502Z,1749675968.502 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.2, 16.5 (Local)
2025-06-11T21:06:08.504Z,1749675968.504 [DAT](INFO): DAT read: Range 10 to 50 : 67.1 m (Round-trip 89.5 ms) speed 0.6 m/s
2025-06-11T21:06:08.505Z,1749675968.505 [DAT](INFO): DAT read: user:744>
2025-06-11T21:06:08.505Z,1749675968.505 [DAT](INFO): DAT read: Tx time:21:06:10.2619
2025-06-11T21:06:08.506Z,1749675968.506 [DAT](INFO): Ping request sent.
2025-06-11T21:06:08.506Z,1749675968.506 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:08.506Z,1749675968.506 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:08.507Z,1749675968.507 [DAT](INFO): direction in FSK: [0.957325,0.053523,-0.284015]
2025-06-11T21:06:08.507Z,1749675968.507 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:08.508Z,1749675968.508 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:08.511Z,1749675968.511 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:08.511Z,1749675968.511 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:08.741Z,1749675968.741 [DAT](INFO): DAT read: TxSync time:21:06:10.2611
2025-06-11T21:06:08.786Z,1749675968.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 67.099998 m,
deltaT: 3.527201 s,
deltaX: -3.000000 m,
approachRate: -0.850533 m/s,
rangeRepo size: 4
2025-06-11T21:06:08.789Z,1749675968.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 66.525162 m,
bearing: 85.819816 deg,
lat: 36.906535 deg,
lon: -122.115584 deg,
deltaT: 3.527201 s,
deltaX: -2.974876 m,
approachRate: -0.843410 m/s,
posRepo size: 4
2025-06-11T21:06:08.789Z,1749675968.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:06:08.792Z,1749675968.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.525162 m,
nav range: 63.796432 m,
bearing: 89.635611 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.039224 deg/s,
cmd heading: 81.975903 deg,
new cmd heading: 81.931300 deg.
2025-06-11T21:06:08.793Z,1749675968.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429971 target range: 66.525162 and range: 67.10 m.
2025-06-11T21:06:09.064Z,1749675969.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:06:09.216Z,1749675969.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:06:09.218Z,1749675969.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.525162 m,
nav range: 63.465637 m,
bearing: 89.616660 deg,
approach rate: -0.776713 m/s,
LOS rate: -0.044730 deg/s,
cmd heading: 81.931302 deg,
new cmd heading: 81.874152 deg.
2025-06-11T21:06:09.219Z,1749675969.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428974 target range: 66.525162 and range: 67.10 m.
2025-06-11T21:06:09.596Z,1749675969.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:06:09.598Z,1749675969.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.525162 m,
nav range: 63.144234 m,
bearing: 89.598056 deg,
approach rate: -0.837132 m/s,
LOS rate: -0.048703 deg/s,
cmd heading: 81.874154 deg,
new cmd heading: 81.818058 deg.
2025-06-11T21:06:09.599Z,1749675969.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.427994 target range: 66.525162 and range: 67.10 m.
2025-06-11T21:06:10.042Z,1749675970.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:06:10.058Z,1749675970.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.525162 m,
nav range: 62.830250 m,
bearing: 89.578890 deg,
approach rate: -0.705126 m/s,
LOS rate: -0.043256 deg/s,
cmd heading: 81.818057 deg,
new cmd heading: 81.760273 deg.
2025-06-11T21:06:10.059Z,1749675970.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426986 target range: 66.525162 and range: 67.10 m.
2025-06-11T21:06:10.068Z,1749675970.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:06:10.405Z,1749675970.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:10.424Z,1749675970.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:06:10.426Z,1749675970.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.525162 m,
nav range: 62.498451 m,
bearing: 89.561706 deg,
approach rate: -0.904929 m/s,
LOS rate: -0.047117 deg/s,
cmd heading: 81.760274 deg,
new cmd heading: 81.708447 deg.
2025-06-11T21:06:10.427Z,1749675970.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426081 target range: 66.525162 and range: 67.10 m.
2025-06-11T21:06:10.505Z,1749675970.505 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:10.505Z,1749675970.505 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:10.506Z,1749675970.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:10.757Z,1749675970.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251123
2025-06-11T21:06:10.858Z,1749675970.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:06:10.861Z,1749675970.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.525162 m,
nav range: 62.139065 m,
bearing: 89.543176 deg,
approach rate: -0.797534 m/s,
LOS rate: -0.041359 deg/s,
cmd heading: 81.708447 deg,
new cmd heading: 81.652534 deg.
2025-06-11T21:06:10.862Z,1749675970.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425106 target range: 66.525162 and range: 67.10 m.
2025-06-11T21:06:11.011Z,1749675971.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504808
2025-06-11T21:06:11.246Z,1749675971.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:06:11.253Z,1749675971.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.525162 m,
nav range: 61.832291 m,
bearing: 89.532439 deg,
approach rate: -0.790757 m/s,
LOS rate: -0.027814 deg/s,
cmd heading: 81.652535 deg,
new cmd heading: 81.620164 deg.
2025-06-11T21:06:11.254Z,1749675971.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424541 target range: 66.525162 and range: 67.10 m.
2025-06-11T21:06:11.261Z,1749675971.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754974
2025-06-11T21:06:11.513Z,1749675971.513 [DAT](INFO): DAT read: Rx Time:21:06:12.7516
2025-06-11T21:06:11.513Z,1749675971.513 [DAT](INFO): Rx dataTimestamp_ set to:1749675971.513108
2025-06-11T21:06:11.514Z,1749675971.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008060
2025-06-11T21:06:11.643Z,1749675971.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:06:11.646Z,1749675971.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.525162 m,
nav range: 61.509857 m,
bearing: 89.521038 deg,
approach rate: -0.811425 m/s,
LOS rate: -0.028841 deg/s,
cmd heading: 81.620166 deg,
new cmd heading: 81.585785 deg.
2025-06-11T21:06:11.647Z,1749675971.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423941 target range: 66.525162 and range: 67.10 m.
2025-06-11T21:06:11.765Z,1749675971.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258881
2025-06-11T21:06:12.010Z,1749675972.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-06-11T21:06:12.013Z,1749675972.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.525162 m,
nav range: 61.212559 m,
bearing: 89.510467 deg,
approach rate: -0.811767 m/s,
LOS rate: -0.029005 deg/s,
cmd heading: 81.585783 deg,
new cmd heading: 81.553916 deg.
2025-06-11T21:06:12.014Z,1749675972.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423384 target range: 66.525162 and range: 67.10 m.
2025-06-11T21:06:12.074Z,1749675972.074 [DAT](INFO): DAT read: 21:06:12.7516 LVL= 22128, 32753, 20978, 32755, AGC= 69, IDX= 408, 0.02, 2.992, 1.516, 2.799, 2.289, PHS= 0.791,-0.726, 0.507, RAW= 139.9, -8.2, CAL= 146.2, -18.2, ROT= 3.8, 18.2
2025-06-11T21:06:12.092Z,1749675972.092 [DAT](INFO): got valid direction response:
21:06:12.7516 LVL= 22128, 32753, 20978, 32755, AGC= 69, IDX= 408, 0.02, 2.992, 1.516, 2.799, 2.289, PHS= 0.791,-0.726, 0.507, RAW= 139.9, -8.2, CAL= 146.2, -18.2, ROT= 3.8, 18.2
2025-06-11T21:06:12.093Z,1749675972.093 [DAT](INFO): DAT read: Bearing 3.8, 18.2 (Local)
2025-06-11T21:06:12.094Z,1749675972.094 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.8, 18.2 (Local)
2025-06-11T21:06:12.095Z,1749675972.095 [DAT](INFO): DAT read: Range 10 to 50 : 64.1 m (Round-trip 85.5 ms) speed 0.6 m/s
2025-06-11T21:06:12.104Z,1749675972.104 [DAT](INFO): DAT read: user:745>
2025-06-11T21:06:12.105Z,1749675972.105 [DAT](INFO): DAT read: Tx time:21:06:13.8620
2025-06-11T21:06:12.105Z,1749675972.105 [DAT](INFO): Ping request sent.
2025-06-11T21:06:12.105Z,1749675972.105 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:12.106Z,1749675972.106 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:12.107Z,1749675972.107 [DAT](INFO): direction in FSK: [0.947884,0.062958,-0.312335]
2025-06-11T21:06:12.107Z,1749675972.107 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:12.107Z,1749675972.107 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:12.122Z,1749675972.122 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:12.122Z,1749675972.122 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:12.272Z,1749675972.272 [DAT](INFO): DAT read: TxSync time:21:06:13.8612
2025-06-11T21:06:12.447Z,1749675972.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 64.099998 m,
deltaT: 3.528776 s,
deltaX: -3.000000 m,
approachRate: -0.850153 m/s,
rangeRepo size: 4
2025-06-11T21:06:12.449Z,1749675972.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.551357 m,
bearing: 86.725904 deg,
lat: 36.906535 deg,
lon: -122.115586 deg,
deltaT: 3.528776 s,
deltaX: -2.973804 m,
approachRate: -0.842730 m/s,
posRepo size: 4
2025-06-11T21:06:12.450Z,1749675972.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m.
2025-06-11T21:06:12.453Z,1749675972.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.551357 m,
nav range: 60.716560 m,
bearing: 89.505035 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.029005 deg/s,
cmd heading: 81.553914 deg,
new cmd heading: 81.515913 deg.
2025-06-11T21:06:12.454Z,1749675972.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422721 target range: 63.551357 and range: 64.10 m.
2025-06-11T21:06:12.814Z,1749675972.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:12.817Z,1749675972.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m.
2025-06-11T21:06:12.819Z,1749675972.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.551357 m,
nav range: 60.406517 m,
bearing: 89.500120 deg,
approach rate: -0.837695 m/s,
LOS rate: -0.013349 deg/s,
cmd heading: 81.515910 deg,
new cmd heading: 81.501088 deg.
2025-06-11T21:06:12.820Z,1749675972.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422462 target range: 63.551357 and range: 64.10 m.
2025-06-11T21:06:13.027Z,1749675973.027 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:13.027Z,1749675973.027 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:13.031Z,1749675973.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:13.240Z,1749675973.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m.
2025-06-11T21:06:13.243Z,1749675973.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.551357 m,
nav range: 60.051262 m,
bearing: 89.509980 deg,
approach rate: -0.838778 m/s,
LOS rate: 0.023419 deg/s,
cmd heading: 81.501089 deg,
new cmd heading: 81.530845 deg.
2025-06-11T21:06:13.244Z,1749675973.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422982 target range: 63.551357 and range: 64.10 m.
2025-06-11T21:06:13.277Z,1749675973.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.171234
2025-06-11T21:06:13.529Z,1749675973.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.423311
2025-06-11T21:06:13.614Z,1749675973.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m.
2025-06-11T21:06:13.617Z,1749675973.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.551357 m,
nav range: 59.738132 m,
bearing: 89.518724 deg,
approach rate: -0.837901 m/s,
LOS rate: 0.023522 deg/s,
cmd heading: 81.530848 deg,
new cmd heading: 81.557219 deg.
2025-06-11T21:06:13.618Z,1749675973.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423442 target range: 63.551357 and range: 64.10 m.
2025-06-11T21:06:13.781Z,1749675973.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.675456
2025-06-11T21:06:14.024Z,1749675974.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m.
2025-06-11T21:06:14.027Z,1749675974.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.551357 m,
nav range: 59.395054 m,
bearing: 89.528374 deg,
approach rate: -0.836457 m/s,
LOS rate: 0.023662 deg/s,
cmd heading: 81.557219 deg,
new cmd heading: 81.586335 deg.
2025-06-11T21:06:14.034Z,1749675974.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928683
2025-06-11T21:06:14.049Z,1749675974.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423950 target range: 63.551357 and range: 64.10 m.
2025-06-11T21:06:14.285Z,1749675974.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.179617
2025-06-11T21:06:14.462Z,1749675974.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m.
2025-06-11T21:06:14.469Z,1749675974.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.551357 m,
nav range: 59.031277 m,
bearing: 89.545536 deg,
approach rate: -0.829876 m/s,
LOS rate: 0.039392 deg/s,
cmd heading: 81.586336 deg,
new cmd heading: 81.638139 deg.
2025-06-11T21:06:14.470Z,1749675974.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424854 target range: 63.551357 and range: 64.10 m.
2025-06-11T21:06:14.538Z,1749675974.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.432176
2025-06-11T21:06:14.789Z,1749675974.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683334
2025-06-11T21:06:14.828Z,1749675974.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:14.830Z,1749675974.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m.
2025-06-11T21:06:14.833Z,1749675974.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.551357 m,
nav range: 58.714207 m,
bearing: 89.560701 deg,
approach rate: -0.862283 m/s,
LOS rate: 0.041465 deg/s,
cmd heading: 81.638137 deg,
new cmd heading: 81.683878 deg.
2025-06-11T21:06:14.834Z,1749675974.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425653 target range: 63.551357 and range: 64.10 m.
2025-06-11T21:06:15.041Z,1749675975.041 [DAT](INFO): DAT read: Rx Time:21:06:16.3477
2025-06-11T21:06:15.041Z,1749675975.041 [DAT](INFO): Rx dataTimestamp_ set to:1749675975.041127
2025-06-11T21:06:15.042Z,1749675975.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936572
2025-06-11T21:06:15.259Z,1749675975.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m.
2025-06-11T21:06:15.262Z,1749675975.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.551357 m,
nav range: 58.344120 m,
bearing: 89.586429 deg,
approach rate: -0.863180 m/s,
LOS rate: 0.060387 deg/s,
cmd heading: 81.683878 deg,
new cmd heading: 81.761551 deg.
2025-06-11T21:06:15.263Z,1749675975.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.427008 target range: 63.551357 and range: 64.10 m.
2025-06-11T21:06:15.293Z,1749675975.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.187483
2025-06-11T21:06:15.551Z,1749675975.551 [DAT](INFO): DAT read: 21:06:16.3477 LVL= 20736, 32753, 19314, 32755, AGC= 68, IDX= 399, 0.48,-1.455,-2.824,-1.631,-2.014, PHS= 0.647,-0.763, 0.380, RAW= 139.7, -4.1, CAL= 145.2, -13.6, ROT= 4.8, 13.6
2025-06-11T21:06:15.553Z,1749675975.553 [DAT](INFO): got valid direction response:
21:06:16.3477 LVL= 20736, 32753, 19314, 32755, AGC= 68, IDX= 399, 0.48,-1.455,-2.824,-1.631,-2.014, PHS= 0.647,-0.763, 0.380, RAW= 139.7, -4.1, CAL= 145.2, -13.6, ROT= 4.8, 13.6
2025-06-11T21:06:15.554Z,1749675975.554 [DAT](INFO): DAT read: Bearing 4.8, 13.6 (Local)
2025-06-11T21:06:15.554Z,1749675975.554 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.8, 13.6 (Local)
2025-06-11T21:06:15.555Z,1749675975.555 [DAT](INFO): DAT read: Range 10 to 50 : 61.2 m (Round-trip 81.6 ms) speed 0.8 m/s
2025-06-11T21:06:15.561Z,1749675975.561 [DAT](INFO): DAT read: user:746>
2025-06-11T21:06:15.562Z,1749675975.562 [DAT](INFO): DAT read: Tx time:21:06:17.4620
2025-06-11T21:06:15.562Z,1749675975.562 [DAT](INFO): Ping request sent.
2025-06-11T21:06:15.562Z,1749675975.562 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:15.563Z,1749675975.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:15.568Z,1749675975.568 [DAT](INFO): direction in FSK: [0.968552,0.081332,-0.235142]
2025-06-11T21:06:15.568Z,1749675975.568 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:15.568Z,1749675975.568 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:15.571Z,1749675975.571 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:15.584Z,1749675975.584 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:15.733Z,1749675975.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 61.200001 m,
deltaT: 3.526350 s,
deltaX: -2.899998 m,
approachRate: -0.822379 m/s,
rangeRepo size: 4
2025-06-11T21:06:15.735Z,1749675975.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 60.676666 m,
bearing: 87.294734 deg,
lat: 36.906557 deg,
lon: -122.115586 deg,
deltaT: 3.526350 s,
deltaX: -2.874691 m,
approachRate: -0.815203 m/s,
posRepo size: 4
2025-06-11T21:06:15.735Z,1749675975.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:15.742Z,1749675975.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 58.064728 m,
bearing: 87.259792 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.060387 deg/s,
cmd heading: 81.761551 deg,
new cmd heading: 81.846300 deg.
2025-06-11T21:06:15.743Z,1749675975.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428487 target range: 60.676666 and range: 61.20 m.
2025-06-11T21:06:15.798Z,1749675975.798 [DAT](INFO): DAT read: TxSync time:21:06:17.4612
2025-06-11T21:06:16.049Z,1749675976.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:16.051Z,1749675976.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 57.727539 m,
bearing: 87.270020 deg,
approach rate: -1.049981 m/s,
LOS rate: 0.032036 deg/s,
cmd heading: 81.846300 deg,
new cmd heading: 81.877164 deg.
2025-06-11T21:06:16.053Z,1749675976.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429026 target range: 60.676666 and range: 61.20 m.
2025-06-11T21:06:16.590Z,1749675976.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:16.593Z,1749675976.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 57.257317 m,
bearing: 87.293515 deg,
approach rate: -0.867564 m/s,
LOS rate: 0.043703 deg/s,
cmd heading: 81.877166 deg,
new cmd heading: 81.948228 deg.
2025-06-11T21:06:16.593Z,1749675976.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430266 target range: 60.676666 and range: 61.20 m.
2025-06-11T21:06:16.977Z,1749675976.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:16.979Z,1749675976.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:16.986Z,1749675976.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 56.919613 m,
bearing: 87.310578 deg,
approach rate: -0.866740 m/s,
LOS rate: 0.044054 deg/s,
cmd heading: 81.948227 deg,
new cmd heading: 81.999721 deg.
2025-06-11T21:06:16.987Z,1749675976.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431165 target range: 60.676666 and range: 61.20 m.
2025-06-11T21:06:17.065Z,1749675977.065 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:17.065Z,1749675977.065 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:17.066Z,1749675977.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:17.317Z,1749675977.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754402
2025-06-11T21:06:17.426Z,1749675977.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:17.429Z,1749675977.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 56.528049 m,
bearing: 87.327292 deg,
approach rate: -0.876934 m/s,
LOS rate: 0.037691 deg/s,
cmd heading: 81.999720 deg,
new cmd heading: 82.050209 deg.
2025-06-11T21:06:17.430Z,1749675977.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432046 target range: 60.676666 and range: 61.20 m.
2025-06-11T21:06:17.569Z,1749675977.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006426
2025-06-11T21:06:17.807Z,1749675977.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:17.821Z,1749675977.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258400
2025-06-11T21:06:17.830Z,1749675977.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 56.194042 m,
bearing: 87.342160 deg,
approach rate: -0.876220 m/s,
LOS rate: 0.039234 deg/s,
cmd heading: 82.050209 deg,
new cmd heading: 82.095076 deg.
2025-06-11T21:06:17.831Z,1749675977.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432829 target range: 60.676666 and range: 61.20 m.
2025-06-11T21:06:18.073Z,1749675978.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510900
2025-06-11T21:06:18.236Z,1749675978.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:18.239Z,1749675978.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 55.822723 m,
bearing: 87.356203 deg,
approach rate: -0.866492 m/s,
LOS rate: 0.032990 deg/s,
cmd heading: 82.095076 deg,
new cmd heading: 82.137488 deg.
2025-06-11T21:06:18.240Z,1749675978.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433570 target range: 60.676666 and range: 61.20 m.
2025-06-11T21:06:18.330Z,1749675978.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767200
2025-06-11T21:06:18.581Z,1749675978.581 [DAT](INFO): DAT read: Rx Time:21:06:19.9436
2025-06-11T21:06:18.581Z,1749675978.581 [DAT](INFO): Rx dataTimestamp_ set to:1749675978.580987
2025-06-11T21:06:18.582Z,1749675978.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019437
2025-06-11T21:06:18.636Z,1749675978.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:18.639Z,1749675978.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 55.475643 m,
bearing: 87.369568 deg,
approach rate: -0.866606 m/s,
LOS rate: 0.033578 deg/s,
cmd heading: 82.137492 deg,
new cmd heading: 82.177837 deg.
2025-06-11T21:06:18.640Z,1749675978.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434274 target range: 60.676666 and range: 61.20 m.
2025-06-11T21:06:18.834Z,1749675978.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271503
2025-06-11T21:06:19.019Z,1749675979.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:19.021Z,1749675979.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:19.024Z,1749675979.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 55.142998 m,
bearing: 87.382457 deg,
approach rate: -0.863539 m/s,
LOS rate: 0.033661 deg/s,
cmd heading: 82.177838 deg,
new cmd heading: 82.216737 deg.
2025-06-11T21:06:19.025Z,1749675979.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434953 target range: 60.676666 and range: 61.20 m.
2025-06-11T21:06:19.086Z,1749675979.086 [DAT](INFO): DAT read: Range 10 to 50 : 58.1 m (Round-trip 77.5 ms) speed 0.8 m/s
2025-06-11T21:06:19.087Z,1749675979.087 [DAT](INFO): DAT read: user:747>
2025-06-11T21:06:19.087Z,1749675979.087 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:06:19.090Z,1749675979.090 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:19.090Z,1749675979.090 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:19.091Z,1749675979.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:19.337Z,1749675979.337 [DAT](INFO): DAT read: Tx time:21:06:21.0620
2025-06-11T21:06:19.337Z,1749675979.337 [DAT](INFO): Ping request sent.
2025-06-11T21:06:19.337Z,1749675979.337 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:19.338Z,1749675979.338 [DAT](INFO): DAT read: TxSync time:21:06:21.0612
2025-06-11T21:06:19.338Z,1749675979.338 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:19.339Z,1749675979.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001621
2025-06-11T21:06:19.454Z,1749675979.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.099998 m,
deltaT: 3.540153 s,
deltaX: -3.100002 m,
approachRate: -0.875669 m/s,
rangeRepo size: 4
2025-06-11T21:06:19.455Z,1749675979.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:19.455Z,1749675979.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-06-11T21:06:19.474Z,1749675979.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 54.772675 m,
bearing: 87.390619 deg,
approach rate: -0.856524 m/s,
LOS rate: 0.019005 deg/s,
cmd heading: 82.216736 deg,
new cmd heading: 82.241387 deg.
2025-06-11T21:06:19.475Z,1749675979.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435383 target range: 60.676666 and range: 58.10 m.
2025-06-11T21:06:19.516Z,1749675979.516 [DockingStepper](INFO): Changing to mode: 2
2025-06-11T21:06:19.517Z,1749675979.517 [DockingStepper](INFO): Armed mode.
2025-06-11T21:06:19.580Z,1749675979.580 [DockingStepper](INFO): Commanding negative:54494
2025-06-11T21:06:19.590Z,1749675979.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252323
2025-06-11T21:06:19.841Z,1749675979.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503360
2025-06-11T21:06:19.933Z,1749675979.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:19.934Z,1749675979.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-06-11T21:06:19.938Z,1749675979.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 54.368786 m,
bearing: 87.399411 deg,
approach rate: -0.841801 m/s,
LOS rate: 0.018460 deg/s,
cmd heading: 82.241386 deg,
new cmd heading: 82.267957 deg.
2025-06-11T21:06:19.939Z,1749675979.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435847 target range: 60.676666 and range: 58.10 m.
2025-06-11T21:06:20.093Z,1749675980.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755373
2025-06-11T21:06:20.291Z,1749675980.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:20.291Z,1749675980.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-06-11T21:06:20.294Z,1749675980.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 54.080067 m,
bearing: 87.399839 deg,
approach rate: -0.808398 m/s,
LOS rate: 0.001205 deg/s,
cmd heading: 82.267955 deg,
new cmd heading: 82.269247 deg.
2025-06-11T21:06:20.295Z,1749675980.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435869 target range: 60.676666 and range: 58.10 m.
2025-06-11T21:06:20.346Z,1749675980.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007893
2025-06-11T21:06:20.597Z,1749675980.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259610
2025-06-11T21:06:20.708Z,1749675980.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:20.709Z,1749675980.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-06-11T21:06:20.711Z,1749675980.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 53.727955 m,
bearing: 87.400073 deg,
approach rate: -0.851907 m/s,
LOS rate: 0.000570 deg/s,
cmd heading: 82.269246 deg,
new cmd heading: 82.269953 deg.
2025-06-11T21:06:20.717Z,1749675980.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435882 target range: 60.676666 and range: 58.10 m.
2025-06-11T21:06:20.849Z,1749675980.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511347
2025-06-11T21:06:21.062Z,1749675981.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:21.065Z,1749675981.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:21.065Z,1749675981.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-06-11T21:06:21.068Z,1749675981.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 53.421963 m,
bearing: 87.400779 deg,
approach rate: -0.850051 m/s,
LOS rate: 0.001972 deg/s,
cmd heading: 82.269956 deg,
new cmd heading: 82.272086 deg.
2025-06-11T21:06:21.069Z,1749675981.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435919 target range: 60.676666 and range: 58.10 m.
2025-06-11T21:06:21.102Z,1749675981.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764137
2025-06-11T21:06:21.353Z,1749675981.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015407
2025-06-11T21:06:21.474Z,1749675981.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:21.474Z,1749675981.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-06-11T21:06:21.477Z,1749675981.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 53.092838 m,
bearing: 87.394607 deg,
approach rate: -0.803397 m/s,
LOS rate: -0.015159 deg/s,
cmd heading: 82.272087 deg,
new cmd heading: 82.253457 deg.
2025-06-11T21:06:21.478Z,1749675981.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435594 target range: 60.676666 and range: 58.10 m.
2025-06-11T21:06:21.605Z,1749675981.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267594
2025-06-11T21:06:21.857Z,1749675981.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519736
2025-06-11T21:06:21.866Z,1749675981.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:21.867Z,1749675981.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-06-11T21:06:21.870Z,1749675981.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 52.776768 m,
bearing: 87.388996 deg,
approach rate: -0.804843 m/s,
LOS rate: -0.014373 deg/s,
cmd heading: 82.253455 deg,
new cmd heading: 82.236521 deg.
2025-06-11T21:06:21.871Z,1749675981.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435298 target range: 60.676666 and range: 58.10 m.
2025-06-11T21:06:22.109Z,1749675982.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771502
2025-06-11T21:06:22.287Z,1749675982.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:22.304Z,1749675982.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-06-11T21:06:22.307Z,1749675982.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 52.440228 m,
bearing: 87.373498 deg,
approach rate: -0.799214 m/s,
LOS rate: -0.037041 deg/s,
cmd heading: 82.236523 deg,
new cmd heading: 82.189730 deg.
2025-06-11T21:06:22.312Z,1749675982.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434481 target range: 60.676666 and range: 58.10 m.
2025-06-11T21:06:22.362Z,1749675982.362 [DAT](INFO): DAT read: Rx Time:21:06:23.5397
2025-06-11T21:06:22.362Z,1749675982.362 [DAT](INFO): Rx dataTimestamp_ set to:1749675982.362176
2025-06-11T21:06:22.363Z,1749675982.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025998
2025-06-11T21:06:22.613Z,1749675982.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275396
2025-06-11T21:06:22.737Z,1749675982.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.68 m.
2025-06-11T21:06:22.737Z,1749675982.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-06-11T21:06:22.744Z,1749675982.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.676666 m,
nav range: 52.092129 m,
bearing: 87.357463 deg,
approach rate: -0.774098 m/s,
LOS rate: -0.035897 deg/s,
cmd heading: 82.189729 deg,
new cmd heading: 82.141302 deg.
2025-06-11T21:06:22.745Z,1749675982.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433636 target range: 60.676666 and range: 58.10 m.
2025-06-11T21:06:22.871Z,1749675982.871 [DAT](INFO): DAT read: 21:06:23.5397 LVL= 22368, 29169, 18002, 32755, AGC= 65, IDX= 396, 0.11,-2.494, 2.385,-2.744,-2.974, PHS= 0.568,-0.877, 0.227, RAW= 136.9, 1.3, CAL= 141.8, -7.3, ROT= 8.2, 7.3
2025-06-11T21:06:22.872Z,1749675982.872 [DAT](INFO): got valid direction response:
21:06:23.5397 LVL= 22368, 29169, 18002, 32755, AGC= 65, IDX= 396, 0.11,-2.494, 2.385,-2.744,-2.974, PHS= 0.568,-0.877, 0.227, RAW= 136.9, 1.3, CAL= 141.8, -7.3, ROT= 8.2, 7.3
2025-06-11T21:06:22.873Z,1749675982.873 [DAT](INFO): DAT read: Bearing 8.2, 7.3 (Local)
2025-06-11T21:06:22.873Z,1749675982.873 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.2, 7.3 (Local)
2025-06-11T21:06:22.875Z,1749675982.875 [DAT](INFO): DAT read: Range 10 to 50 : 55.1 m (Round-trip 73.5 ms) speed 0.7 m/s
2025-06-11T21:06:22.875Z,1749675982.875 [DAT](INFO): DAT read: user:748>
2025-06-11T21:06:22.876Z,1749675982.876 [DAT](INFO): DAT read: Tx time:21:06:24.6621
2025-06-11T21:06:22.877Z,1749675982.877 [DAT](INFO): Ping request sent.
2025-06-11T21:06:22.877Z,1749675982.877 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:22.877Z,1749675982.877 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:22.878Z,1749675982.878 [DAT](INFO): direction in FSK: [0.981754,0.141473,-0.127065]
2025-06-11T21:06:22.878Z,1749675982.878 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:22.879Z,1749675982.879 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:22.906Z,1749675982.906 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:22.906Z,1749675982.906 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:23.098Z,1749675983.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 55.099998 m,
deltaT: 3.779873 s,
deltaX: -3.000000 m,
approachRate: -0.793677 m/s,
rangeRepo size: 4
2025-06-11T21:06:23.104Z,1749675983.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.628899 m,
bearing: 90.560939 deg,
lat: 36.906557 deg,
lon: -122.115584 deg,
deltaT: 7.320026 s,
deltaX: -6.047768 m,
approachRate: -0.826195 m/s,
posRepo size: 4
2025-06-11T21:06:23.105Z,1749675983.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.63 m.
2025-06-11T21:06:23.105Z,1749675983.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m.
2025-06-11T21:06:23.117Z,1749675983.117 [DAT](INFO): DAT read: TxSync time:21:06:24.6613
2025-06-11T21:06:23.121Z,1749675983.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.628899 m,
nav range: 51.938931 m,
bearing: 87.350624 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035897 deg/s,
cmd heading: 82.141303 deg,
new cmd heading: 82.102503 deg.
2025-06-11T21:06:23.122Z,1749675983.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432959 target range: 54.628899 and range: 55.10 m.
2025-06-11T21:06:23.501Z,1749675983.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:23.503Z,1749675983.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.63 m.
2025-06-11T21:06:23.503Z,1749675983.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m.
2025-06-11T21:06:23.506Z,1749675983.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.628899 m,
nav range: 51.604675 m,
bearing: 87.330709 deg,
approach rate: -0.824741 m/s,
LOS rate: -0.049456 deg/s,
cmd heading: 82.102501 deg,
new cmd heading: 82.042369 deg.
2025-06-11T21:06:23.507Z,1749675983.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431909 target range: 54.628899 and range: 55.10 m.
2025-06-11T21:06:23.621Z,1749675983.621 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:23.622Z,1749675983.622 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:23.622Z,1749675983.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:23.873Z,1749675983.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996023
2025-06-11T21:06:23.898Z,1749675983.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.63 m.
2025-06-11T21:06:23.898Z,1749675983.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m.
2025-06-11T21:06:23.902Z,1749675983.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.628899 m,
nav range: 51.290844 m,
bearing: 87.310977 deg,
approach rate: -0.794090 m/s,
LOS rate: -0.050232 deg/s,
cmd heading: 82.042368 deg,
new cmd heading: 81.982811 deg.
2025-06-11T21:06:23.903Z,1749675983.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430870 target range: 54.628899 and range: 55.10 m.
2025-06-11T21:06:24.125Z,1749675984.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248001
2025-06-11T21:06:24.377Z,1749675984.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500186
2025-06-11T21:06:24.390Z,1749675984.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.63 m.
2025-06-11T21:06:24.391Z,1749675984.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m.
2025-06-11T21:06:24.394Z,1749675984.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.628899 m,
nav range: 50.900917 m,
bearing: 87.281609 deg,
approach rate: -0.791743 m/s,
LOS rate: -0.060090 deg/s,
cmd heading: 81.982808 deg,
new cmd heading: 81.894027 deg.
2025-06-11T21:06:24.395Z,1749675984.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429320 target range: 54.628899 and range: 55.10 m.
2025-06-11T21:06:24.629Z,1749675984.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751951
2025-06-11T21:06:24.737Z,1749675984.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.63 m.
2025-06-11T21:06:24.738Z,1749675984.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m.
2025-06-11T21:06:24.740Z,1749675984.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.628899 m,
nav range: 50.626659 m,
bearing: 87.260680 deg,
approach rate: -0.790881 m/s,
LOS rate: -0.060679 deg/s,
cmd heading: 81.894030 deg,
new cmd heading: 81.830904 deg.
2025-06-11T21:06:24.741Z,1749675984.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428219 target range: 54.628899 and range: 55.10 m.
2025-06-11T21:06:24.881Z,1749675984.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004000
2025-06-11T21:06:25.100Z,1749675985.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.63 m.
2025-06-11T21:06:25.101Z,1749675985.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m.
2025-06-11T21:06:25.104Z,1749675985.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.628899 m,
nav range: 50.339222 m,
bearing: 87.237040 deg,
approach rate: -0.790850 m/s,
LOS rate: -0.065413 deg/s,
cmd heading: 81.830905 deg,
new cmd heading: 81.759581 deg.
2025-06-11T21:06:25.105Z,1749675985.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426974 target range: 54.628899 and range: 55.10 m.
2025-06-11T21:06:25.133Z,1749675985.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256005
2025-06-11T21:06:25.385Z,1749675985.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507977
2025-06-11T21:06:25.544Z,1749675985.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:25.546Z,1749675985.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.63 m.
2025-06-11T21:06:25.546Z,1749675985.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m.
2025-06-11T21:06:25.547Z,1749675985.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.10 m.
2025-06-11T21:06:25.547Z,1749675985.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-11T21:06:25.550Z,1749675985.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.628899 m,
nav range: 49.983498 m,
bearing: 87.202008 deg,
approach rate: -0.798532 m/s,
LOS rate: -0.079200 deg/s,
cmd heading: 81.759584 deg,
new cmd heading: 81.653740 deg.
2025-06-11T21:06:25.551Z,1749675985.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425127 target range: 54.628899 and range: 55.10 m.
2025-06-11T21:06:25.638Z,1749675985.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760562
2025-06-11T21:06:25.889Z,1749675985.889 [DAT](INFO): DAT read: Rx Time:21:06:27.1357
2025-06-11T21:06:25.889Z,1749675985.889 [DAT](INFO): Rx dataTimestamp_ set to:1749675985.888915
2025-06-11T21:06:25.890Z,1749675985.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013016
2025-06-11T21:06:25.941Z,1749675985.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.63 m.
2025-06-11T21:06:25.960Z,1749675985.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.628899 m,
nav range: 49.669449 m,
bearing: 87.169751 deg,
approach rate: -0.794423 m/s,
LOS rate: -0.082116 deg/s,
cmd heading: 81.653737 deg,
new cmd heading: 81.556352 deg.
2025-06-11T21:06:25.961Z,1749675985.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423427 target range: 54.628899 and range: 55.10 m.
2025-06-11T21:06:26.141Z,1749675986.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263999
2025-06-11T21:06:26.362Z,1749675986.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.63 m.
2025-06-11T21:06:26.365Z,1749675986.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.628899 m,
nav range: 49.324505 m,
bearing: 87.143366 deg,
approach rate: -0.820055 m/s,
LOS rate: -0.063163 deg/s,
cmd heading: 81.556352 deg,
new cmd heading: 81.476646 deg.
2025-06-11T21:06:26.366Z,1749675986.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422036 target range: 54.628899 and range: 55.10 m.
2025-06-11T21:06:26.399Z,1749675986.399 [DAT](INFO): DAT read: 21:06:27.1357 LVL= 32752, 32753, 23538, 32755, AGC= 67, IDX= 404,-0.45, 1.348, 0.003, 1.101, 0.971, PHS= 0.465,-0.921, 0.126, RAW= 136.4, 5.3, CAL= 141.1, -2.1, ROT= 8.9, 2.1
2025-06-11T21:06:26.400Z,1749675986.400 [DAT](INFO): got valid direction response:
21:06:27.1357 LVL= 32752, 32753, 23538, 32755, AGC= 67, IDX= 404,-0.45, 1.348, 0.003, 1.101, 0.971, PHS= 0.465,-0.921, 0.126, RAW= 136.4, 5.3, CAL= 141.1, -2.1, ROT= 8.9, 2.1
2025-06-11T21:06:26.401Z,1749675986.401 [DAT](INFO): DAT read: Bearing 8.9, 2.1 (Local)
2025-06-11T21:06:26.402Z,1749675986.402 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.9, 2.1 (Local)
2025-06-11T21:06:26.403Z,1749675986.403 [DAT](INFO): DAT read: Range 10 to 50 : 52.1 m (Round-trip 69.5 ms) speed 0.6 m/s
2025-06-11T21:06:26.404Z,1749675986.404 [DAT](INFO): DAT read: user:749>
2025-06-11T21:06:26.405Z,1749675986.405 [DAT](INFO): DAT read: Tx time:21:06:28.2621
2025-06-11T21:06:26.405Z,1749675986.405 [DAT](INFO): Ping request sent.
2025-06-11T21:06:26.405Z,1749675986.405 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:26.405Z,1749675986.405 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:26.406Z,1749675986.406 [DAT](INFO): direction in FSK: [0.987296,0.154606,-0.036644]
2025-06-11T21:06:26.407Z,1749675986.407 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:26.407Z,1749675986.407 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:26.414Z,1749675986.414 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:26.414Z,1749675986.414 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:26.645Z,1749675986.645 [DAT](INFO): DAT read: TxSync time:21:06:28.2613
2025-06-11T21:06:26.737Z,1749675986.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.099998 m,
deltaT: 3.528343 s,
deltaX: -3.000000 m,
approachRate: -0.850257 m/s,
rangeRepo size: 4
2025-06-11T21:06:26.739Z,1749675986.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.654274 m,
bearing: 92.140204 deg,
lat: 36.906557 deg,
lon: -122.115577 deg,
deltaT: 3.528343 s,
deltaX: -2.974625 m,
approachRate: -0.843066 m/s,
posRepo size: 4
2025-06-11T21:06:26.744Z,1749675986.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.65 m.
2025-06-11T21:06:26.747Z,1749675986.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.654274 m,
nav range: 49.648678 m,
bearing: 87.155629 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.063163 deg/s,
cmd heading: 81.476644 deg,
new cmd heading: 81.405679 deg.
2025-06-11T21:06:26.747Z,1749675986.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420797 target range: 51.654274 and range: 52.10 m.
2025-06-11T21:06:27.156Z,1749675987.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.65 m.
2025-06-11T21:06:27.159Z,1749675987.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.654274 m,
nav range: 49.291916 m,
bearing: 87.124119 deg,
approach rate: -0.850569 m/s,
LOS rate: -0.075668 deg/s,
cmd heading: 81.405678 deg,
new cmd heading: 81.310464 deg.
2025-06-11T21:06:27.180Z,1749675987.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.419135 target range: 51.654274 and range: 52.10 m.
2025-06-11T21:06:27.576Z,1749675987.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:27.578Z,1749675987.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.65 m.
2025-06-11T21:06:27.581Z,1749675987.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.654274 m,
nav range: 48.944630 m,
bearing: 87.093643 deg,
approach rate: -0.821761 m/s,
LOS rate: -0.072626 deg/s,
cmd heading: 81.310465 deg,
new cmd heading: 81.218387 deg.
2025-06-11T21:06:27.582Z,1749675987.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417528 target range: 51.654274 and range: 52.10 m.
2025-06-11T21:06:27.653Z,1749675987.653 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:27.653Z,1749675987.653 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:27.653Z,1749675987.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:27.906Z,1749675987.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500236
2025-06-11T21:06:27.966Z,1749675987.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.65 m.
2025-06-11T21:06:27.969Z,1749675987.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.654274 m,
nav range: 48.626625 m,
bearing: 87.064122 deg,
approach rate: -0.820308 m/s,
LOS rate: -0.076649 deg/s,
cmd heading: 81.218387 deg,
new cmd heading: 81.129245 deg.
2025-06-11T21:06:27.970Z,1749675987.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415972 target range: 51.654274 and range: 52.10 m.
2025-06-11T21:06:28.157Z,1749675988.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751714
2025-06-11T21:06:28.384Z,1749675988.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.65 m.
2025-06-11T21:06:28.387Z,1749675988.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.654274 m,
nav range: 48.281132 m,
bearing: 87.036061 deg,
approach rate: -0.827038 m/s,
LOS rate: -0.067652 deg/s,
cmd heading: 81.129247 deg,
new cmd heading: 81.044463 deg.
2025-06-11T21:06:28.388Z,1749675988.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414493 target range: 51.654274 and range: 52.10 m.
2025-06-11T21:06:28.409Z,1749675988.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003714
2025-06-11T21:06:28.661Z,1749675988.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255684
2025-06-11T21:06:28.769Z,1749675988.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.65 m.
2025-06-11T21:06:28.772Z,1749675988.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.654274 m,
nav range: 47.962723 m,
bearing: 87.009743 deg,
approach rate: -0.826463 m/s,
LOS rate: -0.068764 deg/s,
cmd heading: 81.044463 deg,
new cmd heading: 80.964986 deg.
2025-06-11T21:06:28.773Z,1749675988.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413106 target range: 51.654274 and range: 52.10 m.
2025-06-11T21:06:28.914Z,1749675988.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508534
2025-06-11T21:06:29.165Z,1749675989.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759679
2025-06-11T21:06:29.191Z,1749675989.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.65 m.
2025-06-11T21:06:29.195Z,1749675989.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.654274 m,
nav range: 47.613441 m,
bearing: 86.980468 deg,
approach rate: -0.827216 m/s,
LOS rate: -0.069842 deg/s,
cmd heading: 80.964987 deg,
new cmd heading: 80.876517 deg.
2025-06-11T21:06:29.196Z,1749675989.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411561 target range: 51.654274 and range: 52.10 m.
2025-06-11T21:06:29.417Z,1749675989.417 [DAT](INFO): DAT read: Rx Time:21:06:30.7318
2025-06-11T21:06:29.417Z,1749675989.417 [DAT](INFO): Rx dataTimestamp_ set to:1749675989.417076
2025-06-11T21:06:29.418Z,1749675989.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012838
2025-06-11T21:06:29.606Z,1749675989.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:29.609Z,1749675989.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.65 m.
2025-06-11T21:06:29.611Z,1749675989.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.654274 m,
nav range: 47.271069 m,
bearing: 86.951132 deg,
approach rate: -0.820643 m/s,
LOS rate: -0.070826 deg/s,
cmd heading: 80.876516 deg,
new cmd heading: 80.787870 deg.
2025-06-11T21:06:29.612Z,1749675989.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410014 target range: 51.654274 and range: 52.10 m.
2025-06-11T21:06:29.670Z,1749675989.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264591
2025-06-11T21:06:29.929Z,1749675989.929 [DAT](INFO): DAT read: 21:06:30.7318 LVL= 31712, 32753, 23026, 32755, AGC= 67, IDX= 396,-0.49, 2.356, 1.035, 2.255, 2.015, PHS= 0.429,-0.933, 0.237, RAW= 142.5, 4.2, CAL= 145.9, -4.1, ROT= 4.1, 4.1
2025-06-11T21:06:29.931Z,1749675989.931 [DAT](INFO): got valid direction response:
21:06:30.7318 LVL= 31712, 32753, 23026, 32755, AGC= 67, IDX= 396,-0.49, 2.356, 1.035, 2.255, 2.015, PHS= 0.429,-0.933, 0.237, RAW= 142.5, 4.2, CAL= 145.9, -4.1, ROT= 4.1, 4.1
2025-06-11T21:06:29.932Z,1749675989.932 [DAT](INFO): DAT read: Bearing 4.1, 4.1 (Local)
2025-06-11T21:06:29.933Z,1749675989.933 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.1, 4.1 (Local)
2025-06-11T21:06:29.935Z,1749675989.935 [DAT](INFO): DAT read: Range 10 to 50 : 49.2 m (Round-trip 65.6 ms) speed 0.8 m/s
2025-06-11T21:06:29.936Z,1749675989.936 [DAT](INFO): DAT read: user:750>
2025-06-11T21:06:29.937Z,1749675989.937 [DAT](INFO): DAT read: Tx time:21:06:31.8121
2025-06-11T21:06:29.938Z,1749675989.938 [DAT](INFO): Ping request sent.
2025-06-11T21:06:29.938Z,1749675989.938 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:29.938Z,1749675989.938 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:29.939Z,1749675989.939 [DAT](INFO): direction in FSK: [0.994888,0.071314,-0.071497]
2025-06-11T21:06:29.939Z,1749675989.939 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:29.940Z,1749675989.940 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:29.943Z,1749675989.943 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:29.943Z,1749675989.943 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:30.053Z,1749675990.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.200001 m,
deltaT: 3.527895 s,
deltaX: -2.899998 m,
approachRate: -0.822019 m/s,
rangeRepo size: 4
2025-06-11T21:06:30.055Z,1749675990.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.778763 m,
bearing: 88.153346 deg,
lat: 36.906548 deg,
lon: -122.115562 deg,
deltaT: 3.527895 s,
deltaX: -2.875511 m,
approachRate: -0.815078 m/s,
posRepo size: 4
2025-06-11T21:06:30.055Z,1749675990.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.78 m.
2025-06-11T21:06:30.062Z,1749675990.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.778763 m,
nav range: 48.245716 m,
bearing: 88.149375 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070826 deg/s,
cmd heading: 80.787874 deg,
new cmd heading: 80.694554 deg.
2025-06-11T21:06:30.063Z,1749675990.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408386 target range: 48.778763 and range: 49.20 m.
2025-06-11T21:06:30.173Z,1749675990.173 [DAT](INFO): DAT read: TxSync time:21:06:31.8113
2025-06-11T21:06:30.427Z,1749675990.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.78 m.
2025-06-11T21:06:30.430Z,1749675990.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.778763 m,
nav range: 47.913254 m,
bearing: 88.130181 deg,
approach rate: -0.875652 m/s,
LOS rate: -0.050905 deg/s,
cmd heading: 80.694553 deg,
new cmd heading: 80.636571 deg.
2025-06-11T21:06:30.431Z,1749675990.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407374 target range: 48.778763 and range: 49.20 m.
2025-06-11T21:06:30.804Z,1749675990.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.78 m.
2025-06-11T21:06:30.809Z,1749675990.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.778763 m,
nav range: 47.607288 m,
bearing: 88.111334 deg,
approach rate: -0.814424 m/s,
LOS rate: -0.050491 deg/s,
cmd heading: 80.636571 deg,
new cmd heading: 80.579666 deg.
2025-06-11T21:06:30.811Z,1749675990.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406381 target range: 48.778763 and range: 49.20 m.
2025-06-11T21:06:31.198Z,1749675991.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.78 m.
2025-06-11T21:06:31.217Z,1749675991.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.778763 m,
nav range: 47.274727 m,
bearing: 88.090695 deg,
approach rate: -0.841693 m/s,
LOS rate: -0.052604 deg/s,
cmd heading: 80.579669 deg,
new cmd heading: 80.517316 deg.
2025-06-11T21:06:31.218Z,1749675991.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405292 target range: 48.778763 and range: 49.20 m.
2025-06-11T21:06:31.619Z,1749675991.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:31.621Z,1749675991.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.78 m.
2025-06-11T21:06:31.624Z,1749675991.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.778763 m,
nav range: 46.931381 m,
bearing: 88.068012 deg,
approach rate: -0.812156 m/s,
LOS rate: -0.054046 deg/s,
cmd heading: 80.517316 deg,
new cmd heading: 80.448772 deg.
2025-06-11T21:06:31.625Z,1749675991.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.404096 target range: 48.778763 and range: 49.20 m.
2025-06-11T21:06:31.685Z,1749675991.685 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:31.685Z,1749675991.685 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:31.686Z,1749675991.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:31.937Z,1749675991.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999776
2025-06-11T21:06:32.017Z,1749675992.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.78 m.
2025-06-11T21:06:32.024Z,1749675992.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.778763 m,
nav range: 46.621956 m,
bearing: 88.048702 deg,
approach rate: -0.780484 m/s,
LOS rate: -0.049030 deg/s,
cmd heading: 80.448768 deg,
new cmd heading: 80.390454 deg.
2025-06-11T21:06:32.025Z,1749675992.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403078 target range: 48.778763 and range: 49.20 m.
2025-06-11T21:06:32.189Z,1749675992.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251204
2025-06-11T21:06:32.441Z,1749675992.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503212
2025-06-11T21:06:32.476Z,1749675992.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.78 m.
2025-06-11T21:06:32.479Z,1749675992.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.778763 m,
nav range: 46.246235 m,
bearing: 88.021567 deg,
approach rate: -0.820027 m/s,
LOS rate: -0.059706 deg/s,
cmd heading: 80.390452 deg,
new cmd heading: 80.308384 deg.
2025-06-11T21:06:32.479Z,1749675992.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401646 target range: 48.778763 and range: 49.20 m.
2025-06-11T21:06:32.695Z,1749675992.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757094
2025-06-11T21:06:32.832Z,1749675992.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.78 m.
2025-06-11T21:06:32.835Z,1749675992.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.778763 m,
nav range: 45.976746 m,
bearing: 88.004063 deg,
approach rate: -0.756351 m/s,
LOS rate: -0.049413 deg/s,
cmd heading: 80.308381 deg,
new cmd heading: 80.255563 deg.
2025-06-11T21:06:32.840Z,1749675992.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400724 target range: 48.778763 and range: 49.20 m.
2025-06-11T21:06:32.945Z,1749675992.945 [DAT](INFO): DAT read: Rx Time:21:06:34.2781
2025-06-11T21:06:32.946Z,1749675992.946 [DAT](INFO): Rx dataTimestamp_ set to:1749675992.945377
2025-06-11T21:06:32.946Z,1749675992.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008597
2025-06-11T21:06:33.197Z,1749675993.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259245
2025-06-11T21:06:33.237Z,1749675993.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.78 m.
2025-06-11T21:06:33.240Z,1749675993.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.778763 m,
nav range: 45.642738 m,
bearing: 87.983380 deg,
approach rate: -0.823698 m/s,
LOS rate: -0.051379 deg/s,
cmd heading: 80.255563 deg,
new cmd heading: 80.193060 deg.
2025-06-11T21:06:33.241Z,1749675993.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399633 target range: 48.778763 and range: 49.20 m.
2025-06-11T21:06:33.462Z,1749675993.462 [DAT](INFO): DAT read: 21:06:34.2781 LVL= 22544, 32753, 21682, 32755, AGC= 65, IDX= 405,-0.26, 1.967, 0.662, 1.862, 1.616, PHS= 0.438,-0.907, 0.243, RAW= 142.3, 3.6, CAL= 145.8, -4.8, ROT= 4.2, 4.8
2025-06-11T21:06:33.472Z,1749675993.472 [DAT](INFO): got valid direction response:
21:06:34.2781 LVL= 22544, 32753, 21682, 32755, AGC= 65, IDX= 405,-0.26, 1.967, 0.662, 1.862, 1.616, PHS= 0.438,-0.907, 0.243, RAW= 142.3, 3.6, CAL= 145.8, -4.8, ROT= 4.2, 4.8
2025-06-11T21:06:33.473Z,1749675993.473 [DAT](INFO): DAT read: Bearing 4.2, 4.8 (Local)
2025-06-11T21:06:33.473Z,1749675993.473 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.2, 4.8 (Local)
2025-06-11T21:06:33.475Z,1749675993.475 [DAT](INFO): DAT read: Range 10 to 50 : 46.3 m (Round-trip 61.8 ms) speed 0.8 m/s
2025-06-11T21:06:33.475Z,1749675993.475 [DAT](INFO): DAT read: user:751>
2025-06-11T21:06:33.480Z,1749675993.480 [DAT](INFO): DAT read: Tx time:21:06:35.3622
2025-06-11T21:06:33.481Z,1749675993.481 [DAT](INFO): Ping request sent.
2025-06-11T21:06:33.481Z,1749675993.481 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:33.481Z,1749675993.481 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:33.482Z,1749675993.482 [DAT](INFO): direction in FSK: [0.993817,0.072981,-0.083678]
2025-06-11T21:06:33.482Z,1749675993.482 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:33.483Z,1749675993.483 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:33.498Z,1749675993.498 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:33.498Z,1749675993.498 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:33.675Z,1749675993.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.299999 m,
deltaT: 3.529756 s,
deltaX: -2.900002 m,
approachRate: -0.821587 m/s,
rangeRepo size: 4
2025-06-11T21:06:33.681Z,1749675993.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.904289 m,
bearing: 87.305482 deg,
lat: 36.906548 deg,
lon: -122.115561 deg,
deltaT: 3.529756 s,
deltaX: -2.874474 m,
approachRate: -0.814355 m/s,
posRepo size: 4
2025-06-11T21:06:33.682Z,1749675993.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-06-11T21:06:33.688Z,1749675993.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.904289 m,
nav range: 45.406559 m,
bearing: 87.962983 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.051379 deg/s,
cmd heading: 80.193060 deg,
new cmd heading: 80.125769 deg.
2025-06-11T21:06:33.689Z,1749675993.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398458 target range: 45.904289 and range: 46.30 m.
2025-06-11T21:06:33.701Z,1749675993.701 [DAT](INFO): DAT read: TxSync time:21:06:35.3614
2025-06-11T21:06:34.031Z,1749675994.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:34.037Z,1749675994.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-06-11T21:06:34.046Z,1749675994.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.904289 m,
nav range: 45.117527 m,
bearing: 87.942387 deg,
approach rate: -0.796135 m/s,
LOS rate: -0.057094 deg/s,
cmd heading: 80.125769 deg,
new cmd heading: 80.063586 deg.
2025-06-11T21:06:34.047Z,1749675994.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397373 target range: 45.904289 and range: 46.30 m.
2025-06-11T21:06:34.205Z,1749675994.205 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:34.205Z,1749675994.205 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:34.205Z,1749675994.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:34.457Z,1749675994.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975904
2025-06-11T21:06:34.473Z,1749675994.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-06-11T21:06:34.476Z,1749675994.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.904289 m,
nav range: 44.760303 m,
bearing: 87.917405 deg,
approach rate: -0.819081 m/s,
LOS rate: -0.057740 deg/s,
cmd heading: 80.063587 deg,
new cmd heading: 79.988041 deg.
2025-06-11T21:06:34.477Z,1749675994.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396055 target range: 45.904289 and range: 46.30 m.
2025-06-11T21:06:34.709Z,1749675994.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227941
2025-06-11T21:06:34.842Z,1749675994.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-06-11T21:06:34.845Z,1749675994.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.904289 m,
nav range: 44.469009 m,
bearing: 87.896908 deg,
approach rate: -0.789383 m/s,
LOS rate: -0.055909 deg/s,
cmd heading: 79.988038 deg,
new cmd heading: 79.926145 deg.
2025-06-11T21:06:34.846Z,1749675994.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394974 target range: 45.904289 and range: 46.30 m.
2025-06-11T21:06:34.961Z,1749675994.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480051
2025-06-11T21:06:35.213Z,1749675995.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731710
2025-06-11T21:06:35.241Z,1749675995.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-06-11T21:06:35.244Z,1749675995.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.904289 m,
nav range: 44.153889 m,
bearing: 87.874970 deg,
approach rate: -0.789804 m/s,
LOS rate: -0.055378 deg/s,
cmd heading: 79.926143 deg,
new cmd heading: 79.859858 deg.
2025-06-11T21:06:35.245Z,1749675995.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393817 target range: 45.904289 and range: 46.30 m.
2025-06-11T21:06:35.465Z,1749675995.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984458
2025-06-11T21:06:35.698Z,1749675995.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-06-11T21:06:35.705Z,1749675995.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.904289 m,
nav range: 43.819412 m,
bearing: 87.867429 deg,
approach rate: -0.732598 m/s,
LOS rate: -0.016642 deg/s,
cmd heading: 79.859856 deg,
new cmd heading: 79.837061 deg.
2025-06-11T21:06:35.706Z,1749675995.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393420 target range: 45.904289 and range: 46.30 m.
2025-06-11T21:06:35.717Z,1749675995.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236016
2025-06-11T21:06:35.969Z,1749675995.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487810
2025-06-11T21:06:36.043Z,1749675996.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:36.066Z,1749675996.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-06-11T21:06:36.073Z,1749675996.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.904289 m,
nav range: 43.514084 m,
bearing: 87.861464 deg,
approach rate: -0.829615 m/s,
LOS rate: -0.016320 deg/s,
cmd heading: 79.837064 deg,
new cmd heading: 79.819044 deg.
2025-06-11T21:06:36.074Z,1749675996.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393105 target range: 45.904289 and range: 46.30 m.
2025-06-11T21:06:36.221Z,1749675996.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739832
2025-06-11T21:06:36.473Z,1749675996.473 [DAT](INFO): DAT read: Rx Time:21:06:37.8243
2025-06-11T21:06:36.473Z,1749675996.473 [DAT](INFO): Rx dataTimestamp_ set to:1749675996.473150
2025-06-11T21:06:36.474Z,1749675996.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993065
2025-06-11T21:06:36.520Z,1749675996.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-06-11T21:06:36.523Z,1749675996.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.904289 m,
nav range: 43.145809 m,
bearing: 87.847920 deg,
approach rate: -0.810981 m/s,
LOS rate: -0.030081 deg/s,
cmd heading: 79.819045 deg,
new cmd heading: 79.778065 deg.
2025-06-11T21:06:36.524Z,1749675996.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392390 target range: 45.904289 and range: 46.30 m.
2025-06-11T21:06:36.725Z,1749675996.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243818
2025-06-11T21:06:36.959Z,1749675996.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.90 m.
2025-06-11T21:06:36.997Z,1749675996.997 [DAT](INFO): DAT read: 21:06:37.8243 LVL= 24560, 29153, 19538, 32755, AGC= 67, IDX= 398,-0.24, 3.047, 1.706, 2.882, 2.683, PHS= 0.452,-0.930, 0.196, RAW= 140.0, 4.5, CAL= 143.9, -3.6, ROT= 6.1, 3.6
2025-06-11T21:06:37.002Z,1749675997.002 [DAT](INFO): got valid direction response:
21:06:37.8243 LVL= 24560, 29153, 19538, 32755, AGC= 67, IDX= 398,-0.24, 3.047, 1.706, 2.882, 2.683, PHS= 0.452,-0.930, 0.196, RAW= 140.0, 4.5, CAL= 143.9, -3.6, ROT= 6.1, 3.6
2025-06-11T21:06:37.003Z,1749675997.003 [DAT](INFO): DAT read: Bearing 6.1, 3.6 (Local)
2025-06-11T21:06:37.003Z,1749675997.003 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.1, 3.6 (Local)
2025-06-11T21:06:37.004Z,1749675997.004 [DAT](INFO): DAT read: Range 10 to 50 : 43.5 m (Round-trip 58.0 ms) speed 0.7 m/s
2025-06-11T21:06:37.005Z,1749675997.005 [DAT](INFO): DAT read: user:752>
2025-06-11T21:06:37.006Z,1749675997.006 [DAT](INFO): DAT read: Tx time:21:06:38.9122
2025-06-11T21:06:37.006Z,1749675997.006 [DAT](INFO): Ping request sent.
2025-06-11T21:06:37.006Z,1749675997.006 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:37.007Z,1749675997.007 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:37.022Z,1749675997.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.904289 m,
nav range: 42.835217 m,
bearing: 87.837123 deg,
approach rate: -0.710199 m/s,
LOS rate: -0.024867 deg/s,
cmd heading: 79.778064 deg,
new cmd heading: 79.745439 deg.
2025-06-11T21:06:37.022Z,1749675997.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391820 target range: 45.904289 and range: 46.30 m.
2025-06-11T21:06:37.032Z,1749675997.032 [DAT](INFO): direction in FSK: [0.992376,0.106054,-0.062791]
2025-06-11T21:06:37.032Z,1749675997.032 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:37.032Z,1749675997.032 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:37.038Z,1749675997.038 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:37.038Z,1749675997.038 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:37.235Z,1749675997.235 [DAT](INFO): DAT read: TxSync time:21:06:38.9114
2025-06-11T21:06:37.346Z,1749675997.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.500000 m,
deltaT: 3.527660 s,
deltaX: -2.799999 m,
approachRate: -0.793727 m/s,
rangeRepo size: 4
2025-06-11T21:06:37.353Z,1749675997.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.128117 m,
bearing: 88.097123 deg,
lat: 36.906546 deg,
lon: -122.115561 deg,
deltaT: 3.527660 s,
deltaX: -2.776173 m,
approachRate: -0.786973 m/s,
posRepo size: 4
2025-06-11T21:06:37.353Z,1749675997.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:06:37.361Z,1749675997.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.128117 m,
nav range: 42.527359 m,
bearing: 88.084431 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.024867 deg/s,
cmd heading: 79.745437 deg,
new cmd heading: 79.716451 deg.
2025-06-11T21:06:37.368Z,1749675997.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391315 target range: 43.128117 and range: 43.50 m.
2025-06-11T21:06:37.810Z,1749675997.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:06:37.813Z,1749675997.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.128117 m,
nav range: 42.150192 m,
bearing: 88.079207 deg,
approach rate: -0.812254 m/s,
LOS rate: -0.011352 deg/s,
cmd heading: 79.716449 deg,
new cmd heading: 79.700635 deg.
2025-06-11T21:06:37.814Z,1749675997.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391039 target range: 43.128117 and range: 43.50 m.
2025-06-11T21:06:38.153Z,1749675998.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:38.155Z,1749675998.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:06:38.162Z,1749675998.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.128117 m,
nav range: 41.895077 m,
bearing: 88.075877 deg,
approach rate: -0.739311 m/s,
LOS rate: -0.009708 deg/s,
cmd heading: 79.700637 deg,
new cmd heading: 79.690587 deg.
2025-06-11T21:06:38.163Z,1749675998.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390863 target range: 43.128117 and range: 43.50 m.
2025-06-11T21:06:38.242Z,1749675998.242 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:38.242Z,1749675998.242 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:38.243Z,1749675998.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:38.493Z,1749675998.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486456
2025-06-11T21:06:38.572Z,1749675998.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:06:38.574Z,1749675998.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.128117 m,
nav range: 41.553669 m,
bearing: 88.085441 deg,
approach rate: -0.819913 m/s,
LOS rate: 0.023156 deg/s,
cmd heading: 79.690590 deg,
new cmd heading: 79.719517 deg.
2025-06-11T21:06:38.575Z,1749675998.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391368 target range: 43.128117 and range: 43.50 m.
2025-06-11T21:06:38.747Z,1749675998.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740974
2025-06-11T21:06:38.961Z,1749675998.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:06:38.964Z,1749675998.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.128117 m,
nav range: 41.249580 m,
bearing: 88.095601 deg,
approach rate: -0.780751 m/s,
LOS rate: 0.026279 deg/s,
cmd heading: 79.719516 deg,
new cmd heading: 79.750222 deg.
2025-06-11T21:06:38.965Z,1749675998.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391904 target range: 43.128117 and range: 43.50 m.
2025-06-11T21:06:39.001Z,1749675999.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994758
2025-06-11T21:06:39.253Z,1749675999.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246358
2025-06-11T21:06:39.329Z,1749675999.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:06:39.332Z,1749675999.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.128117 m,
nav range: 40.962151 m,
bearing: 88.106543 deg,
approach rate: -0.780487 m/s,
LOS rate: 0.029920 deg/s,
cmd heading: 79.750224 deg,
new cmd heading: 79.783280 deg.
2025-06-11T21:06:39.333Z,1749675999.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392481 target range: 43.128117 and range: 43.50 m.
2025-06-11T21:06:39.509Z,1749675999.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502729
2025-06-11T21:06:39.753Z,1749675999.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:06:39.756Z,1749675999.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.128117 m,
nav range: 40.622658 m,
bearing: 88.115215 deg,
approach rate: -0.800451 m/s,
LOS rate: 0.020618 deg/s,
cmd heading: 79.783283 deg,
new cmd heading: 79.809516 deg.
2025-06-11T21:06:39.757Z,1749675999.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392939 target range: 43.128117 and range: 43.50 m.
2025-06-11T21:06:39.761Z,1749675999.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754511
2025-06-11T21:06:40.013Z,1749676000.013 [DAT](INFO): DAT read: Rx Time:21:06:41.3706
2025-06-11T21:06:40.014Z,1749676000.014 [DAT](INFO): Rx dataTimestamp_ set to:1749676000.013310
2025-06-11T21:06:40.014Z,1749676000.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007784
2025-06-11T21:06:40.149Z,1749676000.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:06:40.151Z,1749676000.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.128117 m,
nav range: 40.307449 m,
bearing: 88.124093 deg,
approach rate: -0.797826 m/s,
LOS rate: 0.022648 deg/s,
cmd heading: 79.809517 deg,
new cmd heading: 79.836361 deg.
2025-06-11T21:06:40.156Z,1749676000.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393407 target range: 43.128117 and range: 43.50 m.
2025-06-11T21:06:40.191Z,1749676000.191 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:06:40.265Z,1749676000.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258558
2025-06-11T21:06:40.520Z,1749676000.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512942
2025-06-11T21:06:40.602Z,1749676000.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:40.605Z,1749676000.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.13 m.
2025-06-11T21:06:40.607Z,1749676000.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.128117 m,
nav range: 39.940498 m,
bearing: 88.133779 deg,
approach rate: -0.804652 m/s,
LOS rate: 0.021434 deg/s,
cmd heading: 79.836360 deg,
new cmd heading: 79.865684 deg.
2025-06-11T21:06:40.608Z,1749676000.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393919 target range: 43.128117 and range: 43.50 m.
2025-06-11T21:06:40.780Z,1749676000.780 [DAT](INFO): DAT read: 21:06:41.3706 LVL= 23152, 32753, 22290, 32755, AGC= 68, IDX= 407, 0.19, 0.334,-1.115, 0.118,-0.059, PHS= 0.481,-1.009, 0.174, RAW= 138.8, 5.2, CAL= 142.9, -2.5, ROT= 7.1, 2.5
2025-06-11T21:06:40.782Z,1749676000.782 [DAT](INFO): got valid direction response:
21:06:41.3706 LVL= 23152, 32753, 22290, 32755, AGC= 68, IDX= 407, 0.19, 0.334,-1.115, 0.118,-0.059, PHS= 0.481,-1.009, 0.174, RAW= 138.8, 5.2, CAL= 142.9, -2.5, ROT= 7.1, 2.5
2025-06-11T21:06:40.783Z,1749676000.783 [DAT](INFO): DAT read: Bearing 7.1, 2.5 (Local)
2025-06-11T21:06:40.783Z,1749676000.783 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.1, 2.5 (Local)
2025-06-11T21:06:40.785Z,1749676000.785 [DAT](INFO): DAT read: Range 10 to 50 : 40.6 m (Round-trip 54.2 ms) speed 0.7 m/s
2025-06-11T21:06:40.785Z,1749676000.785 [DAT](INFO): DAT read: user:753>
2025-06-11T21:06:40.786Z,1749676000.786 [DAT](INFO): DAT read: Tx time:21:06:42.4622
2025-06-11T21:06:40.786Z,1749676000.786 [DAT](INFO): Ping request sent.
2025-06-11T21:06:40.787Z,1749676000.787 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:40.787Z,1749676000.787 [DAT](INFO): DAT read: TxSync time:21:06:42.4614
2025-06-11T21:06:40.788Z,1749676000.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:40.789Z,1749676000.789 [DAT](INFO): direction in FSK: [0.991387,0.123484,-0.043619]
2025-06-11T21:06:40.789Z,1749676000.789 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:40.789Z,1749676000.789 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:40.799Z,1749676000.799 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:40.800Z,1749676000.800 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:40.991Z,1749676000.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.599998 m,
deltaT: 3.790449 s,
deltaX: -2.900002 m,
approachRate: -0.765081 m/s,
rangeRepo size: 4
2025-06-11T21:06:40.997Z,1749676000.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.253914 m,
bearing: 88.429102 deg,
lat: 36.906546 deg,
lon: -122.115558 deg,
deltaT: 3.790449 s,
deltaX: -2.874203 m,
approachRate: -0.758275 m/s,
posRepo size: 4
2025-06-11T21:06:40.998Z,1749676000.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-06-11T21:06:41.005Z,1749676001.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.253914 m,
nav range: 39.925766 m,
bearing: 88.154737 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021434 deg/s,
cmd heading: 79.865682 deg,
new cmd heading: 79.890488 deg.
2025-06-11T21:06:41.006Z,1749676001.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394352 target range: 40.253914 and range: 40.60 m.
2025-06-11T21:06:41.192Z,1749676001.192 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:06:41.351Z,1749676001.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-06-11T21:06:41.354Z,1749676001.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.253914 m,
nav range: 39.623177 m,
bearing: 88.161224 deg,
approach rate: -0.837947 m/s,
LOS rate: 0.018100 deg/s,
cmd heading: 79.890489 deg,
new cmd heading: 79.910097 deg.
2025-06-11T21:06:41.355Z,1749676001.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394694 target range: 40.253914 and range: 40.60 m.
2025-06-11T21:06:41.778Z,1749676001.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-06-11T21:06:41.781Z,1749676001.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.253914 m,
nav range: 39.286697 m,
bearing: 88.162407 deg,
approach rate: -0.789759 m/s,
LOS rate: 0.002801 deg/s,
cmd heading: 79.910099 deg,
new cmd heading: 79.913678 deg.
2025-06-11T21:06:41.781Z,1749676001.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394757 target range: 40.253914 and range: 40.60 m.
2025-06-11T21:06:42.167Z,1749676002.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-06-11T21:06:42.170Z,1749676002.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.253914 m,
nav range: 38.975826 m,
bearing: 88.162998 deg,
approach rate: -0.797578 m/s,
LOS rate: 0.001530 deg/s,
cmd heading: 79.913678 deg,
new cmd heading: 79.915467 deg.
2025-06-11T21:06:42.171Z,1749676002.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394788 target range: 40.253914 and range: 40.60 m.
2025-06-11T21:06:42.598Z,1749676002.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-06-11T21:06:42.601Z,1749676002.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.253914 m,
nav range: 38.631092 m,
bearing: 88.162323 deg,
approach rate: -0.800477 m/s,
LOS rate: -0.001583 deg/s,
cmd heading: 79.915467 deg,
new cmd heading: 79.913422 deg.
2025-06-11T21:06:42.602Z,1749676002.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394752 target range: 40.253914 and range: 40.60 m.
2025-06-11T21:06:43.018Z,1749676003.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:43.020Z,1749676003.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-06-11T21:06:43.023Z,1749676003.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.253914 m,
nav range: 38.311245 m,
bearing: 88.162443 deg,
approach rate: -0.757732 m/s,
LOS rate: 0.000287 deg/s,
cmd heading: 79.913425 deg,
new cmd heading: 79.913789 deg.
2025-06-11T21:06:43.024Z,1749676003.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394759 target range: 40.253914 and range: 40.60 m.
2025-06-11T21:06:43.037Z,1749676003.037 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:43.037Z,1749676003.037 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:43.037Z,1749676003.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:06:43.289Z,1749676003.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502212
2025-06-11T21:06:43.381Z,1749676003.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-06-11T21:06:43.383Z,1749676003.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.253914 m,
nav range: 38.013817 m,
bearing: 88.163032 deg,
approach rate: -0.824716 m/s,
LOS rate: 0.001648 deg/s,
cmd heading: 79.913787 deg,
new cmd heading: 79.915570 deg.
2025-06-11T21:06:43.389Z,1749676003.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394790 target range: 40.253914 and range: 40.60 m.
2025-06-11T21:06:43.541Z,1749676003.541 [DAT](INFO): DAT read: Rx Time:21:06:44.9167
2025-06-11T21:06:43.541Z,1749676003.541 [DAT](INFO): Rx dataTimestamp_ set to:1749676003.541162
2025-06-11T21:06:43.542Z,1749676003.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755407
2025-06-11T21:06:43.793Z,1749676003.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006257
2025-06-11T21:06:43.808Z,1749676003.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-06-11T21:06:43.811Z,1749676003.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.253914 m,
nav range: 37.670933 m,
bearing: 88.165352 deg,
approach rate: -0.801732 m/s,
LOS rate: 0.005473 deg/s,
cmd heading: 79.915570 deg,
new cmd heading: 79.922592 deg.
2025-06-11T21:06:43.812Z,1749676003.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394912 target range: 40.253914 and range: 40.60 m.
2025-06-11T21:06:44.048Z,1749676004.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261255
2025-06-11T21:06:44.185Z,1749676004.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.25 m.
2025-06-11T21:06:44.188Z,1749676004.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.253914 m,
nav range: 37.376728 m,
bearing: 88.168409 deg,
approach rate: -0.780819 m/s,
LOS rate: 0.008176 deg/s,
cmd heading: 79.922591 deg,
new cmd heading: 79.931833 deg.
2025-06-11T21:06:44.189Z,1749676004.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395074 target range: 40.253914 and range: 40.60 m.
2025-06-11T21:06:44.308Z,1749676004.308 [DAT](INFO): DAT read: 21:06:44.9167 LVL= 26192, 32753, 23474, 32755, AGC= 65, IDX= 401,-0.17,-0.559,-1.863,-0.711,-0.884, PHS= 0.413,-0.932, 0.170, RAW= 140.2, 5.7, CAL= 143.9, -2.2, ROT= 6.1, 2.2
2025-06-11T21:06:44.309Z,1749676004.309 [DAT](INFO): got valid direction response:
21:06:44.9167 LVL= 26192, 32753, 23474, 32755, AGC= 65, IDX= 401,-0.17,-0.559,-1.863,-0.711,-0.884, PHS= 0.413,-0.932, 0.170, RAW= 140.2, 5.7, CAL= 143.9, -2.2, ROT= 6.1, 2.2
2025-06-11T21:06:44.310Z,1749676004.310 [DAT](INFO): DAT read: Bearing 6.1, 2.2 (Local)
2025-06-11T21:06:44.310Z,1749676004.310 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.1, 2.2 (Local)
2025-06-11T21:06:44.312Z,1749676004.312 [DAT](INFO): DAT read: Range 10 to 50 : 37.8 m (Round-trip 50.4 ms) speed 0.8 m/s
2025-06-11T21:06:44.313Z,1749676004.313 [DAT](INFO): DAT read: user:754>
2025-06-11T21:06:44.314Z,1749676004.314 [DAT](INFO): DAT read: Tx time:21:06:46.0122
2025-06-11T21:06:44.314Z,1749676004.314 [DAT](INFO): Ping request sent.
2025-06-11T21:06:44.314Z,1749676004.314 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:44.315Z,1749676004.315 [DAT](INFO): DAT read: TxSync time:21:06:46.0114
2025-06-11T21:06:44.315Z,1749676004.315 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:44.316Z,1749676004.316 [DAT](INFO): direction in FSK: [0.993605,0.106186,-0.038388]
2025-06-11T21:06:44.317Z,1749676004.317 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:44.317Z,1749676004.317 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:44.322Z,1749676004.322 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:44.322Z,1749676004.322 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:44.646Z,1749676004.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.799999 m,
deltaT: 3.527975 s,
deltaX: -2.799999 m,
approachRate: -0.793656 m/s,
rangeRepo size: 4
2025-06-11T21:06:44.652Z,1749676004.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.477516 m,
bearing: 87.393595 deg,
lat: 36.906548 deg,
lon: -122.115558 deg,
deltaT: 3.527975 s,
deltaX: -2.776398 m,
approachRate: -0.786966 m/s,
posRepo size: 4
2025-06-11T21:06:44.653Z,1749676004.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-06-11T21:06:44.655Z,1749676004.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.477516 m,
nav range: 37.032410 m,
bearing: 87.866903 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008176 deg/s,
cmd heading: 79.931832 deg,
new cmd heading: 79.943118 deg.
2025-06-11T21:06:44.661Z,1749676004.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395271 target range: 37.477516 and range: 37.80 m.
2025-06-11T21:06:44.989Z,1749676004.989 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-11T21:06:44.989Z,1749676004.989 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:06:44.990Z,1749676004.990 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-11T21:06:44.991Z,1749676004.991 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 37.799999 m (mode 2.000000 count ).
2025-06-11T21:06:44.991Z,1749676004.991 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-11T21:06:44.991Z,1749676004.991 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-11T21:06:44.993Z,1749676004.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-06-11T21:06:44.996Z,1749676004.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.477516 m,
nav range: 36.745506 m,
bearing: 87.857186 deg,
approach rate: -0.824085 m/s,
LOS rate: -0.028129 deg/s,
cmd heading: 79.943116 deg,
new cmd heading: 79.913737 deg.
2025-06-11T21:06:44.997Z,1749676004.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394758 target range: 37.477516 and range: 37.80 m.
2025-06-11T21:06:45.406Z,1749676005.406 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-11T21:06:45.406Z,1749676005.406 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-11T21:06:45.406Z,1749676005.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:45.408Z,1749676005.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-06-11T21:06:45.411Z,1749676005.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.477516 m,
nav range: 36.415848 m,
bearing: 87.845568 deg,
approach rate: -0.794572 m/s,
LOS rate: -0.028255 deg/s,
cmd heading: 79.913739 deg,
new cmd heading: 79.878571 deg.
2025-06-11T21:06:45.412Z,1749676005.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394144 target range: 37.477516 and range: 37.80 m.
2025-06-11T21:06:45.558Z,1749676005.558 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:06:45.559Z,1749676005.559 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:06:45.560Z,1749676005.560 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:06:45.809Z,1749676005.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494365
2025-06-11T21:06:45.834Z,1749676005.834 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-11T21:06:45.834Z,1749676005.834 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-11T21:06:45.837Z,1749676005.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-06-11T21:06:45.839Z,1749676005.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.477516 m,
nav range: 36.083992 m,
bearing: 87.822200 deg,
approach rate: -0.774928 m/s,
LOS rate: -0.055070 deg/s,
cmd heading: 79.878571 deg,
new cmd heading: 79.807821 deg.
2025-06-11T21:06:45.841Z,1749676005.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392909 target range: 37.477516 and range: 37.80 m.
2025-06-11T21:06:46.061Z,1749676006.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746986
2025-06-11T21:06:46.208Z,1749676006.208 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-11T21:06:46.208Z,1749676006.208 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:06:46.208Z,1749676006.208 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-11T21:06:46.208Z,1749676006.208 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:06:46.210Z,1749676006.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-06-11T21:06:46.214Z,1749676006.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.477516 m,
nav range: 35.794296 m,
bearing: 87.802340 deg,
approach rate: -0.774708 m/s,
LOS rate: -0.053540 deg/s,
cmd heading: 79.807823 deg,
new cmd heading: 79.747761 deg.
2025-06-11T21:06:46.215Z,1749676006.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391861 target range: 37.477516 and range: 37.80 m.
2025-06-11T21:06:46.313Z,1749676006.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998721
2025-06-11T21:06:46.567Z,1749676006.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252301
2025-06-11T21:06:46.671Z,1749676006.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-06-11T21:06:46.678Z,1749676006.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.477516 m,
nav range: 35.450085 m,
bearing: 87.775411 deg,
approach rate: -0.750944 m/s,
LOS rate: -0.059319 deg/s,
cmd heading: 79.747759 deg,
new cmd heading: 79.666188 deg.
2025-06-11T21:06:46.679Z,1749676006.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390437 target range: 37.477516 and range: 37.80 m.
2025-06-11T21:06:46.817Z,1749676006.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502372
2025-06-11T21:06:47.036Z,1749676007.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-06-11T21:06:47.039Z,1749676007.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.477516 m,
nav range: 35.157856 m,
bearing: 87.752134 deg,
approach rate: -0.795910 m/s,
LOS rate: -0.063922 deg/s,
cmd heading: 79.666186 deg,
new cmd heading: 79.595776 deg.
2025-06-11T21:06:47.040Z,1749676007.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389208 target range: 37.477516 and range: 37.80 m.
2025-06-11T21:06:47.069Z,1749676007.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755114
2025-06-11T21:06:47.321Z,1749676007.321 [DAT](INFO): DAT read: Rx Time:21:06:48.4629
2025-06-11T21:06:47.321Z,1749676007.321 [DAT](INFO): Rx dataTimestamp_ set to:1749676007.321018
2025-06-11T21:06:47.322Z,1749676007.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007581
2025-06-11T21:06:47.415Z,1749676007.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:47.417Z,1749676007.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-06-11T21:06:47.420Z,1749676007.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 37.477516 m,
nav range: 34.854969 m,
bearing: 87.727528 deg,
approach rate: -0.794693 m/s,
LOS rate: -0.065123 deg/s,
cmd heading: 79.595773 deg,
new cmd heading: 79.521311 deg.
2025-06-11T21:06:47.421Z,1749676007.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387909 target range: 37.477516 and range: 37.80 m.
2025-06-11T21:06:47.576Z,1749676007.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261128
2025-06-11T21:06:47.835Z,1749676007.835 [DAT](INFO): DAT read: 21:06:48.4629 LVL= 27632, 32753, 22466, 32755, AGC= 65, IDX= 410, 0.10, 2.928, 1.631, 2.782, 2.629, PHS= 0.387,-0.951, 0.150, RAW= 140.4, 6.7, CAL= 143.9, -0.9, ROT= 6.1, 0.9
2025-06-11T21:06:47.844Z,1749676007.844 [DAT](INFO): got valid direction response:
21:06:48.4629 LVL= 27632, 32753, 22466, 32755, AGC= 65, IDX= 410, 0.10, 2.928, 1.631, 2.782, 2.629, PHS= 0.387,-0.951, 0.150, RAW= 140.4, 6.7, CAL= 143.9, -0.9, ROT= 6.1, 0.9
2025-06-11T21:06:47.846Z,1749676007.846 [DAT](INFO): DAT read: Bearing 6.1, 0.9 (Local)
2025-06-11T21:06:47.846Z,1749676007.846 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.1, 0.9 (Local)
2025-06-11T21:06:47.847Z,1749676007.847 [DAT](INFO): DAT read: Range 10 to 50 : 34.9 m (Round-trip 46.6 ms) speed 0.6 m/s
2025-06-11T21:06:47.855Z,1749676007.855 [DAT](INFO): DAT read: user:755>
2025-06-11T21:06:47.861Z,1749676007.861 [DAT](INFO): DAT read: Tx time:21:06:49.5622
2025-06-11T21:06:47.862Z,1749676007.862 [DAT](INFO): Ping request sent.
2025-06-11T21:06:47.862Z,1749676007.862 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:47.862Z,1749676007.862 [DAT](INFO): DAT read: TxSync time:21:06:49.5615
2025-06-11T21:06:47.863Z,1749676007.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:06:47.872Z,1749676007.872 [DAT](INFO): direction in FSK: [0.994215,0.106251,-0.015707]
2025-06-11T21:06:47.872Z,1749676007.872 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:47.873Z,1749676007.873 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:47.888Z,1749676007.888 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:47.888Z,1749676007.888 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:47.891Z,1749676007.891 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.029732
2025-06-11T21:06:47.921Z,1749676007.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.900002 m,
deltaT: 3.528052 s,
deltaX: -2.899998 m,
approachRate: -0.821983 m/s,
rangeRepo size: 4
2025-06-11T21:06:47.929Z,1749676007.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.601864 m,
bearing: 87.396101 deg,
lat: 36.906549 deg,
lon: -122.115558 deg,
deltaT: 3.528052 s,
deltaX: -2.875652 m,
approachRate: -0.815082 m/s,
posRepo size: 4
2025-06-11T21:06:47.930Z,1749676007.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:06:47.938Z,1749676007.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601864 m,
nav range: 34.508652 m,
bearing: 87.396348 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.065123 deg/s,
cmd heading: 79.521311 deg,
new cmd heading: 79.424114 deg.
2025-06-11T21:06:47.939Z,1749676007.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386212 target range: 34.601864 and range: 34.90 m.
2025-06-11T21:06:48.077Z,1749676008.077 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.215182
2025-06-11T21:06:48.281Z,1749676008.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:06:48.288Z,1749676008.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601864 m,
nav range: 34.208313 m,
bearing: 87.363918 deg,
approach rate: -0.819503 m/s,
LOS rate: -0.089265 deg/s,
cmd heading: 79.424110 deg,
new cmd heading: 79.325966 deg.
2025-06-11T21:06:48.289Z,1749676008.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384499 target range: 34.601864 and range: 34.90 m.
2025-06-11T21:06:48.329Z,1749676008.329 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.467197
2025-06-11T21:06:48.584Z,1749676008.584 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.721281
2025-06-11T21:06:48.683Z,1749676008.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:06:48.686Z,1749676008.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601864 m,
nav range: 33.888237 m,
bearing: 87.328844 deg,
approach rate: -0.796778 m/s,
LOS rate: -0.088137 deg/s,
cmd heading: 79.325967 deg,
new cmd heading: 79.219750 deg.
2025-06-11T21:06:48.687Z,1749676008.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382645 target range: 34.601864 and range: 34.90 m.
2025-06-11T21:06:48.834Z,1749676008.834 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.972340
2025-06-11T21:06:49.024Z,1749676009.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:06:49.026Z,1749676009.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601864 m,
nav range: 33.622452 m,
bearing: 87.298711 deg,
approach rate: -0.780007 m/s,
LOS rate: -0.089129 deg/s,
cmd heading: 79.219751 deg,
new cmd heading: 79.128640 deg.
2025-06-11T21:06:49.027Z,1749676009.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381055 target range: 34.601864 and range: 34.90 m.
2025-06-11T21:06:49.085Z,1749676009.085 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.223370
2025-06-11T21:06:49.337Z,1749676009.337 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.475145
2025-06-11T21:06:49.440Z,1749676009.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:49.442Z,1749676009.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:06:49.445Z,1749676009.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601864 m,
nav range: 33.300575 m,
bearing: 87.260624 deg,
approach rate: -0.768715 m/s,
LOS rate: -0.091840 deg/s,
cmd heading: 79.128636 deg,
new cmd heading: 79.013271 deg.
2025-06-11T21:06:49.446Z,1749676009.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379042 target range: 34.601864 and range: 34.90 m.
2025-06-11T21:06:49.595Z,1749676009.595 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.732697
2025-06-11T21:06:49.845Z,1749676009.845 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.983195
2025-06-11T21:06:49.879Z,1749676009.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:06:49.883Z,1749676009.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601864 m,
nav range: 32.947926 m,
bearing: 87.223938 deg,
approach rate: -0.806842 m/s,
LOS rate: -0.084835 deg/s,
cmd heading: 79.013268 deg,
new cmd heading: 78.902030 deg.
2025-06-11T21:06:49.884Z,1749676009.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377100 target range: 34.601864 and range: 34.90 m.
2025-06-11T21:06:50.097Z,1749676010.097 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.235166
2025-06-11T21:06:50.252Z,1749676010.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:06:50.255Z,1749676010.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601864 m,
nav range: 32.651440 m,
bearing: 87.192592 deg,
approach rate: -0.796183 m/s,
LOS rate: -0.084941 deg/s,
cmd heading: 78.902031 deg,
new cmd heading: 78.807139 deg.
2025-06-11T21:06:50.256Z,1749676010.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375444 target range: 34.601864 and range: 34.90 m.
2025-06-11T21:06:50.349Z,1749676010.349 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.487376
2025-06-11T21:06:50.603Z,1749676010.603 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.741052
2025-06-11T21:06:50.734Z,1749676010.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:06:50.737Z,1749676010.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601864 m,
nav range: 32.264526 m,
bearing: 87.162320 deg,
approach rate: -0.801762 m/s,
LOS rate: -0.063482 deg/s,
cmd heading: 78.807139 deg,
new cmd heading: 78.715234 deg.
2025-06-11T21:06:50.738Z,1749676010.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373840 target range: 34.601864 and range: 34.90 m.
2025-06-11T21:06:50.853Z,1749676010.853 [DAT](INFO): DAT read: Rx Time:21:06:52.0095
2025-06-11T21:06:50.853Z,1749676010.853 [DAT](INFO): Rx dataTimestamp_ set to:1749676010.853159
2025-06-11T21:06:50.854Z,1749676010.854 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.992368
2025-06-11T21:06:51.106Z,1749676011.106 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.243644
2025-06-11T21:06:51.194Z,1749676011.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-06-11T21:06:51.201Z,1749676011.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.601864 m,
nav range: 31.948683 m,
bearing: 87.137217 deg,
approach rate: -0.687783 m/s,
LOS rate: -0.055205 deg/s,
cmd heading: 78.715232 deg,
new cmd heading: 78.639179 deg.
2025-06-11T21:06:51.202Z,1749676011.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372513 target range: 34.601864 and range: 34.90 m.
2025-06-11T21:06:51.363Z,1749676011.363 [DAT](INFO): DAT read: 21:06:52.0095 LVL= 23920, 30545, 22066, 32755, AGC= 66, IDX= 405, 0.27, 0.729,-0.559, 0.758, 0.435, PHS= 0.382,-0.947, 0.320, RAW= 147.6, 3.8, CAL= 150.1, -5.0, ROT= 359.9, 5.0
2025-06-11T21:06:51.364Z,1749676011.364 [DAT](INFO): got valid direction response:
21:06:52.0095 LVL= 23920, 30545, 22066, 32755, AGC= 66, IDX= 405, 0.27, 0.729,-0.559, 0.758, 0.435, PHS= 0.382,-0.947, 0.320, RAW= 147.6, 3.8, CAL= 150.1, -5.0, ROT= 359.9, 5.0
2025-06-11T21:06:51.365Z,1749676011.365 [DAT](INFO): DAT read: Bearing 359.9, 5.0 (Local)
2025-06-11T21:06:51.366Z,1749676011.366 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.9, 5.0 (Local)
2025-06-11T21:06:51.367Z,1749676011.367 [DAT](INFO): DAT read: Range 10 to 50 : 32.3 m (Round-trip 43.1 ms) speed 0.7 m/s
2025-06-11T21:06:51.368Z,1749676011.368 [DAT](INFO): DAT read: user:756>
2025-06-11T21:06:51.369Z,1749676011.369 [DAT](INFO): DAT read: Tx time:21:06:53.1123
2025-06-11T21:06:51.369Z,1749676011.369 [DAT](INFO): Ping request sent.
2025-06-11T21:06:51.369Z,1749676011.369 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:51.369Z,1749676011.369 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-11T21:06:51.374Z,1749676011.374 [DAT](INFO): direction in FSK: [0.996193,-0.001739,-0.087156]
2025-06-11T21:06:51.375Z,1749676011.375 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:51.375Z,1749676011.375 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:51.379Z,1749676011.379 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:51.379Z,1749676011.379 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:51.383Z,1749676011.383 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.013511
2025-06-11T21:06:51.555Z,1749676011.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.299999 m,
deltaT: 3.531836 s,
deltaX: -2.600002 m,
approachRate: -0.736162 m/s,
rangeRepo size: 4
2025-06-11T21:06:51.562Z,1749676011.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.023876 m,
bearing: 81.803285 deg,
lat: 36.906549 deg,
lon: -122.115558 deg,
deltaT: 3.531836 s,
deltaX: -2.577988 m,
approachRate: -0.729928 m/s,
posRepo size: 4
2025-06-11T21:06:51.563Z,1749676011.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-06-11T21:06:51.581Z,1749676011.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.023876 m,
nav range: 31.628250 m,
bearing: 87.111378 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.055205 deg/s,
cmd heading: 78.639178 deg,
new cmd heading: 78.579382 deg.
2025-06-11T21:06:51.582Z,1749676011.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.371469 target range: 32.023876 and range: 32.30 m.
2025-06-11T21:06:51.612Z,1749676011.612 [DAT](INFO): DAT read: TxSync time:21:06:53.1115
2025-06-11T21:06:51.614Z,1749676011.614 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.244607
2025-06-11T21:06:51.861Z,1749676011.861 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.491821
2025-06-11T21:06:51.957Z,1749676011.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:51.959Z,1749676011.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-06-11T21:06:51.962Z,1749676011.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.023876 m,
nav range: 31.286781 m,
bearing: 87.090280 deg,
approach rate: -0.844877 m/s,
LOS rate: -0.052772 deg/s,
cmd heading: 78.579380 deg,
new cmd heading: 78.515395 deg.
2025-06-11T21:06:51.963Z,1749676011.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370352 target range: 32.023876 and range: 32.30 m.
2025-06-11T21:06:52.113Z,1749676012.113 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.743594
2025-06-11T21:06:52.313Z,1749676012.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-06-11T21:06:52.316Z,1749676012.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.023876 m,
nav range: 31.006283 m,
bearing: 87.072597 deg,
approach rate: -0.792194 m/s,
LOS rate: -0.050392 deg/s,
cmd heading: 78.515395 deg,
new cmd heading: 78.461867 deg.
2025-06-11T21:06:52.317Z,1749676012.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369418 target range: 32.023876 and range: 32.30 m.
2025-06-11T21:06:52.366Z,1749676012.366 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.996976
2025-06-11T21:06:52.619Z,1749676012.619 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.249365
2025-06-11T21:06:52.746Z,1749676012.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-06-11T21:06:52.749Z,1749676012.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.023876 m,
nav range: 30.649965 m,
bearing: 87.059275 deg,
approach rate: -0.823444 m/s,
LOS rate: -0.031145 deg/s,
cmd heading: 78.461866 deg,
new cmd heading: 78.421436 deg.
2025-06-11T21:06:52.749Z,1749676012.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368712 target range: 32.023876 and range: 32.30 m.
2025-06-11T21:06:52.869Z,1749676012.869 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.499602
2025-06-11T21:06:53.113Z,1749676013.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-06-11T21:06:53.116Z,1749676013.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.023876 m,
nav range: 30.347189 m,
bearing: 87.050015 deg,
approach rate: -0.824040 m/s,
LOS rate: -0.025455 deg/s,
cmd heading: 78.421439 deg,
new cmd heading: 78.393380 deg.
2025-06-11T21:06:53.117Z,1749676013.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368223 target range: 32.023876 and range: 32.30 m.
2025-06-11T21:06:53.121Z,1749676013.121 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.751781
2025-06-11T21:06:53.374Z,1749676013.374 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.004392
2025-06-11T21:06:53.516Z,1749676013.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-06-11T21:06:53.519Z,1749676013.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.023876 m,
nav range: 30.015528 m,
bearing: 87.041346 deg,
approach rate: -0.823702 m/s,
LOS rate: -0.021767 deg/s,
cmd heading: 78.393380 deg,
new cmd heading: 78.367087 deg.
2025-06-11T21:06:53.519Z,1749676013.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367764 target range: 32.023876 and range: 32.30 m.
2025-06-11T21:06:53.628Z,1749676013.628 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.258381
2025-06-11T21:06:53.877Z,1749676013.877 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.507637
2025-06-11T21:06:53.959Z,1749676013.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:53.977Z,1749676013.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-06-11T21:06:53.980Z,1749676013.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.023876 m,
nav range: 29.653639 m,
bearing: 87.050290 deg,
approach rate: -0.784627 m/s,
LOS rate: 0.019627 deg/s,
cmd heading: 78.367084 deg,
new cmd heading: 78.394242 deg.
2025-06-11T21:06:53.981Z,1749676013.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368238 target range: 32.023876 and range: 32.30 m.
2025-06-11T21:06:54.129Z,1749676014.129 [DAT](INFO): DAT read: Rx Time:21:06:55.5557
2025-06-11T21:06:54.129Z,1749676014.129 [DAT](INFO): Rx dataTimestamp_ set to:1749676014.129157
2025-06-11T21:06:54.130Z,1749676014.130 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760834
2025-06-11T21:06:54.320Z,1749676014.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-06-11T21:06:54.323Z,1749676014.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.023876 m,
nav range: 29.359974 m,
bearing: 87.059063 deg,
approach rate: -0.856670 m/s,
LOS rate: 0.025851 deg/s,
cmd heading: 78.394241 deg,
new cmd heading: 78.420826 deg.
2025-06-11T21:06:54.323Z,1749676014.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368702 target range: 32.023876 and range: 32.30 m.
2025-06-11T21:06:54.382Z,1749676014.382 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.012448
2025-06-11T21:06:54.634Z,1749676014.634 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.264717
2025-06-11T21:06:54.797Z,1749676014.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-06-11T21:06:54.800Z,1749676014.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.023876 m,
nav range: 28.975069 m,
bearing: 87.074906 deg,
approach rate: -0.805989 m/s,
LOS rate: 0.033614 deg/s,
cmd heading: 78.420824 deg,
new cmd heading: 78.468982 deg.
2025-06-11T21:06:54.801Z,1749676014.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369542 target range: 32.023876 and range: 32.30 m.
2025-06-11T21:06:54.893Z,1749676014.893 [DAT](INFO): DAT read: 21:06:55.5557 LVL= 26736, 31889, 21090, 32755, AGC= 64, IDX= 399,-0.02, 0.026,-1.220, 0.065,-0.231, PHS= 0.345,-0.942, 0.293, RAW= 148.0, 4.9, CAL= 150.1, -3.9, ROT= 359.9, 3.9
2025-06-11T21:06:54.894Z,1749676014.894 [DAT](INFO): got valid direction response:
21:06:55.5557 LVL= 26736, 31889, 21090, 32755, AGC= 64, IDX= 399,-0.02, 0.026,-1.220, 0.065,-0.231, PHS= 0.345,-0.942, 0.293, RAW= 148.0, 4.9, CAL= 150.1, -3.9, ROT= 359.9, 3.9
2025-06-11T21:06:54.895Z,1749676014.895 [DAT](INFO): DAT read: Bearing 359.9, 3.9 (Local)
2025-06-11T21:06:54.895Z,1749676014.895 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.9, 3.9 (Local)
2025-06-11T21:06:54.897Z,1749676014.897 [DAT](INFO): DAT read: Range 10 to 50 : 29.4 m (Round-trip 39.3 ms) speed 0.7 m/s
2025-06-11T21:06:54.898Z,1749676014.898 [DAT](INFO): DAT read: user:757>
2025-06-11T21:06:54.899Z,1749676014.899 [DAT](INFO): DAT read: Tx time:21:06:56.6623
2025-06-11T21:06:54.899Z,1749676014.899 [DAT](INFO): Ping request sent.
2025-06-11T21:06:54.899Z,1749676014.899 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:54.899Z,1749676014.899 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-11T21:06:54.901Z,1749676014.901 [DAT](INFO): direction in FSK: [0.997683,-0.001741,-0.068015]
2025-06-11T21:06:54.901Z,1749676014.901 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:54.901Z,1749676014.901 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:54.926Z,1749676014.926 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:54.926Z,1749676014.926 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:54.940Z,1749676014.940 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.041199
2025-06-11T21:06:55.137Z,1749676015.137 [DAT](INFO): DAT read: TxSync time:21:06:56.6615
2025-06-11T21:06:55.138Z,1749676015.138 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.238800
2025-06-11T21:06:55.163Z,1749676015.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.400000 m,
deltaT: 3.528685 s,
deltaX: -2.900000 m,
approachRate: -0.821836 m/s,
rangeRepo size: 4
2025-06-11T21:06:55.169Z,1749676015.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.148735 m,
bearing: 80.977046 deg,
lat: 36.906551 deg,
lon: -122.115558 deg,
deltaT: 3.528685 s,
deltaX: -2.875141 m,
approachRate: -0.814791 m/s,
posRepo size: 4
2025-06-11T21:06:55.170Z,1749676015.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m.
2025-06-11T21:06:55.177Z,1749676015.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.148735 m,
nav range: 28.700060 m,
bearing: 86.808502 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.033614 deg/s,
cmd heading: 78.468983 deg,
new cmd heading: 78.505787 deg.
2025-06-11T21:06:55.178Z,1749676015.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370184 target range: 29.148735 and range: 29.40 m.
2025-06-11T21:06:55.389Z,1749676015.389 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.489899
2025-06-11T21:06:55.555Z,1749676015.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m.
2025-06-11T21:06:55.558Z,1749676015.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.148735 m,
nav range: 28.381945 m,
bearing: 86.820370 deg,
approach rate: -0.816442 m/s,
LOS rate: 0.030800 deg/s,
cmd heading: 78.505785 deg,
new cmd heading: 78.541787 deg.
2025-06-11T21:06:55.559Z,1749676015.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370813 target range: 29.148735 and range: 29.40 m.
2025-06-11T21:06:55.641Z,1749676015.641 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.741894
2025-06-11T21:06:55.893Z,1749676015.893 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.993835
2025-06-11T21:06:55.959Z,1749676015.959 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +6, -30,A
2025-06-11T21:06:55.972Z,1749676015.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:55.974Z,1749676015.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m.
2025-06-11T21:06:55.977Z,1749676015.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.148735 m,
nav range: 28.028545 m,
bearing: 86.835016 deg,
approach rate: -0.836151 m/s,
LOS rate: 0.035091 deg/s,
cmd heading: 78.541786 deg,
new cmd heading: 78.586280 deg.
2025-06-11T21:06:55.978Z,1749676015.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.371589 target range: 29.148735 and range: 29.40 m.
2025-06-11T21:06:56.147Z,1749676016.147 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.247976
2025-06-11T21:06:56.360Z,1749676016.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m.
2025-06-11T21:06:56.362Z,1749676016.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.148735 m,
nav range: 27.730616 m,
bearing: 86.848436 deg,
approach rate: -0.807218 m/s,
LOS rate: 0.036751 deg/s,
cmd heading: 78.586278 deg,
new cmd heading: 78.626971 deg.
2025-06-11T21:06:56.363Z,1749676016.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372300 target range: 29.148735 and range: 29.40 m.
2025-06-11T21:06:56.397Z,1749676016.397 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.497921
2025-06-11T21:06:56.649Z,1749676016.649 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.749865
2025-06-11T21:06:56.805Z,1749676016.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m.
2025-06-11T21:06:56.808Z,1749676016.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.148735 m,
nav range: 27.369829 m,
bearing: 86.866406 deg,
approach rate: -0.781493 m/s,
LOS rate: 0.039437 deg/s,
cmd heading: 78.626973 deg,
new cmd heading: 78.681592 deg.
2025-06-11T21:06:56.809Z,1749676016.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373253 target range: 29.148735 and range: 29.40 m.
2025-06-11T21:06:56.902Z,1749676016.902 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.002658
2025-06-11T21:06:57.153Z,1749676017.153 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.253926
2025-06-11T21:06:57.159Z,1749676017.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m.
2025-06-11T21:06:57.161Z,1749676017.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.148735 m,
nav range: 27.094816 m,
bearing: 86.882872 deg,
approach rate: -0.778507 m/s,
LOS rate: 0.047087 deg/s,
cmd heading: 78.681594 deg,
new cmd heading: 78.731495 deg.
2025-06-11T21:06:57.162Z,1749676017.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374124 target range: 29.148735 and range: 29.40 m.
2025-06-11T21:06:57.405Z,1749676017.405 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.505799
2025-06-11T21:06:57.556Z,1749676017.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m.
2025-06-11T21:06:57.559Z,1749676017.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.148735 m,
nav range: 26.783613 m,
bearing: 86.903962 deg,
approach rate: -0.782747 m/s,
LOS rate: 0.053661 deg/s,
cmd heading: 78.731495 deg,
new cmd heading: 78.795499 deg.
2025-06-11T21:06:57.576Z,1749676017.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375241 target range: 29.148735 and range: 29.40 m.
2025-06-11T21:06:57.661Z,1749676017.661 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.761482
2025-06-11T21:06:57.909Z,1749676017.909 [DAT](INFO): DAT read: Rx Time:21:06:59.1019
2025-06-11T21:06:57.910Z,1749676017.910 [DAT](INFO): Rx dataTimestamp_ set to:1749676017.909557
2025-06-11T21:06:57.911Z,1749676017.911 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.011840
2025-06-11T21:06:57.994Z,1749676017.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:06:57.996Z,1749676017.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m.
2025-06-11T21:06:57.999Z,1749676017.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.148735 m,
nav range: 26.438736 m,
bearing: 86.919952 deg,
approach rate: -0.784324 m/s,
LOS rate: 0.036839 deg/s,
cmd heading: 78.795501 deg,
new cmd heading: 78.844097 deg.
2025-06-11T21:06:57.000Z,1749676018.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376089 target range: 29.148735 and range: 29.40 m.
2025-06-11T21:06:58.161Z,1749676018.161 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.262125
2025-06-11T21:06:58.365Z,1749676018.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m.
2025-06-11T21:06:58.368Z,1749676018.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.148735 m,
nav range: 26.148603 m,
bearing: 86.935262 deg,
approach rate: -0.785039 m/s,
LOS rate: 0.041886 deg/s,
cmd heading: 78.844097 deg,
new cmd heading: 78.890538 deg.
2025-06-11T21:06:58.369Z,1749676018.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376900 target range: 29.148735 and range: 29.40 m.
2025-06-11T21:06:58.421Z,1749676018.421 [DAT](INFO): DAT read: 21:06:59.1019 LVL= 25344, 32753, 21762, 32755, AGC= 63, IDX= 408,-0.17, 1.031,-0.303, 0.975, 0.748, PHS= 0.371,-1.003, 0.224, RAW= 144.4, 6.3, CAL= 147.0, -2.0, ROT= 3.0, 2.0
2025-06-11T21:06:58.423Z,1749676018.423 [DAT](INFO): got valid direction response:
21:06:59.1019 LVL= 25344, 32753, 21762, 32755, AGC= 63, IDX= 408,-0.17, 1.031,-0.303, 0.975, 0.748, PHS= 0.371,-1.003, 0.224, RAW= 144.4, 6.3, CAL= 147.0, -2.0, ROT= 3.0, 2.0
2025-06-11T21:06:58.425Z,1749676018.425 [DAT](INFO): DAT read: Bearing 3.0, 2.0 (Local)
2025-06-11T21:06:58.425Z,1749676018.425 [DAT](INFO): Local bearing/azimuth received:
Bearing 3.0, 2.0 (Local)
2025-06-11T21:06:58.427Z,1749676018.427 [DAT](INFO): DAT read: Range 10 to 50 : 26.6 m (Round-trip 35.5 ms) speed 0.7 m/s
2025-06-11T21:06:58.428Z,1749676018.428 [DAT](INFO): DAT read: user:758>
2025-06-11T21:06:58.429Z,1749676018.429 [DAT](INFO): DAT read: Tx time:21:07:00.2123
2025-06-11T21:06:58.429Z,1749676018.429 [DAT](INFO): Ping request sent.
2025-06-11T21:06:58.429Z,1749676018.429 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:06:58.429Z,1749676018.429 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-11T21:06:58.430Z,1749676018.430 [DAT](INFO): direction in FSK: [0.998021,0.052304,-0.034899]
2025-06-11T21:06:58.431Z,1749676018.431 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:58.431Z,1749676018.431 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:58.449Z,1749676018.448 [DAT](INFO): publishing transmit ping time
2025-06-11T21:06:58.449Z,1749676018.449 [DAT](INFO): publishing direction and range info
2025-06-11T21:06:58.454Z,1749676018.454 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.024976
2025-06-11T21:06:58.665Z,1749676018.665 [DAT](INFO): DAT read: TxSync time:21:07:00.2115
2025-06-11T21:06:58.666Z,1749676018.666 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.236552
2025-06-11T21:06:58.841Z,1749676018.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.600000 m,
deltaT: 3.527639 s,
deltaX: -2.799999 m,
approachRate: -0.793732 m/s,
rangeRepo size: 4
2025-06-11T21:06:58.843Z,1749676018.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.373379 m,
bearing: 82.771443 deg,
lat: 36.906568 deg,
lon: -122.115558 deg,
deltaT: 3.527639 s,
deltaX: -2.775356 m,
approachRate: -0.786746 m/s,
posRepo size: 4
2025-06-11T21:06:58.843Z,1749676018.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.37 m.
2025-06-11T21:06:58.850Z,1749676018.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.373379 m,
nav range: 25.966829 m,
bearing: 82.691668 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.041886 deg/s,
cmd heading: 78.890536 deg,
new cmd heading: 78.947647 deg.
2025-06-11T21:06:58.851Z,1749676018.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377896 target range: 26.373379 and range: 26.60 m.
2025-06-11T21:06:58.918Z,1749676018.918 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.488190
2025-06-11T21:06:59.169Z,1749676019.169 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.739713
2025-06-11T21:06:59.179Z,1749676019.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.37 m.
2025-06-11T21:06:59.182Z,1749676019.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.373379 m,
nav range: 25.679972 m,
bearing: 82.652998 deg,
approach rate: -0.797950 m/s,
LOS rate: -0.108771 deg/s,
cmd heading: 78.947650 deg,
new cmd heading: 78.830343 deg.
2025-06-11T21:06:59.183Z,1749676019.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375849 target range: 26.373379 and range: 26.60 m.
2025-06-11T21:06:59.421Z,1749676019.421 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.991487
2025-06-11T21:06:59.577Z,1749676019.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.37 m.
2025-06-11T21:06:59.579Z,1749676019.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.373379 m,
nav range: 25.366131 m,
bearing: 82.609976 deg,
approach rate: -0.789861 m/s,
LOS rate: -0.109616 deg/s,
cmd heading: 78.830341 deg,
new cmd heading: 78.699678 deg.
2025-06-11T21:06:59.581Z,1749676019.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373569 target range: 26.373379 and range: 26.60 m.
2025-06-11T21:06:59.673Z,1749676019.673 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.243690
2025-06-11T21:06:59.925Z,1749676019.925 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.496242
2025-06-11T21:07:00.007Z,1749676020.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:00.010Z,1749676020.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.37 m.
2025-06-11T21:07:00.013Z,1749676020.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.373379 m,
nav range: 25.030741 m,
bearing: 82.538466 deg,
approach rate: -0.774498 m/s,
LOS rate: -0.167346 deg/s,
cmd heading: 78.699680 deg,
new cmd heading: 78.482278 deg.
2025-06-11T21:07:00.014Z,1749676020.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369774 target range: 26.373379 and range: 26.60 m.
2025-06-11T21:07:00.177Z,1749676020.177 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.747551
2025-06-11T21:07:00.387Z,1749676020.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.37 m.
2025-06-11T21:07:00.390Z,1749676020.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.373379 m,
nav range: 24.738041 m,
bearing: 82.475617 deg,
approach rate: -0.776149 m/s,
LOS rate: -0.168628 deg/s,
cmd heading: 78.482275 deg,
new cmd heading: 78.291497 deg.
2025-06-11T21:07:00.391Z,1749676020.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366444 target range: 26.373379 and range: 26.60 m.
2025-06-11T21:07:00.430Z,1749676020.430 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.000207
2025-06-11T21:07:00.681Z,1749676020.681 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.251544
2025-06-11T21:07:00.845Z,1749676020.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.37 m.
2025-06-11T21:07:00.847Z,1749676020.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.373379 m,
nav range: 24.384354 m,
bearing: 82.370332 deg,
approach rate: -0.772447 m/s,
LOS rate: -0.233275 deg/s,
cmd heading: 78.291494 deg,
new cmd heading: 77.971062 deg.
2025-06-11T21:07:00.849Z,1749676020.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360852 target range: 26.373379 and range: 26.60 m.
2025-06-11T21:07:00.934Z,1749676020.934 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.504565
2025-06-11T21:07:01.185Z,1749676021.185 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.755431
2025-06-11T21:07:01.207Z,1749676021.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.37 m.
2025-06-11T21:07:01.210Z,1749676021.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.373379 m,
nav range: 24.104475 m,
bearing: 82.285026 deg,
approach rate: -0.772424 m/s,
LOS rate: -0.238168 deg/s,
cmd heading: 77.971063 deg,
new cmd heading: 77.712172 deg.
2025-06-11T21:07:01.211Z,1749676021.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356333 target range: 26.373379 and range: 26.60 m.
2025-06-11T21:07:01.437Z,1749676021.437 [DAT](INFO): DAT read: Rx Time:21:07:02.6482
2025-06-11T21:07:01.438Z,1749676021.438 [DAT](INFO): Rx dataTimestamp_ set to:1749676021.437870
2025-06-11T21:07:01.439Z,1749676021.439 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.009857
2025-06-11T21:07:01.609Z,1749676021.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.37 m.
2025-06-11T21:07:01.611Z,1749676021.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.373379 m,
nav range: 23.795193 m,
bearing: 82.188130 deg,
approach rate: -0.770202 m/s,
LOS rate: -0.244435 deg/s,
cmd heading: 77.712171 deg,
new cmd heading: 77.417708 deg.
2025-06-11T21:07:01.613Z,1749676021.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351194 target range: 26.373379 and range: 26.60 m.
2025-06-11T21:07:01.689Z,1749676021.689 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.259807
2025-06-11T21:07:01.947Z,1749676021.947 [DAT](INFO): DAT read: 21:07:02.6482 LVL= 27056, 30689, 19842, 32755, AGC= 65, IDX= 401, 0.09,-1.107,-2.445,-1.113,-1.379, PHS= 0.361,-1.018, 0.263, RAW= 146.4, 6.0, CAL= 148.5, -2.6, ROT= 1.5, 2.6
2025-06-11T21:07:01.948Z,1749676021.948 [DAT](INFO): got valid direction response:
21:07:02.6482 LVL= 27056, 30689, 19842, 32755, AGC= 65, IDX= 401, 0.09,-1.107,-2.445,-1.113,-1.379, PHS= 0.361,-1.018, 0.263, RAW= 146.4, 6.0, CAL= 148.5, -2.6, ROT= 1.5, 2.6
2025-06-11T21:07:01.949Z,1749676021.949 [DAT](INFO): DAT read: Bearing 1.5, 2.6 (Local)
2025-06-11T21:07:01.949Z,1749676021.949 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.5, 2.6 (Local)
2025-06-11T21:07:01.951Z,1749676021.951 [DAT](INFO): DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.7 ms) speed 0.6 m/s
2025-06-11T21:07:01.951Z,1749676021.951 [DAT](INFO): DAT read: user:759>
2025-06-11T21:07:01.952Z,1749676021.952 [DAT](INFO): DAT read: Tx time:21:07:03.7624
2025-06-11T21:07:01.953Z,1749676021.953 [DAT](INFO): Ping request sent.
2025-06-11T21:07:01.953Z,1749676021.953 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:01.953Z,1749676021.953 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-11T21:07:01.954Z,1749676021.954 [DAT](INFO): direction in FSK: [0.998628,0.026150,-0.045363]
2025-06-11T21:07:01.954Z,1749676021.954 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:01.955Z,1749676021.955 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:01.958Z,1749676021.958 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:01.958Z,1749676021.958 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:01.971Z,1749676021.971 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.017902
2025-06-11T21:07:02.122Z,1749676022.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 3.527768 s,
deltaX: -2.900000 m,
approachRate: -0.822049 m/s,
rangeRepo size: 4
2025-06-11T21:07:02.132Z,1749676022.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.498093 m,
bearing: 81.280157 deg,
lat: 36.906571 deg,
lon: -122.115559 deg,
deltaT: 3.527768 s,
deltaX: -2.875286 m,
approachRate: -0.815044 m/s,
posRepo size: 4
2025-06-11T21:07:02.133Z,1749676022.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:07:02.140Z,1749676022.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.498093 m,
nav range: 23.353830 m,
bearing: 81.280077 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.244435 deg/s,
cmd heading: 77.417708 deg,
new cmd heading: 77.041686 deg.
2025-06-11T21:07:02.141Z,1749676022.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344631 target range: 23.498093 and range: 23.70 m.
2025-06-11T21:07:02.194Z,1749676022.194 [DAT](INFO): DAT read: TxSync time:21:07:03.7616
2025-06-11T21:07:02.195Z,1749676022.195 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.242183
2025-06-11T21:07:02.445Z,1749676022.445 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.492087
2025-06-11T21:07:02.447Z,1749676022.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:02.450Z,1749676022.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:07:02.452Z,1749676022.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.498093 m,
nav range: 23.098139 m,
bearing: 81.185741 deg,
approach rate: -0.779246 m/s,
LOS rate: -0.290681 deg/s,
cmd heading: 77.041686 deg,
new cmd heading: 76.755547 deg.
2025-06-11T21:07:02.453Z,1749676022.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339637 target range: 23.498093 and range: 23.70 m.
2025-06-11T21:07:02.697Z,1749676022.697 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.743982
2025-06-11T21:07:02.905Z,1749676022.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:07:02.914Z,1749676022.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.498093 m,
nav range: 22.760485 m,
bearing: 81.054292 deg,
approach rate: -0.741742 m/s,
LOS rate: -0.293044 deg/s,
cmd heading: 76.755549 deg,
new cmd heading: 76.355358 deg.
2025-06-11T21:07:02.915Z,1749676022.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332652 target range: 23.498093 and range: 23.70 m.
2025-06-11T21:07:02.949Z,1749676022.949 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.996228
2025-06-11T21:07:03.201Z,1749676023.201 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.247998
2025-06-11T21:07:03.255Z,1749676023.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:07:03.274Z,1749676023.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.498093 m,
nav range: 22.480146 m,
bearing: 80.941745 deg,
approach rate: -0.800342 m/s,
LOS rate: -0.325321 deg/s,
cmd heading: 76.355361 deg,
new cmd heading: 76.013512 deg.
2025-06-11T21:07:03.275Z,1749676023.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326686 target range: 23.498093 and range: 23.70 m.
2025-06-11T21:07:03.453Z,1749676023.453 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.499999
2025-06-11T21:07:03.664Z,1749676023.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:07:03.667Z,1749676023.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.498093 m,
nav range: 22.178343 m,
bearing: 80.816740 deg,
approach rate: -0.738325 m/s,
LOS rate: -0.309969 deg/s,
cmd heading: 76.013510 deg,
new cmd heading: 75.633399 deg.
2025-06-11T21:07:03.672Z,1749676023.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320052 target range: 23.498093 and range: 23.70 m.
2025-06-11T21:07:03.705Z,1749676023.705 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.752321
2025-06-11T21:07:03.957Z,1749676023.957 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.003981
2025-06-11T21:07:04.080Z,1749676024.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:07:04.083Z,1749676024.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.498093 m,
nav range: 21.852165 m,
bearing: 80.670086 deg,
approach rate: -0.784413 m/s,
LOS rate: -0.357947 deg/s,
cmd heading: 75.633396 deg,
new cmd heading: 75.186877 deg.
2025-06-11T21:07:04.083Z,1749676024.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312259 target range: 23.498093 and range: 23.70 m.
2025-06-11T21:07:04.209Z,1749676024.209 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.256106
2025-06-11T21:07:04.461Z,1749676024.461 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508049
2025-06-11T21:07:04.530Z,1749676024.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:04.532Z,1749676024.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:07:04.535Z,1749676024.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.498093 m,
nav range: 21.513672 m,
bearing: 80.516994 deg,
approach rate: -0.749050 m/s,
LOS rate: -0.344105 deg/s,
cmd heading: 75.186879 deg,
new cmd heading: 74.720389 deg.
2025-06-11T21:07:04.535Z,1749676024.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304117 target range: 23.498093 and range: 23.70 m.
2025-06-11T21:07:04.713Z,1749676024.713 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.759974
2025-06-11T21:07:04.914Z,1749676024.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:07:04.940Z,1749676024.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.498093 m,
nav range: 21.230244 m,
bearing: 80.386982 deg,
approach rate: -0.741603 m/s,
LOS rate: -0.344724 deg/s,
cmd heading: 74.720391 deg,
new cmd heading: 74.325154 deg.
2025-06-11T21:07:04.941Z,1749676024.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297219 target range: 23.498093 and range: 23.70 m.
2025-06-11T21:07:04.967Z,1749676024.967 [DAT](INFO): DAT read: Rx Time:21:07:06.1946
2025-06-11T21:07:04.967Z,1749676024.967 [DAT](INFO): Rx dataTimestamp_ set to:1749676024.967145
2025-06-11T21:07:04.968Z,1749676024.968 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.015348
2025-06-11T21:07:05.217Z,1749676025.217 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.264038
2025-06-11T21:07:05.276Z,1749676025.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:07:05.279Z,1749676025.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.498093 m,
nav range: 20.955130 m,
bearing: 80.259579 deg,
approach rate: -0.759379 m/s,
LOS rate: -0.356279 deg/s,
cmd heading: 74.325155 deg,
new cmd heading: 73.937935 deg.
2025-06-11T21:07:05.280Z,1749676025.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290460 target range: 23.498093 and range: 23.70 m.
2025-06-11T21:07:05.477Z,1749676025.477 [DAT](INFO): DAT read: 21:07:06.1946 LVL= 22624, 28081, 19490, 31379, AGC= 63, IDX= 412,-0.45,-0.228,-1.583,-0.016,-0.418, PHS= 0.279,-1.118, 0.400, RAW= 154.1, 6.1, CAL= 155.0, -3.0, ROT= 355.0, 3.0
2025-06-11T21:07:05.478Z,1749676025.478 [DAT](INFO): got valid direction response:
21:07:06.1946 LVL= 22624, 28081, 19490, 31379, AGC= 63, IDX= 412,-0.45,-0.228,-1.583,-0.016,-0.418, PHS= 0.279,-1.118, 0.400, RAW= 154.1, 6.1, CAL= 155.0, -3.0, ROT= 355.0, 3.0
2025-06-11T21:07:05.479Z,1749676025.479 [DAT](INFO): DAT read: Bearing 355.0, 3.0 (Local)
2025-06-11T21:07:05.479Z,1749676025.479 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.0, 3.0 (Local)
2025-06-11T21:07:05.481Z,1749676025.481 [DAT](INFO): DAT read: Range 10 to 50 : 21.0 m (Round-trip 28.1 ms) speed 0.8 m/s
2025-06-11T21:07:05.482Z,1749676025.482 [DAT](INFO): DAT read: user:760>
2025-06-11T21:07:05.483Z,1749676025.483 [DAT](INFO): DAT read: Tx time:21:07:07.3124
2025-06-11T21:07:05.483Z,1749676025.483 [DAT](INFO): Ping request sent.
2025-06-11T21:07:05.483Z,1749676025.483 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:05.483Z,1749676025.483 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-11T21:07:05.484Z,1749676025.484 [DAT](INFO): direction in FSK: [0.994829,-0.087036,-0.052336]
2025-06-11T21:07:05.485Z,1749676025.485 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:05.485Z,1749676025.485 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:05.488Z,1749676025.488 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:05.488Z,1749676025.488 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:05.491Z,1749676025.491 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.008510
2025-06-11T21:07:05.721Z,1749676025.721 [DAT](INFO): DAT read: TxSync time:21:07:07.3116
2025-06-11T21:07:05.722Z,1749676025.722 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.238884
2025-06-11T21:07:05.731Z,1749676025.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.000000 m,
deltaT: 3.527871 s,
deltaX: -2.700001 m,
approachRate: -0.765334 m/s,
rangeRepo size: 4
2025-06-11T21:07:05.737Z,1749676025.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.821177 m,
bearing: 74.242002 deg,
lat: 36.906576 deg,
lon: -122.115559 deg,
deltaT: 3.527871 s,
deltaX: -2.676916 m,
approachRate: -0.758791 m/s,
posRepo size: 4
2025-06-11T21:07:05.738Z,1749676025.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.82 m.
2025-06-11T21:07:05.745Z,1749676025.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.821177 m,
nav range: 20.724895 m,
bearing: 78.646691 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.356279 deg/s,
cmd heading: 73.937932 deg,
new cmd heading: 73.452310 deg.
2025-06-11T21:07:05.746Z,1749676025.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.281985 target range: 20.821177 and range: 21.00 m.
2025-06-11T21:07:05.973Z,1749676025.973 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.489994
2025-06-11T21:07:06.094Z,1749676026.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.82 m.
2025-06-11T21:07:06.097Z,1749676026.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.821177 m,
nav range: 20.422743 m,
bearing: 78.520308 deg,
approach rate: -0.830128 m/s,
LOS rate: -0.352358 deg/s,
cmd heading: 73.452312 deg,
new cmd heading: 73.067560 deg.
2025-06-11T21:07:06.098Z,1749676026.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275270 target range: 20.821177 and range: 21.00 m.
2025-06-11T21:07:06.225Z,1749676026.225 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.741949
2025-06-11T21:07:06.473Z,1749676026.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.82 m.
2025-06-11T21:07:06.475Z,1749676026.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.821177 m,
nav range: 20.140430 m,
bearing: 78.401826 deg,
approach rate: -0.746331 m/s,
LOS rate: -0.317614 deg/s,
cmd heading: 73.067561 deg,
new cmd heading: 72.707137 deg.
2025-06-11T21:07:06.477Z,1749676026.477 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.993967
2025-06-11T21:07:06.478Z,1749676026.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268979 target range: 20.821177 and range: 21.00 m.
2025-06-11T21:07:06.729Z,1749676026.729 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.245897
2025-06-11T21:07:06.953Z,1749676026.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:06.955Z,1749676026.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.82 m.
2025-06-11T21:07:06.958Z,1749676026.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.821177 m,
nav range: 19.772381 m,
bearing: 78.262175 deg,
approach rate: -0.763107 m/s,
LOS rate: -0.294940 deg/s,
cmd heading: 72.707138 deg,
new cmd heading: 72.280394 deg.
2025-06-11T21:07:06.959Z,1749676026.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261531 target range: 20.821177 and range: 21.00 m.
2025-06-11T21:07:06.981Z,1749676026.981 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.497757
2025-06-11T21:07:07.233Z,1749676027.233 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.749887
2025-06-11T21:07:07.301Z,1749676027.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.82 m.
2025-06-11T21:07:07.303Z,1749676027.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.821177 m,
nav range: 19.524059 m,
bearing: 78.169998 deg,
approach rate: -0.728746 m/s,
LOS rate: -0.273953 deg/s,
cmd heading: 72.280395 deg,
new cmd heading: 72.000347 deg.
2025-06-11T21:07:07.308Z,1749676027.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256643 target range: 20.821177 and range: 21.00 m.
2025-06-11T21:07:07.485Z,1749676027.485 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.001893
2025-06-11T21:07:07.686Z,1749676027.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.82 m.
2025-06-11T21:07:07.689Z,1749676027.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.821177 m,
nav range: 19.213573 m,
bearing: 78.057390 deg,
approach rate: -0.794966 m/s,
LOS rate: -0.292980 deg/s,
cmd heading: 72.000350 deg,
new cmd heading: 71.657072 deg.
2025-06-11T21:07:07.690Z,1749676027.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250652 target range: 20.821177 and range: 21.00 m.
2025-06-11T21:07:07.738Z,1749676027.738 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.254296
2025-06-11T21:07:07.989Z,1749676027.989 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.505894
2025-06-11T21:07:08.122Z,1749676028.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.82 m.
2025-06-11T21:07:08.125Z,1749676028.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.821177 m,
nav range: 18.871935 m,
bearing: 77.956286 deg,
approach rate: -0.783472 m/s,
LOS rate: -0.236056 deg/s,
cmd heading: 71.657072 deg,
new cmd heading: 71.348274 deg.
2025-06-11T21:07:08.126Z,1749676028.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245262 target range: 20.821177 and range: 21.00 m.
2025-06-11T21:07:08.241Z,1749676028.241 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.757941
2025-06-11T21:07:08.493Z,1749676028.493 [DAT](INFO): DAT read: Rx Time:21:07:09.7411
2025-06-11T21:07:08.493Z,1749676028.493 [DAT](INFO): Rx dataTimestamp_ set to:1749676028.493124
2025-06-11T21:07:08.494Z,1749676028.494 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.011043
2025-06-11T21:07:08.506Z,1749676028.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.82 m.
2025-06-11T21:07:08.509Z,1749676028.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.821177 m,
nav range: 18.571171 m,
bearing: 77.869754 deg,
approach rate: -0.784267 m/s,
LOS rate: -0.229293 deg/s,
cmd heading: 71.348272 deg,
new cmd heading: 71.084475 deg.
2025-06-11T21:07:08.510Z,1749676028.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240658 target range: 20.821177 and range: 21.00 m.
2025-06-11T21:07:08.745Z,1749676028.745 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.262156
2025-06-11T21:07:08.985Z,1749676028.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:08.987Z,1749676028.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.82 m.
2025-06-11T21:07:08.990Z,1749676028.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.821177 m,
nav range: 18.188770 m,
bearing: 77.784573 deg,
approach rate: -0.795339 m/s,
LOS rate: -0.180890 deg/s,
cmd heading: 71.084477 deg,
new cmd heading: 70.823561 deg.
2025-06-11T21:07:08.991Z,1749676028.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236104 target range: 20.821177 and range: 21.00 m.
2025-06-11T21:07:09.003Z,1749676029.003 [DAT](INFO): DAT read: 21:07:09.7411 LVL= 27216, 32753, 19506, 32755, AGC= 63, IDX= 408, 0.16,-0.607,-1.902,-0.405,-0.752, PHS= 0.234,-1.103, 0.344, RAW= 153.9, 7.6, CAL= 154.4, -1.6, ROT= 355.6, 1.6
2025-06-11T21:07:09.004Z,1749676029.004 [DAT](INFO): got valid direction response:
21:07:09.7411 LVL= 27216, 32753, 19506, 32755, AGC= 63, IDX= 408, 0.16,-0.607,-1.902,-0.405,-0.752, PHS= 0.234,-1.103, 0.344, RAW= 153.9, 7.6, CAL= 154.4, -1.6, ROT= 355.6, 1.6
2025-06-11T21:07:09.005Z,1749676029.005 [DAT](INFO): DAT read: Bearing 355.6, 1.6 (Local)
2025-06-11T21:07:09.006Z,1749676029.006 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.6, 1.6 (Local)
2025-06-11T21:07:09.007Z,1749676029.007 [DAT](INFO): DAT read: Range 10 to 50 : 18.4 m (Round-trip 24.6 ms) speed 0.7 m/s
2025-06-11T21:07:09.008Z,1749676029.008 [DAT](INFO): DAT read: user:761>
2025-06-11T21:07:09.009Z,1749676029.009 [DAT](INFO): DAT read: Tx time:21:07:10.8624
2025-06-11T21:07:09.009Z,1749676029.009 [DAT](INFO): Ping request sent.
2025-06-11T21:07:09.009Z,1749676029.009 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:09.009Z,1749676029.009 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-11T21:07:09.010Z,1749676029.010 [DAT](INFO): direction in FSK: [0.996664,-0.076689,-0.027922]
2025-06-11T21:07:09.011Z,1749676029.011 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:09.011Z,1749676029.011 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:09.015Z,1749676029.015 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:09.015Z,1749676029.015 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:09.018Z,1749676029.018 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.009282
2025-06-11T21:07:09.250Z,1749676029.250 [DAT](INFO): DAT read: TxSync time:21:07:10.8616
2025-06-11T21:07:09.251Z,1749676029.251 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.241728
2025-06-11T21:07:09.334Z,1749676029.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.400000 m,
deltaT: 3.528198 s,
deltaX: -2.600000 m,
approachRate: -0.736920 m/s,
rangeRepo size: 4
2025-06-11T21:07:09.344Z,1749676029.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.243454 m,
bearing: 72.054483 deg,
lat: 36.906577 deg,
lon: -122.115559 deg,
deltaT: 3.528198 s,
deltaX: -2.577723 m,
approachRate: -0.730606 m/s,
posRepo size: 4
2025-06-11T21:07:09.345Z,1749676029.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:07:09.347Z,1749676029.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.243454 m,
nav range: 17.966246 m,
bearing: 77.243930 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.180890 deg/s,
cmd heading: 70.823563 deg,
new cmd heading: 70.635499 deg.
2025-06-11T21:07:09.349Z,1749676029.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232822 target range: 18.243454 and range: 18.40 m.
2025-06-11T21:07:09.501Z,1749676029.501 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.491861
2025-06-11T21:07:09.712Z,1749676029.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:07:09.715Z,1749676029.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.243454 m,
nav range: 17.644850 m,
bearing: 77.176358 deg,
approach rate: -0.849133 m/s,
LOS rate: -0.181779 deg/s,
cmd heading: 70.635501 deg,
new cmd heading: 70.429092 deg.
2025-06-11T21:07:09.715Z,1749676029.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229220 target range: 18.243454 and range: 18.40 m.
2025-06-11T21:07:09.754Z,1749676029.754 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.744502
2025-06-11T21:07:10.005Z,1749676030.005 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.995586
2025-06-11T21:07:10.127Z,1749676030.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:07:10.150Z,1749676030.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.243454 m,
nav range: 17.306616 m,
bearing: 77.132799 deg,
approach rate: -0.814201 m/s,
LOS rate: -0.106904 deg/s,
cmd heading: 70.429093 deg,
new cmd heading: 70.295863 deg.
2025-06-11T21:07:10.151Z,1749676030.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226894 target range: 18.243454 and range: 18.40 m.
2025-06-11T21:07:10.258Z,1749676030.258 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.248096
2025-06-11T21:07:10.509Z,1749676030.509 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.499749
2025-06-11T21:07:10.521Z,1749676030.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:07:10.524Z,1749676030.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.243454 m,
nav range: 16.985519 m,
bearing: 77.096176 deg,
approach rate: -0.814893 m/s,
LOS rate: -0.094702 deg/s,
cmd heading: 70.295863 deg,
new cmd heading: 70.183916 deg.
2025-06-11T21:07:10.525Z,1749676030.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224940 target range: 18.243454 and range: 18.40 m.
2025-06-11T21:07:10.761Z,1749676030.761 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.751683
2025-06-11T21:07:11.002Z,1749676031.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:11.009Z,1749676031.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:07:11.011Z,1749676031.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.243454 m,
nav range: 16.603756 m,
bearing: 77.060875 deg,
approach rate: -0.791134 m/s,
LOS rate: -0.074837 deg/s,
cmd heading: 70.183916 deg,
new cmd heading: 70.075579 deg.
2025-06-11T21:07:11.013Z,1749676031.013 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.003752
2025-06-11T21:07:11.016Z,1749676031.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223050 target range: 18.243454 and range: 18.40 m.
2025-06-11T21:07:11.265Z,1749676031.265 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.255632
2025-06-11T21:07:11.316Z,1749676031.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:07:11.341Z,1749676031.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:07:11.344Z,1749676031.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.243454 m,
nav range: 16.319073 m,
bearing: 77.039487 deg,
approach rate: -0.843034 m/s,
LOS rate: -0.064439 deg/s,
cmd heading: 70.075576 deg,
new cmd heading: 70.010295 deg.
2025-06-11T21:07:11.345Z,1749676031.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221910 target range: 18.243454 and range: 18.40 m.
2025-06-11T21:07:11.517Z,1749676031.517 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.507606
2025-06-11T21:07:11.728Z,1749676031.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:07:11.730Z,1749676031.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.243454 m,
nav range: 16.005171 m,
bearing: 77.020941 deg,
approach rate: -0.812664 m/s,
LOS rate: -0.048956 deg/s,
cmd heading: 70.010293 deg,
new cmd heading: 69.953563 deg.
2025-06-11T21:07:11.731Z,1749676031.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220920 target range: 18.243454 and range: 18.40 m.
2025-06-11T21:07:11.770Z,1749676031.770 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.761234
2025-06-11T21:07:12.021Z,1749676032.021 [DAT](INFO): DAT read: Rx Time:21:07:13.2875
2025-06-11T21:07:12.021Z,1749676032.021 [DAT](INFO): Rx dataTimestamp_ set to:1749676032.021012
2025-06-11T21:07:12.022Z,1749676032.022 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.012711
2025-06-11T21:07:12.160Z,1749676032.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.24 m.
2025-06-11T21:07:12.163Z,1749676032.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.243454 m,
nav range: 15.655302 m,
bearing: 77.007385 deg,
approach rate: -0.808594 m/s,
LOS rate: -0.032032 deg/s,
cmd heading: 69.953561 deg,
new cmd heading: 69.911982 deg.
2025-06-11T21:07:12.164Z,1749676032.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220194 target range: 18.243454 and range: 18.40 m.
2025-06-11T21:07:12.274Z,1749676032.274 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.264412
2025-06-11T21:07:12.320Z,1749676032.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:07:12.535Z,1749676032.535 [DAT](INFO): DAT read: 21:07:13.2875 LVL= 27984, 29905, 20546, 32755, AGC= 62, IDX= 403, 0.02,-0.926,-2.307,-0.952,-1.127, PHS= 0.290,-1.133, 0.172, RAW= 145.7, 9.8, CAL= 147.5, 1.9, ROT= 2.5, -1.9
2025-06-11T21:07:12.537Z,1749676032.537 [DAT](INFO): got valid direction response:
21:07:13.2875 LVL= 27984, 29905, 20546, 32755, AGC= 62, IDX= 403, 0.02,-0.926,-2.307,-0.952,-1.127, PHS= 0.290,-1.133, 0.172, RAW= 145.7, 9.8, CAL= 147.5, 1.9, ROT= 2.5, -1.9
2025-06-11T21:07:12.538Z,1749676032.538 [DAT](INFO): DAT read: Bearing 2.5, -1.9 (Local)
2025-06-11T21:07:12.539Z,1749676032.539 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.5, -1.9 (Local)
2025-06-11T21:07:12.542Z,1749676032.542 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (Round-trip 20.9 ms) speed 0.6 m/s
2025-06-11T21:07:12.543Z,1749676032.543 [DAT](INFO): DAT read: user:762>
2025-06-11T21:07:12.552Z,1749676032.552 [DAT](INFO): DAT read: Tx time:21:07:14.4125
2025-06-11T21:07:12.553Z,1749676032.553 [DAT](INFO): Ping request sent.
2025-06-11T21:07:12.553Z,1749676032.553 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:12.553Z,1749676032.553 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-11T21:07:12.554Z,1749676032.554 [DAT](INFO): direction in FSK: [0.998499,0.043595,0.033155]
2025-06-11T21:07:12.554Z,1749676032.554 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:12.554Z,1749676032.554 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:12.558Z,1749676032.558 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:12.558Z,1749676032.558 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:12.573Z,1749676032.573 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.020813
2025-06-11T21:07:12.605Z,1749676032.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 3.528567 s,
deltaX: -2.799999 m,
approachRate: -0.793523 m/s,
rangeRepo size: 4
2025-06-11T21:07:12.607Z,1749676032.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.467406 m,
bearing: 76.208768 deg,
lat: 36.906579 deg,
lon: -122.115559 deg,
deltaT: 3.528567 s,
deltaX: -2.776048 m,
approachRate: -0.786735 m/s,
posRepo size: 4
2025-06-11T21:07:12.612Z,1749676032.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:07:12.615Z,1749676032.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467406 m,
nav range: 15.379315 m,
bearing: 76.134240 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.032032 deg/s,
cmd heading: 69.911979 deg,
new cmd heading: 69.869268 deg.
2025-06-11T21:07:12.624Z,1749676032.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219449 target range: 15.467406 and range: 15.60 m.
2025-06-11T21:07:12.777Z,1749676032.777 [DAT](INFO): DAT read: TxSync time:21:07:14.4117
2025-06-11T21:07:12.778Z,1749676032.778 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.225189
2025-06-11T21:07:13.011Z,1749676033.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:13.014Z,1749676033.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:07:13.025Z,1749676033.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467406 m,
nav range: 15.042043 m,
bearing: 76.116513 deg,
approach rate: -0.824394 m/s,
LOS rate: -0.044302 deg/s,
cmd heading: 69.869270 deg,
new cmd heading: 69.814896 deg.
2025-06-11T21:07:13.026Z,1749676033.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218500 target range: 15.467406 and range: 15.60 m.
2025-06-11T21:07:13.030Z,1749676033.030 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.477075
2025-06-11T21:07:13.281Z,1749676033.281 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.728092
2025-06-11T21:07:13.371Z,1749676033.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:07:13.378Z,1749676033.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467406 m,
nav range: 14.764284 m,
bearing: 76.088697 deg,
approach rate: -0.778426 m/s,
LOS rate: -0.079421 deg/s,
cmd heading: 69.814895 deg,
new cmd heading: 69.729877 deg.
2025-06-11T21:07:13.379Z,1749676033.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217016 target range: 15.467406 and range: 15.60 m.
2025-06-11T21:07:13.533Z,1749676033.533 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.980246
2025-06-11T21:07:13.747Z,1749676033.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:07:13.750Z,1749676033.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467406 m,
nav range: 14.455508 m,
bearing: 76.061352 deg,
approach rate: -0.820309 m/s,
LOS rate: -0.074197 deg/s,
cmd heading: 69.729879 deg,
new cmd heading: 69.646093 deg.
2025-06-11T21:07:13.751Z,1749676033.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215554 target range: 15.467406 and range: 15.60 m.
2025-06-11T21:07:13.786Z,1749676033.786 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.232773
2025-06-11T21:07:14.037Z,1749676034.037 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.484122
2025-06-11T21:07:14.190Z,1749676034.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:07:14.197Z,1749676034.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467406 m,
nav range: 14.113729 m,
bearing: 76.010558 deg,
approach rate: -0.771741 m/s,
LOS rate: -0.117471 deg/s,
cmd heading: 69.646093 deg,
new cmd heading: 69.490022 deg.
2025-06-11T21:07:14.198Z,1749676034.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212830 target range: 15.467406 and range: 15.60 m.
2025-06-11T21:07:14.289Z,1749676034.289 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.736267
2025-06-11T21:07:14.541Z,1749676034.541 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.988263
2025-06-11T21:07:14.633Z,1749676034.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:07:14.652Z,1749676034.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467406 m,
nav range: 13.760304 m,
bearing: 75.964146 deg,
approach rate: -0.797101 m/s,
LOS rate: -0.107365 deg/s,
cmd heading: 69.490024 deg,
new cmd heading: 69.347211 deg.
2025-06-11T21:07:14.653Z,1749676034.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210337 target range: 15.467406 and range: 15.60 m.
2025-06-11T21:07:14.798Z,1749676034.798 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.245135
2025-06-11T21:07:15.045Z,1749676035.045 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.492244
2025-06-11T21:07:15.097Z,1749676035.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:15.100Z,1749676035.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:07:15.102Z,1749676035.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467406 m,
nav range: 13.422771 m,
bearing: 75.894354 deg,
approach rate: -0.724089 m/s,
LOS rate: -0.153484 deg/s,
cmd heading: 69.347211 deg,
new cmd heading: 69.132572 deg.
2025-06-11T21:07:15.103Z,1749676035.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206591 target range: 15.467406 and range: 15.60 m.
2025-06-11T21:07:15.298Z,1749676035.298 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.745187
2025-06-11T21:07:15.522Z,1749676035.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:07:15.525Z,1749676035.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467406 m,
nav range: 13.076038 m,
bearing: 75.831817 deg,
approach rate: -0.820188 m/s,
LOS rate: -0.151853 deg/s,
cmd heading: 69.132572 deg,
new cmd heading: 68.939988 deg.
2025-06-11T21:07:15.526Z,1749676035.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203230 target range: 15.467406 and range: 15.60 m.
2025-06-11T21:07:15.549Z,1749676035.549 [DAT](INFO): DAT read: Rx Time:21:07:16.8337
2025-06-11T21:07:15.549Z,1749676035.549 [DAT](INFO): Rx dataTimestamp_ set to:1749676035.548933
2025-06-11T21:07:15.550Z,1749676035.550 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.997125
2025-06-11T21:07:15.801Z,1749676035.801 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.248175
2025-06-11T21:07:16.005Z,1749676036.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:07:16.021Z,1749676036.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467406 m,
nav range: 12.743029 m,
bearing: 75.768549 deg,
approach rate: -0.723975 m/s,
LOS rate: -0.141143 deg/s,
cmd heading: 68.939988 deg,
new cmd heading: 68.745223 deg.
2025-06-11T21:07:16.022Z,1749676036.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.199831 target range: 15.467406 and range: 15.60 m.
2025-06-11T21:07:16.062Z,1749676036.062 [DAT](INFO): DAT read: 21:07:16.8337 LVL= 30000, 32753, 19794, 32755, AGC= 61, IDX= 396, 0.02, 1.166,-0.342, 1.024, 0.929, PHS= 0.324,-1.224, 0.092, RAW= 142.0, 11.2, CAL= 144.8, 4.2, ROT= 5.2, -4.2
2025-06-11T21:07:16.063Z,1749676036.063 [DAT](INFO): got valid direction response:
21:07:16.8337 LVL= 30000, 32753, 19794, 32755, AGC= 61, IDX= 396, 0.02, 1.166,-0.342, 1.024, 0.929, PHS= 0.324,-1.224, 0.092, RAW= 142.0, 11.2, CAL= 144.8, 4.2, ROT= 5.2, -4.2
2025-06-11T21:07:16.064Z,1749676036.064 [DAT](INFO): DAT read: Bearing 5.2, -4.2 (Local)
2025-06-11T21:07:16.064Z,1749676036.064 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.2, -4.2 (Local)
2025-06-11T21:07:16.066Z,1749676036.066 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (Round-trip 17.1 ms) speed 0.5 m/s
2025-06-11T21:07:16.067Z,1749676036.067 [DAT](INFO): DAT read: user:763>
2025-06-11T21:07:16.067Z,1749676036.067 [DAT](INFO): DAT read: Tx time:21:07:17.9125
2025-06-11T21:07:16.068Z,1749676036.068 [DAT](INFO): Ping request sent.
2025-06-11T21:07:16.068Z,1749676036.068 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:16.068Z,1749676036.068 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-11T21:07:16.069Z,1749676036.069 [DAT](INFO): direction in FSK: [0.993210,0.090389,0.073238]
2025-06-11T21:07:16.069Z,1749676036.069 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:16.070Z,1749676036.070 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:16.073Z,1749676036.073 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:16.073Z,1749676036.073 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:16.077Z,1749676036.077 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.009000
2025-06-11T21:07:16.309Z,1749676036.309 [DAT](INFO): DAT read: TxSync time:21:07:17.9117
2025-06-11T21:07:16.310Z,1749676036.310 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.241916
2025-06-11T21:07:16.404Z,1749676036.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 3.530036 s,
deltaX: -2.800000 m,
approachRate: -0.793193 m/s,
rangeRepo size: 4
2025-06-11T21:07:16.406Z,1749676036.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.691172 m,
bearing: 76.210982 deg,
lat: 36.906579 deg,
lon: -122.115559 deg,
deltaT: 3.530036 s,
deltaX: -2.776235 m,
approachRate: -0.786461 m/s,
posRepo size: 4
2025-06-11T21:07:16.407Z,1749676036.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:07:16.409Z,1749676036.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.691172 m,
nav range: 12.410737 m,
bearing: 75.652145 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.141143 deg/s,
cmd heading: 68.745226 deg,
new cmd heading: 68.567063 deg.
2025-06-11T21:07:16.410Z,1749676036.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.196721 target range: 12.691172 and range: 12.80 m.
2025-06-11T21:07:16.561Z,1749676036.561 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.493370
2025-06-11T21:07:16.806Z,1749676036.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:07:16.817Z,1749676036.817 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.749454
2025-06-11T21:07:16.829Z,1749676036.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.691172 m,
nav range: 12.114038 m,
bearing: 75.544658 deg,
approach rate: -0.736584 m/s,
LOS rate: -0.273382 deg/s,
cmd heading: 68.567060 deg,
new cmd heading: 68.236705 deg.
2025-06-11T21:07:16.830Z,1749676036.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190955 target range: 12.691172 and range: 12.80 m.
2025-06-11T21:07:17.069Z,1749676037.069 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.001043
2025-06-11T21:07:17.178Z,1749676037.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:17.181Z,1749676037.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:07:17.183Z,1749676037.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.691172 m,
nav range: 11.837343 m,
bearing: 75.400080 deg,
approach rate: -0.737948 m/s,
LOS rate: -0.394605 deg/s,
cmd heading: 68.236704 deg,
new cmd heading: 67.792841 deg.
2025-06-11T21:07:17.185Z,1749676037.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183208 target range: 12.691172 and range: 12.80 m.
2025-06-11T21:07:17.321Z,1749676037.321 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.253229
2025-06-11T21:07:17.573Z,1749676037.573 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.505053
2025-06-11T21:07:17.622Z,1749676037.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:07:17.626Z,1749676037.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.691172 m,
nav range: 11.516698 m,
bearing: 75.228031 deg,
approach rate: -0.726583 m/s,
LOS rate: -0.400716 deg/s,
cmd heading: 67.792838 deg,
new cmd heading: 67.262337 deg.
2025-06-11T21:07:17.626Z,1749676037.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.173949 target range: 12.691172 and range: 12.80 m.
2025-06-11T21:07:17.825Z,1749676037.825 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.757271
2025-06-11T21:07:18.014Z,1749676038.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:07:18.043Z,1749676038.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.691172 m,
nav range: 11.257481 m,
bearing: 75.086148 deg,
approach rate: -0.700938 m/s,
LOS rate: -0.392493 deg/s,
cmd heading: 67.262337 deg,
new cmd heading: 66.826896 deg.
2025-06-11T21:07:18.049Z,1749676038.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166349 target range: 12.691172 and range: 12.80 m.
2025-06-11T21:07:18.077Z,1749676038.077 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.009215
2025-06-11T21:07:18.329Z,1749676038.329 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.261038
2025-06-11T21:07:18.397Z,1749676038.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:07:18.400Z,1749676038.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.691172 m,
nav range: 10.956998 m,
bearing: 74.851144 deg,
approach rate: -0.741354 m/s,
LOS rate: -0.595703 deg/s,
cmd heading: 66.826899 deg,
new cmd heading: 66.102593 deg.
2025-06-11T21:07:18.401Z,1749676038.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.153708 target range: 12.691172 and range: 12.80 m.
2025-06-11T21:07:18.581Z,1749676038.581 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.513113
2025-06-11T21:07:18.847Z,1749676038.847 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.779746
2025-06-11T21:07:18.857Z,1749676038.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:07:18.860Z,1749676038.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.691172 m,
nav range: 10.625361 m,
bearing: 74.582220 deg,
approach rate: -0.720485 m/s,
LOS rate: -0.602475 deg/s,
cmd heading: 66.102591 deg,
new cmd heading: 65.270699 deg.
2025-06-11T21:07:18.861Z,1749676038.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139189 target range: 12.691172 and range: 12.80 m.
2025-06-11T21:07:19.101Z,1749676039.101 [DAT](INFO): DAT read: Rx Time:21:07:20.3302
2025-06-11T21:07:19.101Z,1749676039.101 [DAT](INFO): Rx dataTimestamp_ set to:1749676039.101003
2025-06-11T21:07:19.102Z,1749676039.102 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.034156
2025-06-11T21:07:19.252Z,1749676039.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:19.254Z,1749676039.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:07:19.258Z,1749676039.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.691172 m,
nav range: 10.339820 m,
bearing: 74.308311 deg,
approach rate: -0.719812 m/s,
LOS rate: -0.709552 deg/s,
cmd heading: 65.270702 deg,
new cmd heading: 64.426349 deg.
2025-06-11T21:07:19.259Z,1749676039.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124452 target range: 12.691172 and range: 12.80 m.
2025-06-11T21:07:19.353Z,1749676039.353 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.285190
2025-06-11T21:07:19.612Z,1749676039.612 [DAT](INFO): DAT read: 21:07:20.3302 LVL= 32752, 32753, 28658, 32755, AGC= 59, IDX= 407, 0.26, 0.656,-0.820, 0.813, 0.527, PHS= 0.216,-1.300, 0.282, RAW= 152.1, 10.4, CAL= 152.5, 1.7, ROT= 357.5, -1.7
2025-06-11T21:07:19.614Z,1749676039.614 [DAT](INFO): got valid direction response:
21:07:20.3302 LVL= 32752, 32753, 28658, 32755, AGC= 59, IDX= 407, 0.26, 0.656,-0.820, 0.813, 0.527, PHS= 0.216,-1.300, 0.282, RAW= 152.1, 10.4, CAL= 152.5, 1.7, ROT= 357.5, -1.7
2025-06-11T21:07:19.615Z,1749676039.615 [DAT](INFO): DAT read: Bearing 357.5, -1.7 (Local)
2025-06-11T21:07:19.616Z,1749676039.616 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.5, -1.7 (Local)
2025-06-11T21:07:19.617Z,1749676039.617 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (Round-trip 13.6 ms) speed 0.7 m/s
2025-06-11T21:07:19.618Z,1749676039.618 [DAT](INFO): DAT read: user:764>
2025-06-11T21:07:19.619Z,1749676039.619 [DAT](INFO): DAT read: Tx time:21:07:21.4125
2025-06-11T21:07:19.619Z,1749676039.619 [DAT](INFO): Ping request sent.
2025-06-11T21:07:19.619Z,1749676039.619 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:19.619Z,1749676039.619 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-11T21:07:19.626Z,1749676039.626 [DAT](INFO): direction in FSK: [0.998608,-0.043600,0.029666]
2025-06-11T21:07:19.626Z,1749676039.626 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:19.626Z,1749676039.626 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:19.630Z,1749676039.630 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:19.630Z,1749676039.630 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:19.635Z,1749676039.635 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.015582
2025-06-11T21:07:19.733Z,1749676039.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 3.549470 s,
deltaX: -2.600000 m,
approachRate: -0.732504 m/s,
rangeRepo size: 4
2025-06-11T21:07:19.735Z,1749676039.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.113287 m,
bearing: 67.276207 deg,
lat: 36.906589 deg,
lon: -122.115562 deg,
deltaT: 3.549470 s,
deltaX: -2.577885 m,
approachRate: -0.726273 m/s,
posRepo size: 4
2025-06-11T21:07:19.744Z,1749676039.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-11T21:07:19.747Z,1749676039.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.113287 m,
nav range: 10.131834 m,
bearing: 67.416445 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.709552 deg/s,
cmd heading: 64.426347 deg,
new cmd heading: 63.408454 deg.
2025-06-11T21:07:19.748Z,1749676039.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106686 target range: 10.113287 and range: 10.20 m.
2025-06-11T21:07:19.857Z,1749676039.857 [DAT](INFO): DAT read: TxSync time:21:07:21.4117
2025-06-11T21:07:19.858Z,1749676039.858 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.238552
2025-06-11T21:07:20.109Z,1749676040.109 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.489620
2025-06-11T21:07:20.149Z,1749676040.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-11T21:07:20.151Z,1749676040.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.113287 m,
nav range: 9.821886 m,
bearing: 66.868077 deg,
approach rate: -0.744750 m/s,
LOS rate: -1.359190 deg/s,
cmd heading: 63.408457 deg,
new cmd heading: 61.711962 deg.
2025-06-11T21:07:20.152Z,1749676040.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077077 target range: 10.113287 and range: 10.20 m.
2025-06-11T21:07:20.361Z,1749676040.361 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.742052
2025-06-11T21:07:20.582Z,1749676040.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-11T21:07:20.584Z,1749676040.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.113287 m,
nav range: 9.515143 m,
bearing: 66.290493 deg,
approach rate: -0.708493 m/s,
LOS rate: -1.377047 deg/s,
cmd heading: 61.711961 deg,
new cmd heading: 59.923960 deg.
2025-06-11T21:07:20.585Z,1749676040.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.045870 target range: 10.113287 and range: 10.20 m.
2025-06-11T21:07:20.617Z,1749676040.617 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.997631
2025-06-11T21:07:20.866Z,1749676040.866 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.246008
2025-06-11T21:07:20.991Z,1749676040.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-11T21:07:20.994Z,1749676040.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.113287 m,
nav range: 9.225951 m,
bearing: 65.715534 deg,
approach rate: -0.706379 m/s,
LOS rate: -1.448389 deg/s,
cmd heading: 59.923961 deg,
new cmd heading: 58.145617 deg.
2025-06-11T21:07:20.995Z,1749676040.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.014832 target range: 10.113287 and range: 10.20 m.
2025-06-11T21:07:21.117Z,1749676041.117 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.497673
2025-06-11T21:07:21.369Z,1749676041.369 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.749428
2025-06-11T21:07:21.442Z,1749676041.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:21.448Z,1749676041.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-11T21:07:21.451Z,1749676041.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.113287 m,
nav range: 8.917204 m,
bearing: 65.125645 deg,
approach rate: -0.681479 m/s,
LOS rate: -1.347081 deg/s,
cmd heading: 58.145619 deg,
new cmd heading: 56.315336 deg.
2025-06-11T21:07:21.460Z,1749676041.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982888 target range: 10.113287 and range: 10.20 m.
2025-06-11T21:07:21.621Z,1749676041.621 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.001822
2025-06-11T21:07:21.792Z,1749676041.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-11T21:07:21.795Z,1749676041.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.113287 m,
nav range: 8.658723 m,
bearing: 64.611337 deg,
approach rate: -0.742885 m/s,
LOS rate: -1.522249 deg/s,
cmd heading: 56.315337 deg,
new cmd heading: 54.726781 deg.
2025-06-11T21:07:21.802Z,1749676041.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.955163 target range: 10.113287 and range: 10.20 m.
2025-06-11T21:07:21.874Z,1749676041.874 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.254062
2025-06-11T21:07:22.125Z,1749676042.125 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.505556
2025-06-11T21:07:22.248Z,1749676042.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-11T21:07:22.250Z,1749676042.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.113287 m,
nav range: 8.337066 m,
bearing: 64.022025 deg,
approach rate: -0.725121 m/s,
LOS rate: -1.379734 deg/s,
cmd heading: 54.726781 deg,
new cmd heading: 52.891297 deg.
2025-06-11T21:07:22.251Z,1749676042.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.923127 target range: 10.113287 and range: 10.20 m.
2025-06-11T21:07:22.378Z,1749676042.378 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.758668
2025-06-11T21:07:22.622Z,1749676042.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-11T21:07:22.625Z,1749676042.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.113287 m,
nav range: 8.068490 m,
bearing: 63.509099 deg,
approach rate: -0.695419 m/s,
LOS rate: -1.372302 deg/s,
cmd heading: 52.891298 deg,
new cmd heading: 51.301728 deg.
2025-06-11T21:07:22.626Z,1749676042.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895384 target range: 10.113287 and range: 10.20 m.
2025-06-11T21:07:22.629Z,1749676042.629 [DAT](INFO): DAT read: Rx Time:21:07:23.8273
2025-06-11T21:07:22.629Z,1749676042.629 [DAT](INFO): Rx dataTimestamp_ set to:1749676042.629206
2025-06-11T21:07:22.630Z,1749676042.630 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.010851
2025-06-11T21:07:22.881Z,1749676042.881 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.261561
2025-06-11T21:07:23.142Z,1749676043.142 [DAT](INFO): DAT read: 21:07:23.8273 LVL= 32752, 32753, 25154, 32755, AGC= 58, IDX= 408, 0.37, 0.923,-0.379, 1.478, 1.059, PHS=-0.049,-1.392, 0.416, RAW= 164.3, 12.6, CAL= 163.7, 3.9, ROT= 346.3, -3.9
2025-06-11T21:07:23.143Z,1749676043.143 [DAT](INFO): got valid direction response:
21:07:23.8273 LVL= 32752, 32753, 25154, 32755, AGC= 58, IDX= 408, 0.37, 0.923,-0.379, 1.478, 1.059, PHS=-0.049,-1.392, 0.416, RAW= 164.3, 12.6, CAL= 163.7, 3.9, ROT= 346.3, -3.9
2025-06-11T21:07:23.144Z,1749676043.144 [DAT](INFO): DAT read: Bearing 346.3, -3.9 (Local)
2025-06-11T21:07:23.144Z,1749676043.144 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.3, -3.9 (Local)
2025-06-11T21:07:23.146Z,1749676043.146 [DAT](INFO): DAT read: Range 10 to 50 : 7.9 m (Round-trip 10.6 ms) speed 0.7 m/s
2025-06-11T21:07:23.146Z,1749676043.146 [DAT](INFO): DAT read: user:765>
2025-06-11T21:07:23.147Z,1749676043.147 [DAT](INFO): DAT read: Tx time:21:07:24.9125
2025-06-11T21:07:23.147Z,1749676043.147 [DAT](INFO): Ping request sent.
2025-06-11T21:07:23.152Z,1749676043.152 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:23.152Z,1749676043.152 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-11T21:07:23.153Z,1749676043.153 [DAT](INFO): direction in FSK: [0.969299,-0.236290,0.068015]
2025-06-11T21:07:23.153Z,1749676043.153 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:23.154Z,1749676043.154 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:23.165Z,1749676043.165 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:23.165Z,1749676043.165 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:23.177Z,1749676043.177 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.029731
2025-06-11T21:07:23.179Z,1749676043.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.900000 m,
deltaT: 3.529265 s,
deltaX: -2.300000 m,
approachRate: -0.651694 m/s,
rangeRepo size: 4
2025-06-11T21:07:23.182Z,1749676043.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.833171 m,
bearing: 52.840538 deg,
lat: 36.906590 deg,
lon: -122.115562 deg,
deltaT: 3.529265 s,
deltaX: -2.280116 m,
approachRate: -0.646060 m/s,
posRepo size: 4
2025-06-11T21:07:23.182Z,1749676043.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.83 m.
2025-06-11T21:07:23.183Z,1749676043.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 7.90 m.
2025-06-11T21:07:23.183Z,1749676043.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-11T21:07:23.190Z,1749676043.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 7.753894 m,
bearing: 62.804646 deg,
approach rate: 0.000000 m/s,
LOS rate: -1.372302 deg/s,
cmd heading: 51.301728 deg,
new cmd heading: 49.009540 deg.
2025-06-11T21:07:23.191Z,1749676043.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.855378 target range: 7.833171 and range: 7.90 m.
2025-06-11T21:07:23.385Z,1749676043.385 [DAT](INFO): DAT read: TxSync time:21:07:24.9118
2025-06-11T21:07:23.386Z,1749676043.386 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.238275
2025-06-11T21:07:23.564Z,1749676043.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:23.567Z,1749676043.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 7.388257 m,
bearing: 62.148650 deg,
approach rate: -0.957386 m/s,
LOS rate: -1.802628 deg/s,
cmd heading: 49.009541 deg,
new cmd heading: 46.945099 deg.
2025-06-11T21:07:23.568Z,1749676043.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819347 target range: 7.833171 and range: 7.90 m.
2025-06-11T21:07:23.637Z,1749676043.637 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.489775
2025-06-11T21:07:23.879Z,1749676043.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:23.889Z,1749676043.889 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.741139
2025-06-11T21:07:23.898Z,1749676043.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:23.905Z,1749676043.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 7.125040 m,
bearing: 61.657188 deg,
approach rate: -0.781860 m/s,
LOS rate: -1.513750 deg/s,
cmd heading: 46.945099 deg,
new cmd heading: 45.416627 deg.
2025-06-11T21:07:23.906Z,1749676043.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792670 target range: 7.833171 and range: 7.90 m.
2025-06-11T21:07:24.141Z,1749676044.141 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.993410
2025-06-11T21:07:24.322Z,1749676044.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:24.341Z,1749676044.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 6.791647 m,
bearing: 61.128998 deg,
approach rate: -0.785952 m/s,
LOS rate: -1.306280 deg/s,
cmd heading: 45.416626 deg,
new cmd heading: 43.754759 deg.
2025-06-11T21:07:24.342Z,1749676044.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763665 target range: 7.833171 and range: 7.90 m.
2025-06-11T21:07:24.393Z,1749676044.393 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.245298
2025-06-11T21:07:24.645Z,1749676044.645 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.497161
2025-06-11T21:07:24.694Z,1749676044.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:24.697Z,1749676044.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 6.509780 m,
bearing: 60.674244 deg,
approach rate: -0.757691 m/s,
LOS rate: -1.275345 deg/s,
cmd heading: 43.754759 deg,
new cmd heading: 42.331736 deg.
2025-06-11T21:07:24.698Z,1749676044.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738828 target range: 7.833171 and range: 7.90 m.
2025-06-11T21:07:24.898Z,1749676044.898 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.750559
2025-06-11T21:07:25.151Z,1749676045.151 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.003200
2025-06-11T21:07:25.173Z,1749676045.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:25.180Z,1749676045.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 6.185070 m,
bearing: 60.097998 deg,
approach rate: -0.677122 m/s,
LOS rate: -1.264720 deg/s,
cmd heading: 42.331737 deg,
new cmd heading: 40.512882 deg.
2025-06-11T21:07:25.181Z,1749676045.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707083 target range: 7.833171 and range: 7.90 m.
2025-06-11T21:07:25.401Z,1749676045.401 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.253105
2025-06-11T21:07:25.518Z,1749676045.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:25.521Z,1749676045.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 5.872587 m,
bearing: 59.657667 deg,
approach rate: -0.905503 m/s,
LOS rate: -1.343859 deg/s,
cmd heading: 40.512881 deg,
new cmd heading: 39.121885 deg.
2025-06-11T21:07:25.522Z,1749676045.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682806 target range: 7.833171 and range: 7.90 m.
2025-06-11T21:07:25.653Z,1749676045.653 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.505158
2025-06-11T21:07:25.898Z,1749676045.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:25.903Z,1749676045.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:25.906Z,1749676045.906 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.757957
2025-06-11T21:07:25.909Z,1749676045.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 5.570277 m,
bearing: 59.236187 deg,
approach rate: -0.787808 m/s,
LOS rate: -1.157959 deg/s,
cmd heading: 39.121886 deg,
new cmd heading: 37.789075 deg.
2025-06-11T21:07:25.911Z,1749676045.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659544 target range: 7.833171 and range: 7.90 m.
2025-06-11T21:07:26.159Z,1749676046.159 [DAT](INFO): DAT read: Rx Time:21:07:27.3241
2025-06-11T21:07:26.161Z,1749676046.161 [DAT](INFO): Rx dataTimestamp_ set to:1749676046.160443
2025-06-11T21:07:26.163Z,1749676046.163 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.015068
2025-06-11T21:07:26.355Z,1749676046.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:26.357Z,1749676046.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 5.214939 m,
bearing: 58.742911 deg,
approach rate: -0.785592 m/s,
LOS rate: -1.164846 deg/s,
cmd heading: 37.789073 deg,
new cmd heading: 36.208831 deg.
2025-06-11T21:07:26.358Z,1749676046.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631963 target range: 7.833171 and range: 7.90 m.
2025-06-11T21:07:26.410Z,1749676046.410 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.262089
2025-06-11T21:07:26.662Z,1749676046.662 [DAT](INFO): DAT read: Range 10 to 50 : 5.5 m (Round-trip 7.4 ms) speed 0.6 m/s
2025-06-11T21:07:26.662Z,1749676046.662 [DAT](INFO): DAT read: user:766>
2025-06-11T21:07:26.663Z,1749676046.663 [DAT](INFO): DAT read: Tx time:21:07:28.4125
2025-06-11T21:07:26.664Z,1749676046.664 [DAT](INFO): Ping request sent.
2025-06-11T21:07:26.664Z,1749676046.664 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:26.664Z,1749676046.664 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-06-11T21:07:26.664Z,1749676046.664 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:26.665Z,1749676046.665 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:26.666Z,1749676046.666 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.002055
2025-06-11T21:07:26.761Z,1749676046.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.500000 m,
deltaT: 3.526481 s,
deltaX: -2.400000 m,
approachRate: -0.680565 m/s,
rangeRepo size: 4
2025-06-11T21:07:26.762Z,1749676046.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:26.769Z,1749676046.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 4.907069 m,
bearing: 58.257206 deg,
approach rate: -0.758263 m/s,
LOS rate: -1.271297 deg/s,
cmd heading: 36.208831 deg,
new cmd heading: 34.660692 deg.
2025-06-11T21:07:26.769Z,1749676046.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604943 target range: 7.833171 and range: 5.50 m.
2025-06-11T21:07:26.914Z,1749676046.914 [DAT](INFO): DAT read: TxSync time:21:07:28.4118
2025-06-11T21:07:26.915Z,1749676046.915 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.251108
2025-06-11T21:07:27.157Z,1749676047.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:27.176Z,1749676047.176 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.511316
2025-06-11T21:07:27.191Z,1749676047.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 4.604281 m,
bearing: 57.899647 deg,
approach rate: -0.767044 m/s,
LOS rate: -0.965354 deg/s,
cmd heading: 34.660693 deg,
new cmd heading: 33.517633 deg.
2025-06-11T21:07:27.202Z,1749676047.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584993 target range: 7.833171 and range: 5.50 m.
2025-06-11T21:07:27.426Z,1749676047.426 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.762198
2025-06-11T21:07:27.554Z,1749676047.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:27.561Z,1749676047.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 4.291246 m,
bearing: 57.616165 deg,
approach rate: -0.784642 m/s,
LOS rate: -0.762396 deg/s,
cmd heading: 33.517634 deg,
new cmd heading: 32.605232 deg.
2025-06-11T21:07:27.562Z,1749676047.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569069 target range: 7.833171 and range: 5.50 m.
2025-06-11T21:07:27.677Z,1749676047.677 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.013117
2025-06-11T21:07:27.930Z,1749676047.930 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.265900
2025-06-11T21:07:27.949Z,1749676047.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:27.951Z,1749676047.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:27.958Z,1749676047.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 3.988865 m,
bearing: 57.359579 deg,
approach rate: -0.762173 m/s,
LOS rate: -0.695767 deg/s,
cmd heading: 32.605233 deg,
new cmd heading: 31.777183 deg.
2025-06-11T21:07:27.959Z,1749676047.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554616 target range: 7.833171 and range: 5.50 m.
2025-06-11T21:07:28.183Z,1749676048.183 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.519129
2025-06-11T21:07:28.372Z,1749676048.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:28.375Z,1749676048.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 3.644772 m,
bearing: 56.909965 deg,
approach rate: -0.817507 m/s,
LOS rate: -1.169044 deg/s,
cmd heading: 31.777182 deg,
new cmd heading: 30.301339 deg.
2025-06-11T21:07:28.376Z,1749676048.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528858 target range: 7.833171 and range: 5.50 m.
2025-06-11T21:07:28.434Z,1749676048.434 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.769849
2025-06-11T21:07:28.685Z,1749676048.685 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.021168
2025-06-11T21:07:28.736Z,1749676048.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:28.739Z,1749676048.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 3.368382 m,
bearing: 56.642409 deg,
approach rate: -0.775923 m/s,
LOS rate: -0.812751 deg/s,
cmd heading: 30.301339 deg,
new cmd heading: 29.432880 deg.
2025-06-11T21:07:28.744Z,1749676048.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513701 target range: 7.833171 and range: 5.50 m.
2025-06-11T21:07:28.938Z,1749676048.938 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.273953
2025-06-11T21:07:29.132Z,1749676049.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:29.135Z,1749676049.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 3.054658 m,
bearing: 56.385935 deg,
approach rate: -0.776484 m/s,
LOS rate: -0.699981 deg/s,
cmd heading: 29.432880 deg,
new cmd heading: 28.584500 deg.
2025-06-11T21:07:29.136Z,1749676049.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498894 target range: 7.833171 and range: 5.50 m.
2025-06-11T21:07:29.194Z,1749676049.194 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.527660
2025-06-11T21:07:29.443Z,1749676049.443 [DAT](INFO): DAT read: Rx Time:21:07:30.8208
2025-06-11T21:07:29.444Z,1749676049.444 [DAT](INFO): Rx dataTimestamp_ set to:1749676049.442896
2025-06-11T21:07:29.445Z,1749676049.445 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.781153
2025-06-11T21:07:29.573Z,1749676049.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:29.576Z,1749676049.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 2.725884 m,
bearing: 55.899545 deg,
approach rate: -0.745443 m/s,
LOS rate: -1.235806 deg/s,
cmd heading: 28.584500 deg,
new cmd heading: 26.949802 deg.
2025-06-11T21:07:29.577Z,1749676049.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470363 target range: 7.833171 and range: 5.50 m.
2025-06-11T21:07:29.696Z,1749676049.696 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.031959
2025-06-11T21:07:29.948Z,1749676049.948 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.283758
2025-06-11T21:07:30.016Z,1749676050.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:30.019Z,1749676050.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.83 m. 7.83 m.
2025-06-11T21:07:30.025Z,1749676050.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 7.833171 m,
nav range: 2.419533 m,
bearing: 55.585153 deg,
approach rate: -0.687551 m/s,
LOS rate: -0.794936 deg/s,
cmd heading: 26.949802 deg,
new cmd heading: 25.887332 deg.
2025-06-11T21:07:30.026Z,1749676050.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451819 target range: 7.833171 and range: 5.50 m.
2025-06-11T21:07:30.223Z,1749676050.223 [DAT](INFO): DAT read: 21:07:30.8208 LVL= 24304, 14257, 20466, 21411, AGC= 49, IDX= 407, 0.32, 1.035, 1.314,-3.134, 2.652, PHS=-1.529,-1.291, 0.494, RAW= 216.2, 23.2, CAL= 218.5, 31.8, ROT= 291.5, -31.8
2025-06-11T21:07:30.227Z,1749676050.227 [DAT](INFO): got valid direction response:
21:07:30.8208 LVL= 24304, 14257, 20466, 21411, AGC= 49, IDX= 407, 0.32, 1.035, 1.314,-3.134, 2.652, PHS=-1.529,-1.291, 0.494, RAW= 216.2, 23.2, CAL= 218.5, 31.8, ROT= 291.5, -31.8
2025-06-11T21:07:30.228Z,1749676050.228 [DAT](INFO): DAT read: Bearing 291.5, -31.8 (Local)
2025-06-11T21:07:30.228Z,1749676050.228 [DAT](INFO): Local bearing/azimuth received:
Bearing 291.5, -31.8 (Local)
2025-06-11T21:07:30.230Z,1749676050.230 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (Round-trip 4.1 ms) speed 0.4 m/s
2025-06-11T21:07:30.231Z,1749676050.231 [DAT](INFO): DAT read: user:767>
2025-06-11T21:07:30.231Z,1749676050.231 [DAT](INFO): DAT read: Tx time:21:07:31.9125
2025-06-11T21:07:30.235Z,1749676050.235 [DAT](INFO): Ping request sent.
2025-06-11T21:07:30.235Z,1749676050.235 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:30.238Z,1749676050.238 [DAT](INFO): DAT read: TxSync time:21:07:31.9118
2025-06-11T21:07:30.238Z,1749676050.238 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-11T21:07:30.239Z,1749676050.239 [DAT](INFO): direction in FSK: [0.311487,-0.790755,0.526956]
2025-06-11T21:07:30.239Z,1749676050.239 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:30.240Z,1749676050.240 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:30.243Z,1749676050.243 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:30.243Z,1749676050.243 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:30.248Z,1749676050.248 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.013701
2025-06-11T21:07:30.438Z,1749676050.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 3.538674 s,
deltaX: -2.500000 m,
approachRate: -0.706479 m/s,
rangeRepo size: 4
2025-06-11T21:07:30.444Z,1749676050.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.974712 m,
bearing: 342.263287 deg,
lat: 36.906600 deg,
lon: -122.115566 deg,
deltaT: 7.065155 s,
deltaX: -4.858459 m,
approachRate: -0.687665 m/s,
posRepo size: 4
2025-06-11T21:07:30.445Z,1749676050.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-06-11T21:07:30.445Z,1749676050.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-11T21:07:30.449Z,1749676050.449 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.214110
2025-06-11T21:07:30.701Z,1749676050.701 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.466177
2025-06-11T21:07:30.953Z,1749676050.953 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.718046
2025-06-11T21:07:31.208Z,1749676051.208 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.972671
2025-06-11T21:07:31.457Z,1749676051.457 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.221950
2025-06-11T21:07:31.710Z,1749676051.710 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.475289
2025-06-11T21:07:31.961Z,1749676051.961 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.725930
2025-06-11T21:07:32.215Z,1749676052.215 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.979701
2025-06-11T21:07:32.399Z,1749676052.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:32.465Z,1749676052.465 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.230129
2025-06-11T21:07:32.717Z,1749676052.717 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.481996
2025-06-11T21:07:32.969Z,1749676052.969 [DAT](INFO): DAT read: Rx Time:21:07:34.3197
2025-06-11T21:07:32.969Z,1749676052.969 [DAT](INFO): Rx dataTimestamp_ set to:1749676052.969056
2025-06-11T21:07:32.970Z,1749676052.970 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.735149
2025-06-11T21:07:33.223Z,1749676053.223 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.988106
2025-06-11T21:07:33.477Z,1749676053.477 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (Round-trip 2.9 ms) speed -0.3 m/s
2025-06-11T21:07:33.477Z,1749676053.477 [DAT](INFO): DAT read: user:768>
2025-06-11T21:07:33.478Z,1749676053.478 [DAT](INFO): DAT read: Tx time:21:07:35.4126
2025-06-11T21:07:33.478Z,1749676053.478 [DAT](INFO): Ping request sent.
2025-06-11T21:07:33.478Z,1749676053.478 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:33.479Z,1749676053.479 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-11T21:07:33.479Z,1749676053.479 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:33.479Z,1749676053.479 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:33.481Z,1749676053.481 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.002238
2025-06-11T21:07:33.617Z,1749676053.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 3.274960 s,
deltaX: -0.900000 m,
approachRate: -0.274813 m/s,
rangeRepo size: 4
2025-06-11T21:07:33.725Z,1749676053.725 [DAT](INFO): DAT read: TxSync time:21:07:35.4119
2025-06-11T21:07:33.726Z,1749676053.726 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.247245
2025-06-11T21:07:33.978Z,1749676053.978 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.499118
2025-06-11T21:07:34.231Z,1749676054.231 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.751990
2025-06-11T21:07:34.411Z,1749676054.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:34.481Z,1749676054.481 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.002394
2025-06-11T21:07:34.733Z,1749676054.733 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.254308
2025-06-11T21:07:34.985Z,1749676054.985 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.506273
2025-06-11T21:07:35.238Z,1749676055.238 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.759022
2025-06-11T21:07:35.489Z,1749676055.489 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.010324
2025-06-11T21:07:35.741Z,1749676055.741 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.262182
2025-06-11T21:07:35.993Z,1749676055.993 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.514410
2025-06-11T21:07:36.246Z,1749676056.246 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.766939
2025-06-11T21:07:36.450Z,1749676056.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:36.497Z,1749676056.497 [DAT](INFO): DAT read: Rx Time:21:07:37.8211
2025-06-11T21:07:36.497Z,1749676056.497 [DAT](INFO): Rx dataTimestamp_ set to:1749676056.497116
2025-06-11T21:07:36.498Z,1749676056.498 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.019478
2025-06-11T21:07:36.749Z,1749676056.749 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.270274
2025-06-11T21:07:37.002Z,1749676057.002 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (Round-trip 4.3 ms) speed -0.4 m/s
2025-06-11T21:07:37.003Z,1749676057.003 [DAT](INFO): DAT read: user:769>
2025-06-11T21:07:37.003Z,1749676057.003 [DAT](INFO): DAT read: Tx time:21:07:38.9126
2025-06-11T21:07:37.004Z,1749676057.004 [DAT](INFO): Ping request sent.
2025-06-11T21:07:37.004Z,1749676057.004 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:37.005Z,1749676057.005 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-06-11T21:07:37.005Z,1749676057.005 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:37.006Z,1749676057.006 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:37.006Z,1749676057.006 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.001945
2025-06-11T21:07:37.226Z,1749676057.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 3.526457 s,
deltaX: 1.100000 m,
approachRate: 0.311928 m/s,
rangeRepo size: 4
2025-06-11T21:07:37.254Z,1749676057.254 [DAT](INFO): DAT read: TxSync time:21:07:38.9119
2025-06-11T21:07:37.255Z,1749676057.255 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.250481
2025-06-11T21:07:37.505Z,1749676057.505 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.500287
2025-06-11T21:07:37.758Z,1749676057.758 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.753661
2025-06-11T21:07:38.009Z,1749676058.009 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.004312
2025-06-11T21:07:38.264Z,1749676058.264 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.259789
2025-06-11T21:07:38.513Z,1749676058.513 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.508407
2025-06-11T21:07:38.765Z,1749676058.765 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.760307
2025-06-11T21:07:38.864Z,1749676058.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:39.017Z,1749676059.017 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.012314
2025-06-11T21:07:39.269Z,1749676059.269 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.264456
2025-06-11T21:07:39.521Z,1749676059.521 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.516264
2025-06-11T21:07:39.774Z,1749676059.774 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.769060
2025-06-11T21:07:40.025Z,1749676060.025 [DAT](INFO): DAT read: Rx Time:21:07:41.3233
2025-06-11T21:07:40.025Z,1749676060.025 [DAT](INFO): Rx dataTimestamp_ set to:1749676060.025176
2025-06-11T21:07:40.026Z,1749676060.026 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.021555
2025-06-11T21:07:40.277Z,1749676060.277 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.272267
2025-06-11T21:07:40.530Z,1749676060.530 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m (Round-trip 6.5 ms) speed -0.5 m/s
2025-06-11T21:07:40.531Z,1749676060.531 [DAT](INFO): DAT read: user:770>
2025-06-11T21:07:40.531Z,1749676060.531 [DAT](INFO): DAT read: Tx time:21:07:42.4126
2025-06-11T21:07:40.532Z,1749676060.532 [DAT](INFO): Ping request sent.
2025-06-11T21:07:40.532Z,1749676060.532 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:40.532Z,1749676060.532 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-11T21:07:40.532Z,1749676060.532 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:40.533Z,1749676060.533 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:40.534Z,1749676060.534 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.001941
2025-06-11T21:07:40.781Z,1749676060.781 [DAT](INFO): DAT read: TxSync time:21:07:42.4119
2025-06-11T21:07:40.782Z,1749676060.782 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.249839
2025-06-11T21:07:40.903Z,1749676060.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:40.928Z,1749676060.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 3.528181 s,
deltaX: 1.600000 m,
approachRate: 0.453492 m/s,
rangeRepo size: 4
2025-06-11T21:07:40.929Z,1749676060.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.80 m.
2025-06-11T21:07:41.034Z,1749676061.034 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.501996
2025-06-11T21:07:41.285Z,1749676061.285 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.752874
2025-06-11T21:07:41.537Z,1749676061.537 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.005293
2025-06-11T21:07:41.733Z,1749676061.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.80 m.
2025-06-11T21:07:41.790Z,1749676061.790 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.257535
2025-06-11T21:07:42.041Z,1749676062.041 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.508690
2025-06-11T21:07:42.107Z,1749676062.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.80 m.
2025-06-11T21:07:42.294Z,1749676062.294 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.761367
2025-06-11T21:07:42.444Z,1749676062.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:07:42.533Z,1749676062.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.80 m.
2025-06-11T21:07:42.545Z,1749676062.545 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.012816
2025-06-11T21:07:42.797Z,1749676062.797 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.264788
2025-06-11T21:07:42.906Z,1749676062.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.80 m.
2025-06-11T21:07:43.049Z,1749676063.049 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.516815
2025-06-11T21:07:43.301Z,1749676063.301 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.768835
2025-06-11T21:07:43.310Z,1749676063.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:43.448Z,1749676063.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:07:43.554Z,1749676063.554 [DAT](INFO): DAT read: Rx Time:21:07:44.8259
2025-06-11T21:07:43.554Z,1749676063.554 [DAT](INFO): Rx dataTimestamp_ set to:1749676063.553905
2025-06-11T21:07:43.555Z,1749676063.555 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.023074
2025-06-11T21:07:43.746Z,1749676063.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.80 m.
2025-06-11T21:07:43.806Z,1749676063.806 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.273529
2025-06-11T21:07:44.063Z,1749676064.063 [DAT](INFO): DAT read: 21:07:44.8260 LVL= 21568, 29729, 8994, 23315, AGC= 44, IDX= 458,-0.03, 0.472, 3.060, 2.016, 2.188, PHS=-1.628, 0.919,-0.175, RAW= 295.3, 8.0, CAL= 299.2, 12.3, ROT= 210.8, -12.3
2025-06-11T21:07:44.064Z,1749676064.064 [DAT](INFO): got valid direction response:
21:07:44.8260 LVL= 21568, 29729, 8994, 23315, AGC= 44, IDX= 458,-0.03, 0.472, 3.060, 2.016, 2.188, PHS=-1.628, 0.919,-0.175, RAW= 295.3, 8.0, CAL= 299.2, 12.3, ROT= 210.8, -12.3
2025-06-11T21:07:44.065Z,1749676064.065 [DAT](INFO): DAT read: Bearing 210.8, -12.3 (Local)
2025-06-11T21:07:44.065Z,1749676064.065 [DAT](INFO): Local bearing/azimuth received:
Bearing 210.8, -12.3 (Local)
2025-06-11T21:07:44.067Z,1749676064.067 [DAT](INFO): DAT read: Range 10 to 50 : 6.8 m (Round-trip 9.1 ms) speed -0.6 m/s
2025-06-11T21:07:44.067Z,1749676064.067 [DAT](INFO): DAT read: user:771>
2025-06-11T21:07:44.068Z,1749676064.068 [DAT](INFO): DAT read: Tx time:21:07:45.9127
2025-06-11T21:07:44.068Z,1749676064.068 [DAT](INFO): Ping request sent.
2025-06-11T21:07:44.069Z,1749676064.069 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:44.069Z,1749676064.069 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-11T21:07:44.070Z,1749676064.070 [DAT](INFO): direction in FSK: [-0.839243,-0.500289,0.213030]
2025-06-11T21:07:44.070Z,1749676064.070 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:44.070Z,1749676064.070 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:44.094Z,1749676064.094 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:44.094Z,1749676064.094 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:44.111Z,1749676064.111 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.042409
2025-06-11T21:07:44.311Z,1749676064.311 [DAT](INFO): DAT read: TxSync time:21:07:45.9120
2025-06-11T21:07:44.312Z,1749676064.312 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.243784
2025-06-11T21:07:44.446Z,1749676064.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 3.527753 s,
deltaX: 2.000000 m,
approachRate: 0.566933 m/s,
rangeRepo size: 4
2025-06-11T21:07:44.453Z,1749676064.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.742775 m,
bearing: 237.296859 deg,
lat: 36.906600 deg,
lon: -122.115569 deg,
deltaT: 13.857351 s,
deltaX: 3.768063 m,
approachRate: 0.271918 m/s,
posRepo size: 4
2025-06-11T21:07:44.565Z,1749676064.565 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.496242
2025-06-11T21:07:44.817Z,1749676064.817 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.748301
2025-06-11T21:07:45.069Z,1749676065.069 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.000173
2025-06-11T21:07:45.321Z,1749676065.321 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.252306
2025-06-11T21:07:45.573Z,1749676065.573 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.504250
2025-06-11T21:07:45.578Z,1749676065.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:45.825Z,1749676065.825 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.756101
2025-06-11T21:07:46.078Z,1749676066.078 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.009225
2025-06-11T21:07:46.329Z,1749676066.329 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.260277
2025-06-11T21:07:46.581Z,1749676066.581 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.512817
2025-06-11T21:07:46.834Z,1749676066.834 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.764976
2025-06-11T21:07:47.085Z,1749676067.085 [DAT](INFO): DAT read: Rx Time:21:07:48.3291
2025-06-11T21:07:47.085Z,1749676067.085 [DAT](INFO): Rx dataTimestamp_ set to:1749676067.085003
2025-06-11T21:07:47.086Z,1749676067.086 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.017275
2025-06-11T21:07:47.337Z,1749676067.337 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.268193
2025-06-11T21:07:47.580Z,1749676067.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:07:47.595Z,1749676067.595 [DAT](INFO): DAT read: 21:07:48.3291 LVL= 24736, 25329, 10386, 24435, AGC= 50, IDX= 459,-0.23,-2.871,-0.347,-1.308,-1.345, PHS=-1.438, 1.045, 0.034, RAW= 293.9, 3.4, CAL= 296.9, 4.7, ROT= 213.1, -4.7
2025-06-11T21:07:47.596Z,1749676067.596 [DAT](INFO): got valid direction response:
21:07:48.3291 LVL= 24736, 25329, 10386, 24435, AGC= 50, IDX= 459,-0.23,-2.871,-0.347,-1.308,-1.345, PHS=-1.438, 1.045, 0.034, RAW= 293.9, 3.4, CAL= 296.9, 4.7, ROT= 213.1, -4.7
2025-06-11T21:07:47.597Z,1749676067.597 [DAT](INFO): DAT read: Bearing 213.1, -4.7 (Local)
2025-06-11T21:07:47.597Z,1749676067.597 [DAT](INFO): Local bearing/azimuth received:
Bearing 213.1, -4.7 (Local)
2025-06-11T21:07:47.599Z,1749676067.599 [DAT](INFO): DAT read: Range 10 to 50 : 9.3 m (Round-trip 12.4 ms) speed -0.7 m/s
2025-06-11T21:07:47.600Z,1749676067.600 [DAT](INFO): DAT read: user:772>
2025-06-11T21:07:47.600Z,1749676067.600 [DAT](INFO): DAT read: Tx time:21:07:49.4126
2025-06-11T21:07:47.601Z,1749676067.601 [DAT](INFO): Ping request sent.
2025-06-11T21:07:47.601Z,1749676067.601 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:47.601Z,1749676067.601 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-11T21:07:47.602Z,1749676067.602 [DAT](INFO): direction in FSK: [-0.834902,-0.544266,0.081939]
2025-06-11T21:07:47.602Z,1749676067.602 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:47.603Z,1749676067.603 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:47.614Z,1749676067.614 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:47.614Z,1749676067.614 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:47.618Z,1749676067.618 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.016712
2025-06-11T21:07:47.841Z,1749676067.841 [DAT](INFO): DAT read: TxSync time:21:07:49.4119
2025-06-11T21:07:47.842Z,1749676067.842 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.241135
2025-06-11T21:07:47.961Z,1749676067.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 3.532169 s,
deltaX: 2.500000 m,
approachRate: 0.707780 m/s,
rangeRepo size: 4
2025-06-11T21:07:47.963Z,1749676067.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.221694 m,
bearing: 239.986060 deg,
lat: 36.906601 deg,
lon: -122.115569 deg,
deltaT: 3.532169 s,
deltaX: 2.478919 m,
approachRate: 0.701812 m/s,
posRepo size: 4
2025-06-11T21:07:47.963Z,1749676067.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 9.30 m. Rolling out.
2025-06-11T21:07:47.964Z,1749676067.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-06-11T21:07:47.993Z,1749676067.993 [DockingStepper](INFO): Changing to mode: 1
2025-06-11T21:07:47.993Z,1749676067.993 [DockingStepper](INFO): Standby mode.
2025-06-11T21:07:48.060Z,1749676068.060 [DockingStepper](INFO): Commanding positive:54500
2025-06-11T21:07:48.093Z,1749676068.093 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.492055
2025-06-11T21:07:48.345Z,1749676068.345 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.744006
2025-06-11T21:07:48.385Z,1749676068.385 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-11T21:07:48.385Z,1749676068.385 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-11T21:07:48.385Z,1749676068.385 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-11T21:07:48.386Z,1749676068.386 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 9.300000 m (mode 5.000000 count ).
2025-06-11T21:07:48.387Z,1749676068.387 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-11T21:07:48.387Z,1749676068.387 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-11T21:07:48.387Z,1749676068.387 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-06-11T21:07:48.387Z,1749676068.387 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-11T21:07:48.387Z,1749676068.387 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-06-11T21:07:48.412Z,1749676068.412 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 9.300000 m (mode 5.000000 count ).
2025-06-11T21:07:48.412Z,1749676068.412 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-06-11T21:07:48.413Z,1749676068.413 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-06-11T21:07:48.415Z,1749676068.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.22 m.
2025-06-11T21:07:48.597Z,1749676068.597 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.995877
2025-06-11T21:07:48.797Z,1749676068.797 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-11T21:07:48.797Z,1749676068.797 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-11T21:07:48.797Z,1749676068.797 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-06-11T21:07:48.797Z,1749676068.797 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-06-11T21:07:48.799Z,1749676068.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.22 m.
2025-06-11T21:07:48.850Z,1749676068.850 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.248689
2025-06-11T21:07:49.101Z,1749676069.101 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.499944
2025-06-11T21:07:49.210Z,1749676069.210 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-11T21:07:49.210Z,1749676069.210 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-11T21:07:49.210Z,1749676069.210 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-06-11T21:07:49.210Z,1749676069.210 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-06-11T21:07:49.213Z,1749676069.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.22 m.
2025-06-11T21:07:49.353Z,1749676069.353 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.751807
2025-06-11T21:07:49.593Z,1749676069.593 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-11T21:07:49.594Z,1749676069.594 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-11T21:07:49.594Z,1749676069.594 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-11T21:07:49.594Z,1749676069.594 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-11T21:07:49.595Z,1749676069.595 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-06-11T21:07:49.595Z,1749676069.595 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-11T21:07:49.595Z,1749676069.595 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-06-11T21:07:49.595Z,1749676069.595 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-11T21:07:49.597Z,1749676069.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.22 m.
2025-06-11T21:07:49.605Z,1749676069.605 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.004009
2025-06-11T21:07:49.857Z,1749676069.857 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.255910
2025-06-11T21:07:49.995Z,1749676069.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.22 m.
2025-06-11T21:07:50.109Z,1749676070.109 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.508095
2025-06-11T21:07:50.365Z,1749676070.365 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.764529
2025-06-11T21:07:50.390Z,1749676070.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.22 m.
2025-06-11T21:07:50.617Z,1749676070.617 [DAT](INFO): DAT read: Rx Time:21:07:51.8324
2025-06-11T21:07:50.618Z,1749676070.618 [DAT](INFO): Rx dataTimestamp_ set to:1749676070.617244
2025-06-11T21:07:50.618Z,1749676070.618 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.017207
2025-06-11T21:07:50.811Z,1749676070.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.22 m.
2025-06-11T21:07:50.870Z,1749676070.870 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.269071
2025-06-11T21:07:51.127Z,1749676071.127 [DAT](INFO): DAT read: 21:07:51.8324 LVL= 24528, 24305, 15714, 26867, AGC= 58, IDX= 460,-0.49,-1.386, 0.968, 0.347, 0.134, PHS=-1.433, 0.880, 0.210, RAW= 286.4, 3.4, CAL= 289.3, 4.4, ROT= 220.7, -4.4
2025-06-11T21:07:51.128Z,1749676071.128 [DAT](INFO): got valid direction response:
21:07:51.8324 LVL= 24528, 24305, 15714, 26867, AGC= 58, IDX= 460,-0.49,-1.386, 0.968, 0.347, 0.134, PHS=-1.433, 0.880, 0.210, RAW= 286.4, 3.4, CAL= 289.3, 4.4, ROT= 220.7, -4.4
2025-06-11T21:07:51.129Z,1749676071.129 [DAT](INFO): DAT read: Bearing 220.7, -4.4 (Local)
2025-06-11T21:07:51.129Z,1749676071.129 [DAT](INFO): Local bearing/azimuth received:
Bearing 220.7, -4.4 (Local)
2025-06-11T21:07:51.131Z,1749676071.131 [DAT](INFO): DAT read: Range 10 to 50 : 11.6 m (Round-trip 15.5 ms) speed -0.6 m/s
2025-06-11T21:07:51.132Z,1749676071.132 [DAT](INFO): DAT read: user:773>
2025-06-11T21:07:51.133Z,1749676071.133 [DAT](INFO): DAT read: Tx time:21:07:52.9127
2025-06-11T21:07:51.133Z,1749676071.133 [DAT](INFO): Ping request sent.
2025-06-11T21:07:51.133Z,1749676071.133 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:51.133Z,1749676071.133 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-11T21:07:51.134Z,1749676071.134 [DAT](INFO): direction in FSK: [-0.755900,-0.650176,0.076719]
2025-06-11T21:07:51.134Z,1749676071.134 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:51.135Z,1749676071.135 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:51.159Z,1749676071.159 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:51.159Z,1749676071.159 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:51.187Z,1749676071.187 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.053544
2025-06-11T21:07:51.243Z,1749676071.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 3.532118 s,
deltaX: 2.300000 m,
approachRate: 0.651167 m/s,
rangeRepo size: 4
2025-06-11T21:07:51.249Z,1749676071.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.502079 m,
bearing: 247.099810 deg,
lat: 36.906602 deg,
lon: -122.115577 deg,
deltaT: 3.532118 s,
deltaX: 2.280385 m,
approachRate: 0.645614 m/s,
posRepo size: 4
2025-06-11T21:07:51.249Z,1749676071.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:07:51.377Z,1749676071.377 [DAT](INFO): DAT read: TxSync time:21:07:52.9120
2025-06-11T21:07:51.377Z,1749676071.377 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.244351
2025-06-11T21:07:51.629Z,1749676071.629 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.495793
2025-06-11T21:07:51.657Z,1749676071.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:07:51.881Z,1749676071.881 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.747772
2025-06-11T21:07:52.009Z,1749676072.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:07:52.133Z,1749676072.133 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.999879
2025-06-11T21:07:52.385Z,1749676072.385 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.251873
2025-06-11T21:07:52.439Z,1749676072.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:07:52.640Z,1749676072.640 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.506893
2025-06-11T21:07:52.839Z,1749676072.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:07:52.890Z,1749676072.890 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.756720
2025-06-11T21:07:53.141Z,1749676073.141 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.008224
2025-06-11T21:07:53.215Z,1749676073.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:07:53.393Z,1749676073.393 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.259877
2025-06-11T21:07:53.637Z,1749676073.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:07:53.645Z,1749676073.645 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.511998
2025-06-11T21:07:53.897Z,1749676073.897 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.763802
2025-06-11T21:07:54.027Z,1749676074.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:07:54.149Z,1749676074.149 [DAT](INFO): DAT read: Rx Time:21:07:55.3354
2025-06-11T21:07:54.149Z,1749676074.149 [DAT](INFO): Rx dataTimestamp_ set to:1749676074.148981
2025-06-11T21:07:54.150Z,1749676074.150 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.016869
2025-06-11T21:07:54.401Z,1749676074.401 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.267919
2025-06-11T21:07:54.452Z,1749676074.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:07:54.659Z,1749676074.659 [DAT](INFO): DAT read: 21:07:55.3354 LVL= 32240, 30657, 21442, 32755, AGC= 64, IDX= 458, 0.33,-2.461,-0.088,-0.865,-0.971, PHS=-1.401, 0.930, 0.104, RAW= 290.5, 3.6, CAL= 293.5, 5.0, ROT= 216.5, -5.0
2025-06-11T21:07:54.660Z,1749676074.660 [DAT](INFO): got valid direction response:
21:07:55.3354 LVL= 32240, 30657, 21442, 32755, AGC= 64, IDX= 458, 0.33,-2.461,-0.088,-0.865,-0.971, PHS=-1.401, 0.930, 0.104, RAW= 290.5, 3.6, CAL= 293.5, 5.0, ROT= 216.5, -5.0
2025-06-11T21:07:54.661Z,1749676074.661 [DAT](INFO): DAT read: Bearing 216.5, -5.0 (Local)
2025-06-11T21:07:54.661Z,1749676074.661 [DAT](INFO): Local bearing/azimuth received:
Bearing 216.5, -5.0 (Local)
2025-06-11T21:07:54.663Z,1749676074.663 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (Round-trip 18.5 ms) speed -0.7 m/s
2025-06-11T21:07:54.663Z,1749676074.663 [DAT](INFO): DAT read: user:774>
2025-06-11T21:07:54.664Z,1749676074.664 [DAT](INFO): DAT read: Tx time:21:07:56.4627
2025-06-11T21:07:54.665Z,1749676074.665 [DAT](INFO): Ping request sent.
2025-06-11T21:07:54.665Z,1749676074.665 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:54.665Z,1749676074.665 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-11T21:07:54.666Z,1749676074.666 [DAT](INFO): direction in FSK: [-0.800798,-0.592559,0.087156]
2025-06-11T21:07:54.666Z,1749676074.666 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:54.667Z,1749676074.667 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:54.670Z,1749676074.670 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:54.670Z,1749676074.670 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:54.674Z,1749676074.674 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.008960
2025-06-11T21:07:54.906Z,1749676074.906 [DAT](INFO): DAT read: TxSync time:21:07:56.4620
2025-06-11T21:07:54.907Z,1749676074.907 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.242226
2025-06-11T21:07:54.917Z,1749676074.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 3.531728 s,
deltaX: 2.200000 m,
approachRate: 0.622924 m/s,
rangeRepo size: 4
2025-06-11T21:07:54.925Z,1749676074.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.683206 m,
bearing: 242.143048 deg,
lat: 36.906604 deg,
lon: -122.115590 deg,
deltaT: 3.531728 s,
deltaX: 2.181127 m,
approachRate: 0.617581 m/s,
posRepo size: 4
2025-06-11T21:07:54.925Z,1749676074.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:07:55.157Z,1749676075.157 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.492116
2025-06-11T21:07:55.374Z,1749676075.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:07:55.410Z,1749676075.410 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.745308
2025-06-11T21:07:55.661Z,1749676075.661 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.996641
2025-06-11T21:07:55.822Z,1749676075.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:07:55.913Z,1749676075.913 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.248722
2025-06-11T21:07:56.165Z,1749676076.165 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.500575
2025-06-11T21:07:56.239Z,1749676076.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:07:56.417Z,1749676076.417 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.751969
2025-06-11T21:07:56.669Z,1749676076.669 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.004069
2025-06-11T21:07:56.693Z,1749676076.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:07:56.922Z,1749676076.922 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.256853
2025-06-11T21:07:57.053Z,1749676077.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:07:57.173Z,1749676077.173 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.507965
2025-06-11T21:07:57.425Z,1749676077.425 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.760183
2025-06-11T21:07:57.463Z,1749676077.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:07:57.678Z,1749676077.678 [DAT](INFO): DAT read: Rx Time:21:07:58.8887
2025-06-11T21:07:57.679Z,1749676077.679 [DAT](INFO): Rx dataTimestamp_ set to:1749676077.678231
2025-06-11T21:07:57.679Z,1749676077.679 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.014332
2025-06-11T21:07:57.930Z,1749676077.930 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.264513
2025-06-11T21:07:57.956Z,1749676077.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:07:58.189Z,1749676078.189 [DAT](INFO): DAT read: 21:07:58.8887 LVL= 32752, 29553, 20962, 32755, AGC= 61, IDX= 460,-0.08, 0.786, 3.082, 2.350, 2.238, PHS=-1.364, 0.891, 0.109, RAW= 290.0, 3.7, CAL= 293.1, 5.1, ROT= 216.9, -5.1
2025-06-11T21:07:58.190Z,1749676078.190 [DAT](INFO): got valid direction response:
21:07:58.8887 LVL= 32752, 29553, 20962, 32755, AGC= 61, IDX= 460,-0.08, 0.786, 3.082, 2.350, 2.238, PHS=-1.364, 0.891, 0.109, RAW= 290.0, 3.7, CAL= 293.1, 5.1, ROT= 216.9, -5.1
2025-06-11T21:07:58.191Z,1749676078.191 [DAT](INFO): DAT read: Bearing 216.9, -5.1 (Local)
2025-06-11T21:07:58.191Z,1749676078.191 [DAT](INFO): Local bearing/azimuth received:
Bearing 216.9, -5.1 (Local)
2025-06-11T21:07:58.198Z,1749676078.198 [DAT](INFO): DAT read: Range 10 to 50 : 16.3 m (Round-trip 21.8 ms) speed -0.7 m/s
2025-06-11T21:07:58.199Z,1749676078.199 [DAT](INFO): DAT read: user:775>
2025-06-11T21:07:58.200Z,1749676078.200 [DAT](INFO): DAT read: Tx time:21:08:00.0127
2025-06-11T21:07:58.201Z,1749676078.201 [DAT](INFO): Ping request sent.
2025-06-11T21:07:58.201Z,1749676078.201 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:07:58.201Z,1749676078.201 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-11T21:07:58.202Z,1749676078.202 [DAT](INFO): direction in FSK: [-0.796519,-0.598043,0.088894]
2025-06-11T21:07:58.202Z,1749676078.202 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:58.203Z,1749676078.203 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:58.206Z,1749676078.206 [DAT](INFO): publishing transmit ping time
2025-06-11T21:07:58.207Z,1749676078.207 [DAT](INFO): publishing direction and range info
2025-06-11T21:07:58.213Z,1749676078.213 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.011808
2025-06-11T21:07:58.354Z,1749676078.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.299999 m,
deltaT: 3.528750 s,
deltaX: 2.499999 m,
approachRate: 0.708466 m/s,
rangeRepo size: 4
2025-06-11T21:07:58.358Z,1749676078.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.161915 m,
bearing: 241.392841 deg,
lat: 36.906619 deg,
lon: -122.115590 deg,
deltaT: 3.528750 s,
deltaX: 2.478709 m,
approachRate: 0.702433 m/s,
posRepo size: 4
2025-06-11T21:07:58.358Z,1749676078.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.16 m.
2025-06-11T21:07:58.433Z,1749676078.433 [DAT](INFO): DAT read: TxSync time:21:08:00.0120
2025-06-11T21:07:58.434Z,1749676078.434 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.233377
2025-06-11T21:07:58.689Z,1749676078.689 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.487760
2025-06-11T21:07:58.730Z,1749676078.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.16 m.
2025-06-11T21:07:58.942Z,1749676078.942 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.740743
2025-06-11T21:07:59.181Z,1749676079.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.16 m.
2025-06-11T21:07:59.193Z,1749676079.193 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.992090
2025-06-11T21:07:59.445Z,1749676079.445 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.244098
2025-06-11T21:07:59.678Z,1749676079.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.16 m.
2025-06-11T21:07:59.697Z,1749676079.697 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.496174
2025-06-11T21:07:59.949Z,1749676079.949 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.747974
2025-06-11T21:08:00.147Z,1749676080.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.16 m.
2025-06-11T21:08:00.202Z,1749676080.202 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.000453
2025-06-11T21:08:00.453Z,1749676080.453 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.252084
2025-06-11T21:08:00.536Z,1749676080.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.16 m.
2025-06-11T21:08:00.705Z,1749676080.705 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.504131
2025-06-11T21:08:00.957Z,1749676080.957 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.756098
2025-06-11T21:08:00.969Z,1749676080.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.16 m.
2025-06-11T21:08:01.209Z,1749676081.209 [DAT](INFO): DAT read: Rx Time:21:08:02.4429
2025-06-11T21:08:01.209Z,1749676081.209 [DAT](INFO): Rx dataTimestamp_ set to:1749676081.209077
2025-06-11T21:08:01.210Z,1749676081.210 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.009155
2025-06-11T21:08:01.316Z,1749676081.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.16 m.
2025-06-11T21:08:01.461Z,1749676081.461 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.259965
2025-06-11T21:08:01.719Z,1749676081.719 [DAT](INFO): DAT read: 21:08:02.4429 LVL= 29920, 28401, 18978, 32755, AGC= 60, IDX= 470, 0.49,-1.305, 0.959, 0.135, 0.067, PHS=-1.284, 0.939, 0.065, RAW= 293.0, 2.9, CAL= 295.9, 4.0, ROT= 214.1, -4.0
2025-06-11T21:08:01.720Z,1749676081.720 [DAT](INFO): got valid direction response:
21:08:02.4429 LVL= 29920, 28401, 18978, 32755, AGC= 60, IDX= 470, 0.49,-1.305, 0.959, 0.135, 0.067, PHS=-1.284, 0.939, 0.065, RAW= 293.0, 2.9, CAL= 295.9, 4.0, ROT= 214.1, -4.0
2025-06-11T21:08:01.721Z,1749676081.721 [DAT](INFO): DAT read: Bearing 214.1, -4.0 (Local)
2025-06-11T21:08:01.721Z,1749676081.721 [DAT](INFO): Local bearing/azimuth received:
Bearing 214.1, -4.0 (Local)
2025-06-11T21:08:01.723Z,1749676081.723 [DAT](INFO): DAT read: Range 10 to 50 : 19.4 m (Round-trip 25.9 ms) speed -0.8 m/s
2025-06-11T21:08:01.723Z,1749676081.723 [DAT](INFO): DAT read: user:776>
2025-06-11T21:08:01.724Z,1749676081.724 [DAT](INFO): DAT read: Tx time:21:08:03.5628
2025-06-11T21:08:01.725Z,1749676081.725 [DAT](INFO): Ping request sent.
2025-06-11T21:08:01.725Z,1749676081.725 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:01.725Z,1749676081.725 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-11T21:08:01.726Z,1749676081.726 [DAT](INFO): direction in FSK: [-0.826043,-0.559273,0.069756]
2025-06-11T21:08:01.726Z,1749676081.726 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:01.727Z,1749676081.727 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:01.730Z,1749676081.730 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:01.730Z,1749676081.730 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:01.737Z,1749676081.737 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.012558
2025-06-11T21:08:01.906Z,1749676081.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.400000 m,
deltaT: 3.531415 s,
deltaX: 3.100000 m,
approachRate: 0.877835 m/s,
rangeRepo size: 4
2025-06-11T21:08:01.913Z,1749676081.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.235159 m,
bearing: 238.472531 deg,
lat: 36.906620 deg,
lon: -122.115591 deg,
deltaT: 3.531415 s,
deltaX: 3.073244 m,
approachRate: 0.870259 m/s,
posRepo size: 4
2025-06-11T21:08:01.914Z,1749676081.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-11T21:08:01.965Z,1749676081.965 [DAT](INFO): DAT read: TxSync time:21:08:03.5621
2025-06-11T21:08:01.966Z,1749676081.966 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.241475
2025-06-11T21:08:02.211Z,1749676082.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-11T21:08:02.217Z,1749676082.217 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.492110
2025-06-11T21:08:02.469Z,1749676082.469 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.744131
2025-06-11T21:08:02.615Z,1749676082.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-11T21:08:02.721Z,1749676082.721 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.996184
2025-06-11T21:08:02.973Z,1749676082.973 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.248027
2025-06-11T21:08:03.043Z,1749676083.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-11T21:08:03.226Z,1749676083.226 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.501001
2025-06-11T21:08:03.477Z,1749676083.477 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.752174
2025-06-11T21:08:03.497Z,1749676083.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-11T21:08:03.732Z,1749676083.732 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.006651
2025-06-11T21:08:03.878Z,1749676083.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-11T21:08:03.981Z,1749676083.981 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.256049
2025-06-11T21:08:04.233Z,1749676084.233 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.508150
2025-06-11T21:08:04.284Z,1749676084.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-11T21:08:04.485Z,1749676084.485 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.760694
2025-06-11T21:08:04.674Z,1749676084.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-11T21:08:04.738Z,1749676084.738 [DAT](INFO): DAT read: Rx Time:21:08:05.9974
2025-06-11T21:08:04.738Z,1749676084.738 [DAT](INFO): Rx dataTimestamp_ set to:1749676084.737855
2025-06-11T21:08:04.739Z,1749676084.739 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.013954
2025-06-11T21:08:04.989Z,1749676084.989 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.264073
2025-06-11T21:08:05.087Z,1749676085.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-11T21:08:05.247Z,1749676085.247 [DAT](INFO): DAT read: 21:08:05.9974 LVL= 28736, 23345, 19954, 32755, AGC= 65, IDX= 468,-0.19,-1.591, 0.700,-0.337,-0.298, PHS=-1.205, 1.045,-0.042, RAW= 298.9, 2.1, CAL= 301.7, 2.9, ROT= 208.3, -2.9
2025-06-11T21:08:05.248Z,1749676085.248 [DAT](INFO): got valid direction response:
21:08:05.9974 LVL= 28736, 23345, 19954, 32755, AGC= 65, IDX= 468,-0.19,-1.591, 0.700,-0.337,-0.298, PHS=-1.205, 1.045,-0.042, RAW= 298.9, 2.1, CAL= 301.7, 2.9, ROT= 208.3, -2.9
2025-06-11T21:08:05.249Z,1749676085.249 [DAT](INFO): DAT read: Bearing 208.3, -2.9 (Local)
2025-06-11T21:08:05.249Z,1749676085.249 [DAT](INFO): Local bearing/azimuth received:
Bearing 208.3, -2.9 (Local)
2025-06-11T21:08:05.251Z,1749676085.251 [DAT](INFO): DAT read: Range 10 to 50 : 22.8 m (Round-trip 30.4 ms) speed -0.8 m/s
2025-06-11T21:08:05.251Z,1749676085.251 [DAT](INFO): DAT read: user:777>
2025-06-11T21:08:05.252Z,1749676085.252 [DAT](INFO): DAT read: Tx time:21:08:07.1128
2025-06-11T21:08:05.253Z,1749676085.253 [DAT](INFO): Ping request sent.
2025-06-11T21:08:05.253Z,1749676085.253 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:05.253Z,1749676085.253 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-11T21:08:05.254Z,1749676085.254 [DAT](INFO): direction in FSK: [-0.879350,-0.473481,0.050593]
2025-06-11T21:08:05.254Z,1749676085.254 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:05.255Z,1749676085.255 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:05.270Z,1749676085.270 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:05.270Z,1749676085.270 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:05.294Z,1749676085.294 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.040703
2025-06-11T21:08:05.493Z,1749676085.493 [DAT](INFO): DAT read: TxSync time:21:08:07.1121
2025-06-11T21:08:05.494Z,1749676085.494 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.241071
2025-06-11T21:08:05.501Z,1749676085.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 3.527817 s,
deltaX: 3.400000 m,
approachRate: 0.963769 m/s,
rangeRepo size: 4
2025-06-11T21:08:05.503Z,1749676085.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.606195 m,
bearing: 232.866720 deg,
lat: 36.906620 deg,
lon: -122.115595 deg,
deltaT: 3.527817 s,
deltaX: 3.371037 m,
approachRate: 0.955559 m/s,
posRepo size: 4
2025-06-11T21:08:05.503Z,1749676085.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:08:05.747Z,1749676085.747 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.494220
2025-06-11T21:08:05.895Z,1749676085.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:08:05.997Z,1749676085.997 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.744084
2025-06-11T21:08:06.249Z,1749676086.249 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.995944
2025-06-11T21:08:06.298Z,1749676086.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:08:06.501Z,1749676086.501 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.248057
2025-06-11T21:08:06.756Z,1749676086.756 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.502511
2025-06-11T21:08:06.772Z,1749676086.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:08:07.006Z,1749676087.006 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.752860
2025-06-11T21:08:07.115Z,1749676087.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:08:07.257Z,1749676087.257 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.004056
2025-06-11T21:08:07.506Z,1749676087.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:08:07.509Z,1749676087.509 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.256107
2025-06-11T21:08:07.763Z,1749676087.763 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.510225
2025-06-11T21:08:07.941Z,1749676087.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:08:08.014Z,1749676088.014 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.761350
2025-06-11T21:08:08.265Z,1749676088.265 [DAT](INFO): DAT read: Rx Time:21:08:09.5515
2025-06-11T21:08:08.265Z,1749676088.265 [DAT](INFO): Rx dataTimestamp_ set to:1749676088.264996
2025-06-11T21:08:08.266Z,1749676088.266 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.013075
2025-06-11T21:08:08.315Z,1749676088.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:08:08.518Z,1749676088.518 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.264721
2025-06-11T21:08:08.809Z,1749676088.809 [DAT](INFO): DAT read: 21:08:09.5515 LVL= 32080, 26673, 22130, 32755, AGC= 66, IDX= 462, 0.01,-1.653, 0.673,-0.438,-0.468, PHS=-1.097, 1.188, 0.027, RAW= 300.5, -1.2, CAL= 303.5, -2.0, ROT= 206.5, 2.0
2025-06-11T21:08:08.810Z,1749676088.810 [DAT](INFO): got valid direction response:
21:08:09.5515 LVL= 32080, 26673, 22130, 32755, AGC= 66, IDX= 462, 0.01,-1.653, 0.673,-0.438,-0.468, PHS=-1.097, 1.188, 0.027, RAW= 300.5, -1.2, CAL= 303.5, -2.0, ROT= 206.5, 2.0
2025-06-11T21:08:08.811Z,1749676088.811 [DAT](INFO): DAT read: Bearing 206.5, 2.0 (Local)
2025-06-11T21:08:08.811Z,1749676088.811 [DAT](INFO): Local bearing/azimuth received:
Bearing 206.5, 2.0 (Local)
2025-06-11T21:08:08.817Z,1749676088.817 [DAT](INFO): DAT read: Range 10 to 50 : 25.8 m (Round-trip 34.5 ms) speed -0.6 m/s
2025-06-11T21:08:08.818Z,1749676088.818 [DAT](INFO): DAT read: user:778>
2025-06-11T21:08:08.819Z,1749676088.819 [DAT](INFO): DAT read: Tx time:21:08:10.6628
2025-06-11T21:08:08.819Z,1749676088.819 [DAT](INFO): Ping request sent.
2025-06-11T21:08:08.819Z,1749676088.819 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:08.822Z,1749676088.822 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-11T21:08:08.823Z,1749676088.823 [DAT](INFO): direction in FSK: [-0.894389,-0.445926,-0.034899]
2025-06-11T21:08:08.823Z,1749676088.823 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:08.824Z,1749676088.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:08:08.832Z,1749676088.832 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:08.835Z,1749676088.835 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:08.835Z,1749676088.835 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:08.881Z,1749676088.881 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.062080
2025-06-11T21:08:09.021Z,1749676089.021 [DAT](INFO): DAT read: TxSync time:21:08:10.6621
2025-06-11T21:08:09.022Z,1749676089.022 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.202628
2025-06-11T21:08:09.184Z,1749676089.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.799999 m,
deltaT: 3.530434 s,
deltaX: 3.000000 m,
approachRate: 0.849754 m/s,
rangeRepo size: 4
2025-06-11T21:08:09.186Z,1749676089.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.580715 m,
bearing: 230.824370 deg,
lat: 36.906621 deg,
lon: -122.115595 deg,
deltaT: 3.530434 s,
deltaX: 2.974520 m,
approachRate: 0.842537 m/s,
posRepo size: 4
2025-06-11T21:08:09.187Z,1749676089.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-06-11T21:08:09.274Z,1749676089.274 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.454534
2025-06-11T21:08:09.525Z,1749676089.525 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.705658
2025-06-11T21:08:09.533Z,1749676089.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-06-11T21:08:09.779Z,1749676089.779 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.959556
2025-06-11T21:08:09.971Z,1749676089.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-06-11T21:08:10.030Z,1749676090.030 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.210267
2025-06-11T21:08:10.281Z,1749676090.281 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.461591
2025-06-11T21:08:10.339Z,1749676090.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-06-11T21:08:10.534Z,1749676090.534 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.714793
2025-06-11T21:08:10.788Z,1749676090.787 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.967825
2025-06-11T21:08:10.827Z,1749676090.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-06-11T21:08:11.037Z,1749676091.037 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.218210
2025-06-11T21:08:11.169Z,1749676091.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-06-11T21:08:11.289Z,1749676091.289 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.469511
2025-06-11T21:08:11.541Z,1749676091.541 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.721596
2025-06-11T21:08:11.627Z,1749676091.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-06-11T21:08:11.795Z,1749676091.795 [DAT](INFO): DAT read: Rx Time:21:08:13.1055
2025-06-11T21:08:11.797Z,1749676091.797 [DAT](INFO): Rx dataTimestamp_ set to:1749676091.796265
2025-06-11T21:08:11.799Z,1749676091.799 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.979295
2025-06-11T21:08:12.023Z,1749676092.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-06-11T21:08:12.045Z,1749676092.045 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.225620
2025-06-11T21:08:12.306Z,1749676092.306 [DAT](INFO): DAT read: 21:08:13.1055 LVL= 31728, 25473, 18930, 32755, AGC= 68, IDX= 470,-0.10, 1.684,-2.400, 2.684, 2.731, PHS=-0.958, 1.200,-0.049, RAW= 305.2, -2.1, CAL= 308.5, -3.1, ROT= 201.5, 3.1
2025-06-11T21:08:12.309Z,1749676092.309 [DAT](INFO): got valid direction response:
21:08:13.1055 LVL= 31728, 25473, 18930, 32755, AGC= 68, IDX= 470,-0.10, 1.684,-2.400, 2.684, 2.731, PHS=-0.958, 1.200,-0.049, RAW= 305.2, -2.1, CAL= 308.5, -3.1, ROT= 201.5, 3.1
2025-06-11T21:08:12.310Z,1749676092.310 [DAT](INFO): DAT read: Bearing 201.5, 3.1 (Local)
2025-06-11T21:08:12.311Z,1749676092.311 [DAT](INFO): Local bearing/azimuth received:
Bearing 201.5, 3.1 (Local)
2025-06-11T21:08:12.314Z,1749676092.314 [DAT](INFO): DAT read: Range 10 to 50 : 28.8 m (Round-trip 38.4 ms) speed -0.7 m/s
2025-06-11T21:08:12.324Z,1749676092.324 [DAT](INFO): DAT read: user:779>
2025-06-11T21:08:12.326Z,1749676092.326 [DAT](INFO): DAT read: Tx time:21:08:14.2129
2025-06-11T21:08:12.326Z,1749676092.326 [DAT](INFO): Ping request sent.
2025-06-11T21:08:12.326Z,1749676092.326 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:12.327Z,1749676092.327 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-11T21:08:12.329Z,1749676092.329 [DAT](INFO): direction in FSK: [-0.929056,-0.365965,-0.054079]
2025-06-11T21:08:12.329Z,1749676092.329 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:12.330Z,1749676092.330 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:12.338Z,1749676092.338 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:12.338Z,1749676092.338 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:12.382Z,1749676092.382 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.055737
2025-06-11T21:08:12.470Z,1749676092.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.799999 m,
deltaT: 3.525636 s,
deltaX: 3.000000 m,
approachRate: 0.850910 m/s,
rangeRepo size: 4
2025-06-11T21:08:12.477Z,1749676092.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.554932 m,
bearing: 225.884457 deg,
lat: 36.906621 deg,
lon: -122.115595 deg,
deltaT: 3.525636 s,
deltaX: 2.974216 m,
approachRate: 0.843597 m/s,
posRepo size: 4
2025-06-11T21:08:12.478Z,1749676092.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m.
2025-06-11T21:08:12.550Z,1749676092.550 [DAT](INFO): DAT read: TxSync time:21:08:14.2122
2025-06-11T21:08:12.551Z,1749676092.551 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.224777
2025-06-11T21:08:12.803Z,1749676092.803 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.476934
2025-06-11T21:08:12.860Z,1749676092.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m.
2025-06-11T21:08:13.056Z,1749676093.056 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.730286
2025-06-11T21:08:13.253Z,1749676093.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m.
2025-06-11T21:08:13.305Z,1749676093.305 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.978738
2025-06-11T21:08:13.557Z,1749676093.557 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.230491
2025-06-11T21:08:13.580Z,1749676093.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:08:13.621Z,1749676093.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m.
2025-06-11T21:08:13.809Z,1749676093.809 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.482638
2025-06-11T21:08:14.020Z,1749676094.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m.
2025-06-11T21:08:14.061Z,1749676094.061 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.734741
2025-06-11T21:08:14.313Z,1749676094.313 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.986591
2025-06-11T21:08:14.415Z,1749676094.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m.
2025-06-11T21:08:14.566Z,1749676094.566 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.239487
2025-06-11T21:08:14.585Z,1749676094.585 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:08:14.785Z,1749676094.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m.
2025-06-11T21:08:14.820Z,1749676094.820 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.493944
2025-06-11T21:08:15.069Z,1749676095.069 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.742591
2025-06-11T21:08:15.223Z,1749676095.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m.
2025-06-11T21:08:15.321Z,1749676095.321 [DAT](INFO): DAT read: Rx Time:21:08:16.6597
2025-06-11T21:08:15.322Z,1749676095.322 [DAT](INFO): Rx dataTimestamp_ set to:1749676095.321709
2025-06-11T21:08:15.323Z,1749676095.323 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.996726
2025-06-11T21:08:15.573Z,1749676095.573 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.246662
2025-06-11T21:08:15.595Z,1749676095.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m.
2025-06-11T21:08:15.841Z,1749676095.841 [DAT](INFO): DAT read: 21:08:16.6597 LVL= 32752, 32753, 26162, 32755, AGC= 67, IDX= 465,-0.01, 1.859,-2.261, 2.808, 2.866, PHS=-0.919, 1.203,-0.061, RAW= 306.3, -2.4, CAL= 309.7, -3.5, ROT= 200.3, 3.5
2025-06-11T21:08:15.842Z,1749676095.842 [DAT](INFO): got valid direction response:
21:08:16.6597 LVL= 32752, 32753, 26162, 32755, AGC= 67, IDX= 465,-0.01, 1.859,-2.261, 2.808, 2.866, PHS=-0.919, 1.203,-0.061, RAW= 306.3, -2.4, CAL= 309.7, -3.5, ROT= 200.3, 3.5
2025-06-11T21:08:15.843Z,1749676095.843 [DAT](INFO): DAT read: Bearing 200.3, 3.5 (Local)
2025-06-11T21:08:15.843Z,1749676095.843 [DAT](INFO): Local bearing/azimuth received:
Bearing 200.3, 3.5 (Local)
2025-06-11T21:08:15.845Z,1749676095.845 [DAT](INFO): DAT read: Range 10 to 50 : 31.9 m (Round-trip 42.6 ms) speed -0.8 m/s
2025-06-11T21:08:15.847Z,1749676095.847 [DAT](INFO): DAT read: user:780>
2025-06-11T21:08:15.855Z,1749676095.855 [DAT](INFO): DAT read: Tx time:21:08:17.7629
2025-06-11T21:08:15.857Z,1749676095.857 [DAT](INFO): Ping request sent.
2025-06-11T21:08:15.857Z,1749676095.857 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:15.858Z,1749676095.858 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-11T21:08:15.861Z,1749676095.861 [DAT](INFO): direction in FSK: [-0.936140,-0.346288,-0.061049]
2025-06-11T21:08:15.862Z,1749676095.862 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:15.863Z,1749676095.863 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:15.920Z,1749676095.920 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:15.921Z,1749676095.921 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:15.932Z,1749676095.932 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.075792
2025-06-11T21:08:16.077Z,1749676096.077 [DAT](INFO): DAT read: TxSync time:21:08:17.7622
2025-06-11T21:08:16.078Z,1749676096.078 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.221052
2025-06-11T21:08:16.098Z,1749676096.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.900000 m,
deltaT: 3.529567 s,
deltaX: 3.100000 m,
approachRate: 0.878295 m/s,
rangeRepo size: 4
2025-06-11T21:08:16.099Z,1749676096.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.628754 m,
bearing: 224.495089 deg,
lat: 36.906620 deg,
lon: -122.115595 deg,
deltaT: 3.529567 s,
deltaX: 3.073822 m,
approachRate: 0.870878 m/s,
posRepo size: 4
2025-06-11T21:08:16.103Z,1749676096.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m.
2025-06-11T21:08:16.329Z,1749676096.329 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.472729
2025-06-11T21:08:16.407Z,1749676096.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m.
2025-06-11T21:08:16.581Z,1749676096.581 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.724033
2025-06-11T21:08:16.816Z,1749676096.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m.
2025-06-11T21:08:16.835Z,1749676096.835 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.978061
2025-06-11T21:08:17.086Z,1749676097.086 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.228508
2025-06-11T21:08:17.239Z,1749676097.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m.
2025-06-11T21:08:17.337Z,1749676097.337 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.480406
2025-06-11T21:08:17.589Z,1749676097.589 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.732510
2025-06-11T21:08:17.625Z,1749676097.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m.
2025-06-11T21:08:17.842Z,1749676097.842 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.984486
2025-06-11T21:08:18.044Z,1749676098.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m.
2025-06-11T21:08:18.094Z,1749676098.094 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.236603
2025-06-11T21:08:18.345Z,1749676098.345 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.488096
2025-06-11T21:08:18.416Z,1749676098.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m.
2025-06-11T21:08:18.597Z,1749676098.597 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.740255
2025-06-11T21:08:18.822Z,1749676098.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m.
2025-06-11T21:08:18.864Z,1749676098.864 [DAT](INFO): DAT read: Rx Time:21:08:20.2140
2025-06-11T21:08:18.865Z,1749676098.865 [DAT](INFO): Rx dataTimestamp_ set to:1749676098.864525
2025-06-11T21:08:18.866Z,1749676098.866 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.009081
2025-06-11T21:08:19.113Z,1749676099.113 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.256028
2025-06-11T21:08:19.255Z,1749676099.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m.
2025-06-11T21:08:19.368Z,1749676099.368 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.510621
2025-06-11T21:08:19.623Z,1749676099.623 [DAT](INFO): DAT read: 21:08:20.2140 LVL= 32752, 26337, 24786, 32755, AGC= 68, IDX= 477,-0.00, 1.403,-2.729, 2.242, 2.314, PHS=-0.822, 1.288,-0.075, RAW= 309.6, -4.3, CAL= 313.2, -5.9, ROT= 196.8, 5.9
2025-06-11T21:08:19.624Z,1749676099.624 [DAT](INFO): got valid direction response:
21:08:20.2140 LVL= 32752, 26337, 24786, 32755, AGC= 68, IDX= 477,-0.00, 1.403,-2.729, 2.242, 2.314, PHS=-0.822, 1.288,-0.075, RAW= 309.6, -4.3, CAL= 313.2, -5.9, ROT= 196.8, 5.9
2025-06-11T21:08:19.625Z,1749676099.625 [DAT](INFO): DAT read: Bearing 196.8, 5.9 (Local)
2025-06-11T21:08:19.626Z,1749676099.626 [DAT](INFO): Local bearing/azimuth received:
Bearing 196.8, 5.9 (Local)
2025-06-11T21:08:19.627Z,1749676099.627 [DAT](INFO): DAT read: Range 10 to 50 : 35.1 m (Round-trip 46.9 ms) speed -0.7 m/s
2025-06-11T21:08:19.628Z,1749676099.628 [DAT](INFO): DAT read: user:781>
2025-06-11T21:08:19.629Z,1749676099.629 [DAT](INFO): DAT read: Tx time:21:08:21.3129
2025-06-11T21:08:19.629Z,1749676099.629 [DAT](INFO): Ping request sent.
2025-06-11T21:08:19.629Z,1749676099.629 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:19.630Z,1749676099.630 [DAT](INFO): DAT read: TxSync time:21:08:21.3122
2025-06-11T21:08:19.631Z,1749676099.631 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-11T21:08:19.660Z,1749676099.660 [DAT](INFO): direction in FSK: [-0.952248,-0.287501,-0.102793]
2025-06-11T21:08:19.660Z,1749676099.660 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:19.660Z,1749676099.660 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:19.663Z,1749676099.663 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:19.680Z,1749676099.680 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:19.683Z,1749676099.683 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.053702
2025-06-11T21:08:19.715Z,1749676099.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.099998 m,
deltaT: 3.790476 s,
deltaX: 3.199999 m,
approachRate: 0.844221 m/s,
rangeRepo size: 4
2025-06-11T21:08:19.718Z,1749676099.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.801498 m,
bearing: 221.253448 deg,
lat: 36.906609 deg,
lon: -122.115585 deg,
deltaT: 3.790476 s,
deltaX: 3.172745 m,
approachRate: 0.837031 m/s,
posRepo size: 4
2025-06-11T21:08:19.718Z,1749676099.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:08:19.869Z,1749676099.869 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.239448
2025-06-11T21:08:20.121Z,1749676100.121 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.491447
2025-06-11T21:08:20.140Z,1749676100.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:08:20.373Z,1749676100.373 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.743670
2025-06-11T21:08:20.441Z,1749676100.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:08:20.625Z,1749676100.625 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.995217
2025-06-11T21:08:20.849Z,1749676100.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:08:20.878Z,1749676100.878 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.247810
2025-06-11T21:08:21.129Z,1749676101.129 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.499230
2025-06-11T21:08:21.270Z,1749676101.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:08:21.381Z,1749676101.381 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.751543
2025-06-11T21:08:21.633Z,1749676101.633 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.003218
2025-06-11T21:08:21.654Z,1749676101.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:08:21.885Z,1749676101.885 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.255326
2025-06-11T21:08:22.073Z,1749676102.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:08:22.137Z,1749676102.137 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.507936
2025-06-11T21:08:22.389Z,1749676102.389 [DAT](INFO): DAT read: Rx Time:21:08:23.7685
2025-06-11T21:08:22.389Z,1749676102.389 [DAT](INFO): Rx dataTimestamp_ set to:1749676102.389101
2025-06-11T21:08:22.390Z,1749676102.390 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.760448
2025-06-11T21:08:22.479Z,1749676102.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:08:22.641Z,1749676102.641 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.011379
2025-06-11T21:08:22.877Z,1749676102.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:08:22.898Z,1749676102.898 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.267814
2025-06-11T21:08:23.153Z,1749676103.153 [DAT](INFO): DAT read: 21:08:23.7686 LVL= 22000, 23153, 16306, 29139, AGC= 69, IDX= 474, 0.11,-2.621,-0.292,-1.721,-1.643, PHS=-0.890, 1.398,-0.081, RAW= 309.6, -4.3, CAL= 313.2, -6.0, ROT= 196.8, 6.0
2025-06-11T21:08:23.154Z,1749676103.154 [DAT](INFO): got valid direction response:
21:08:23.7686 LVL= 22000, 23153, 16306, 29139, AGC= 69, IDX= 474, 0.11,-2.621,-0.292,-1.721,-1.643, PHS=-0.890, 1.398,-0.081, RAW= 309.6, -4.3, CAL= 313.2, -6.0, ROT= 196.8, 6.0
2025-06-11T21:08:23.155Z,1749676103.155 [DAT](INFO): DAT read: Bearing 196.8, 6.0 (Local)
2025-06-11T21:08:23.156Z,1749676103.156 [DAT](INFO): Local bearing/azimuth received:
Bearing 196.8, 6.0 (Local)
2025-06-11T21:08:23.158Z,1749676103.158 [DAT](INFO): DAT read: Range 10 to 50 : 38.5 m (Round-trip 51.4 ms) speed -0.7 m/s
2025-06-11T21:08:23.158Z,1749676103.158 [DAT](INFO): DAT read: user:782>
2025-06-11T21:08:23.159Z,1749676103.159 [DAT](INFO): DAT read: Tx time:21:08:24.8630
2025-06-11T21:08:23.159Z,1749676103.159 [DAT](INFO): Ping request sent.
2025-06-11T21:08:23.159Z,1749676103.159 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:23.160Z,1749676103.160 [DAT](INFO): DAT read: TxSync time:21:08:24.8623
2025-06-11T21:08:23.161Z,1749676103.161 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-11T21:08:23.162Z,1749676103.162 [DAT](INFO): direction in FSK: [-0.952075,-0.287448,-0.104528]
2025-06-11T21:08:23.162Z,1749676103.162 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:23.162Z,1749676103.162 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:23.165Z,1749676103.165 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:23.166Z,1749676103.166 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:23.174Z,1749676103.174 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.014680
2025-06-11T21:08:23.379Z,1749676103.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.500000 m,
deltaT: 3.528253 s,
deltaX: 3.400002 m,
approachRate: 0.963650 m/s,
rangeRepo size: 4
2025-06-11T21:08:23.385Z,1749676103.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.172905 m,
bearing: 221.389736 deg,
lat: 36.906604 deg,
lon: -122.115574 deg,
deltaT: 3.528253 s,
deltaX: 3.371407 m,
approachRate: 0.955546 m/s,
posRepo size: 4
2025-06-11T21:08:23.386Z,1749676103.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:23.397Z,1749676103.397 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.237312
2025-06-11T21:08:23.649Z,1749676103.649 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.489372
2025-06-11T21:08:23.700Z,1749676103.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:23.902Z,1749676103.902 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.742196
2025-06-11T21:08:24.110Z,1749676104.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:24.153Z,1749676104.153 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.993337
2025-06-11T21:08:24.405Z,1749676104.405 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.245375
2025-06-11T21:08:24.531Z,1749676104.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:24.657Z,1749676104.657 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.497305
2025-06-11T21:08:24.910Z,1749676104.910 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.749770
2025-06-11T21:08:25.082Z,1749676105.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:25.161Z,1749676105.161 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.001389
2025-06-11T21:08:25.413Z,1749676105.413 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.253424
2025-06-11T21:08:25.562Z,1749676105.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:25.665Z,1749676105.665 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.505339
2025-06-11T21:08:25.917Z,1749676105.917 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.757950
2025-06-11T21:08:25.983Z,1749676105.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:26.169Z,1749676106.169 [DAT](INFO): DAT read: Rx Time:21:08:27.3227
2025-06-11T21:08:26.169Z,1749676106.169 [DAT](INFO): Rx dataTimestamp_ set to:1749676106.169036
2025-06-11T21:08:26.170Z,1749676106.170 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.010417
2025-06-11T21:08:26.396Z,1749676106.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:26.421Z,1749676106.421 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.261399
2025-06-11T21:08:26.679Z,1749676106.679 [DAT](INFO): DAT read: 21:08:27.3227 LVL= 25584, 22417, 18018, 32115, AGC= 70, IDX= 469,-0.07, 2.562,-1.572,-2.895,-2.873, PHS=-0.761, 1.347,-0.025, RAW= 309.9, -6.1, CAL= 313.9, -8.4, ROT= 196.1, 8.4
2025-06-11T21:08:26.680Z,1749676106.680 [DAT](INFO): got valid direction response:
21:08:27.3227 LVL= 25584, 22417, 18018, 32115, AGC= 70, IDX= 469,-0.07, 2.562,-1.572,-2.895,-2.873, PHS=-0.761, 1.347,-0.025, RAW= 309.9, -6.1, CAL= 313.9, -8.4, ROT= 196.1, 8.4
2025-06-11T21:08:26.681Z,1749676106.681 [DAT](INFO): DAT read: $Error in header
2025-06-11T21:08:26.681Z,1749676106.681 [DAT](INFO): Received a bad header
2025-06-11T21:08:26.692Z,1749676106.692 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-06-11T21:08:26.693Z,1749676106.693 [DAT](INFO): direction in FSK: [-0.950472,-0.274340,-0.146083]
2025-06-11T21:08:26.701Z,1749676106.701 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.541350
2025-06-11T21:08:26.927Z,1749676106.927 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.767379
2025-06-11T21:08:26.938Z,1749676106.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:27.177Z,1749676107.177 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.017234
2025-06-11T21:08:27.331Z,1749676107.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:27.429Z,1749676107.429 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.269817
2025-06-11T21:08:27.681Z,1749676107.681 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.521458
2025-06-11T21:08:27.691Z,1749676107.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:27.934Z,1749676107.934 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.773687
2025-06-11T21:08:28.166Z,1749676108.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:28.185Z,1749676108.185 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.025185
2025-06-11T21:08:28.437Z,1749676108.437 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.277326
2025-06-11T21:08:28.479Z,1749676108.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:28.689Z,1749676108.689 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.529216
2025-06-11T21:08:28.885Z,1749676108.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:28.942Z,1749676108.942 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.782183
2025-06-11T21:08:29.193Z,1749676109.193 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.033315
2025-06-11T21:08:29.313Z,1749676109.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:29.445Z,1749676109.445 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.285270
2025-06-11T21:08:29.697Z,1749676109.697 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.537420
2025-06-11T21:08:29.731Z,1749676109.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:29.951Z,1749676109.951 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.791326
2025-06-11T21:08:30.173Z,1749676110.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:30.201Z,1749676110.201 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.041723
2025-06-11T21:08:30.453Z,1749676110.453 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.293270
2025-06-11T21:08:30.506Z,1749676110.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:30.705Z,1749676110.705 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.545463
2025-06-11T21:08:30.911Z,1749676110.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:30.957Z,1749676110.957 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.797443
2025-06-11T21:08:31.209Z,1749676111.209 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.049287
2025-06-11T21:08:31.339Z,1749676111.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:31.461Z,1749676111.461 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.301391
2025-06-11T21:08:31.713Z,1749676111.713 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.553346
2025-06-11T21:08:31.738Z,1749676111.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:31.965Z,1749676111.965 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.805243
2025-06-11T21:08:32.179Z,1749676112.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:32.217Z,1749676112.217 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.057437
2025-06-11T21:08:32.469Z,1749676112.469 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.309262
2025-06-11T21:08:32.564Z,1749676112.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:32.721Z,1749676112.721 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.561244
2025-06-11T21:08:32.934Z,1749676112.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:32.973Z,1749676112.973 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.813754
2025-06-11T21:08:33.225Z,1749676113.225 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.065253
2025-06-11T21:08:33.370Z,1749676113.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:33.477Z,1749676113.477 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.317969
2025-06-11T21:08:33.729Z,1749676113.729 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.569459
2025-06-11T21:08:33.743Z,1749676113.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:33.982Z,1749676113.982 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:08:33.982Z,1749676113.982 [DAT](INFO): response not received
2025-06-11T21:08:33.983Z,1749676113.983 [DAT](INFO): DAT read: user:784>
2025-06-11T21:08:33.984Z,1749676113.984 [DAT](INFO): DAT read: Tx time:21:08:35.8131
2025-06-11T21:08:33.984Z,1749676113.984 [DAT](INFO): Ping request sent.
2025-06-11T21:08:33.984Z,1749676113.984 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:33.984Z,1749676113.984 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:33.985Z,1749676113.985 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.000791
2025-06-11T21:08:34.209Z,1749676114.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:34.235Z,1749676114.235 [DAT](INFO): DAT read: TxSync time:21:08:35.8124
2025-06-11T21:08:34.236Z,1749676114.236 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.251447
2025-06-11T21:08:34.485Z,1749676114.485 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.500777
2025-06-11T21:08:34.579Z,1749676114.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:34.737Z,1749676114.737 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.752623
2025-06-11T21:08:34.952Z,1749676114.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:34.989Z,1749676114.989 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.004737
2025-06-11T21:08:35.241Z,1749676115.241 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.256631
2025-06-11T21:08:35.369Z,1749676115.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:35.493Z,1749676115.493 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.508576
2025-06-11T21:08:35.745Z,1749676115.745 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.760699
2025-06-11T21:08:35.802Z,1749676115.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:35.997Z,1749676115.997 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.012835
2025-06-11T21:08:36.211Z,1749676116.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:36.250Z,1749676116.250 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.266102
2025-06-11T21:08:36.501Z,1749676116.501 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.516562
2025-06-11T21:08:36.613Z,1749676116.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:36.753Z,1749676116.753 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.768670
2025-06-11T21:08:36.977Z,1749676116.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:37.005Z,1749676117.005 [DAT](INFO): DAT read: Rx Time:21:08:38.2858
2025-06-11T21:08:37.006Z,1749676117.006 [DAT](INFO): Rx dataTimestamp_ set to:1749676117.005411
2025-06-11T21:08:37.007Z,1749676117.007 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.022302
2025-06-11T21:08:37.257Z,1749676117.257 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.272545
2025-06-11T21:08:37.419Z,1749676117.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-06-11T21:08:37.519Z,1749676117.519 [DAT](INFO): DAT read: 21:08:38.2858 LVL= 32752, 29793, 29106, 32755, AGC= 67, IDX= 42, 0.10, 2.079,-2.225, 2.704, 2.806, PHS=-0.639, 1.299,-0.105, RAW= 314.5, -6.5, CAL= 318.4, -8.9, ROT= 191.6, 8.9
2025-06-11T21:08:37.521Z,1749676117.521 [DAT](INFO): got valid direction response:
21:08:38.2858 LVL= 32752, 29793, 29106, 32755, AGC= 67, IDX= 42, 0.10, 2.079,-2.225, 2.704, 2.806, PHS=-0.639, 1.299,-0.105, RAW= 314.5, -6.5, CAL= 318.4, -8.9, ROT= 191.6, 8.9
2025-06-11T21:08:37.523Z,1749676117.523 [DAT](INFO): DAT read: Bearing 191.6, 8.9 (Local)
2025-06-11T21:08:37.523Z,1749676117.523 [DAT](INFO): Local bearing/azimuth received:
Bearing 191.6, 8.9 (Local)
2025-06-11T21:08:37.525Z,1749676117.525 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m (Round-trip 68.5 ms) speed -0.8 m/s
2025-06-11T21:08:37.526Z,1749676117.526 [DAT](INFO): DAT read: user:785>
2025-06-11T21:08:37.532Z,1749676117.532 [DAT](INFO): DAT read: Tx time:21:08:39.3631
2025-06-11T21:08:37.534Z,1749676117.534 [DAT](INFO): Ping request sent.
2025-06-11T21:08:37.534Z,1749676117.534 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:37.535Z,1749676117.535 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-11T21:08:37.536Z,1749676117.536 [DAT](INFO): direction in FSK: [-0.967781,-0.198657,-0.154710]
2025-06-11T21:08:37.537Z,1749676117.537 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:37.537Z,1749676117.537 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:37.545Z,1749676117.545 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:37.545Z,1749676117.545 [DAT](INFO): publishing direction and range info
2025-06-11T21:08:37.558Z,1749676117.558 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.024304
2025-06-11T21:08:37.761Z,1749676117.761 [DAT](INFO): DAT read: TxSync time:21:08:39.3624
2025-06-11T21:08:37.762Z,1749676117.762 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.227895
2025-06-11T21:08:37.812Z,1749676117.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.299999 m,
deltaT: 14.364208 s,
deltaX: 12.799999 m,
approachRate: 0.891104 m/s,
rangeRepo size: 4
2025-06-11T21:08:37.814Z,1749676117.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.863857 m,
bearing: 216.402260 deg,
lat: 36.906603 deg,
lon: -122.115570 deg,
deltaT: 14.364208 s,
deltaX: 12.690952 m,
approachRate: 0.883512 m/s,
posRepo size: 4
2025-06-11T21:08:37.815Z,1749676117.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:38.013Z,1749676118.013 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.479161
2025-06-11T21:08:38.202Z,1749676118.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:38.266Z,1749676118.266 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.732070
2025-06-11T21:08:38.517Z,1749676118.517 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.983051
2025-06-11T21:08:38.682Z,1749676118.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:38.770Z,1749676118.770 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.235567
2025-06-11T21:08:39.007Z,1749676119.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:39.021Z,1749676119.021 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.487193
2025-06-11T21:08:39.275Z,1749676119.275 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.741212
2025-06-11T21:08:39.435Z,1749676119.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:39.526Z,1749676119.526 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.991994
2025-06-11T21:08:39.777Z,1749676119.777 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.243143
2025-06-11T21:08:39.837Z,1749676119.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:40.029Z,1749676120.029 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.495790
2025-06-11T21:08:40.205Z,1749676120.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:40.283Z,1749676120.283 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.749238
2025-06-11T21:08:40.533Z,1749676120.533 [DAT](INFO): DAT read: Rx Time:21:08:41.8403
2025-06-11T21:08:40.533Z,1749676120.533 [DAT](INFO): Rx dataTimestamp_ set to:1749676120.533085
2025-06-11T21:08:40.534Z,1749676120.534 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.000258
2025-06-11T21:08:40.687Z,1749676120.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:40.787Z,1749676120.787 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.253150
2025-06-11T21:08:41.051Z,1749676121.051 [DAT](INFO): DAT read: 21:08:41.8403 LVL= 21488, 19057, 15186, 29235, AGC= 68, IDX= 471, 0.37,-2.710,-0.483,-1.963,-1.840, PHS=-0.781, 1.405,-0.126, RAW= 313.0, -5.2, CAL= 316.7, -7.1, ROT= 193.3, 7.1
2025-06-11T21:08:41.052Z,1749676121.052 [DAT](INFO): got valid direction response:
21:08:41.8403 LVL= 21488, 19057, 15186, 29235, AGC= 68, IDX= 471, 0.37,-2.710,-0.483,-1.963,-1.840, PHS=-0.781, 1.405,-0.126, RAW= 313.0, -5.2, CAL= 316.7, -7.1, ROT= 193.3, 7.1
2025-06-11T21:08:41.053Z,1749676121.053 [DAT](INFO): DAT read: $Error in header
2025-06-11T21:08:41.053Z,1749676121.053 [DAT](INFO): Received a bad header
2025-06-11T21:08:41.069Z,1749676121.069 [DAT](INFO): #Rx 31: Read direction message, but no range.
2025-06-11T21:08:41.070Z,1749676121.070 [DAT](INFO): direction in FSK: [-0.965716,-0.228286,-0.123601]
2025-06-11T21:08:41.073Z,1749676121.073 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.539378
2025-06-11T21:08:41.136Z,1749676121.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:41.300Z,1749676121.300 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.765571
2025-06-11T21:08:41.470Z,1749676121.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:41.549Z,1749676121.549 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.015473
2025-06-11T21:08:41.801Z,1749676121.801 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.267176
2025-06-11T21:08:41.855Z,1749676121.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:42.054Z,1749676122.054 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.520351
2025-06-11T21:08:42.235Z,1749676122.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:42.308Z,1749676122.308 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.773409
2025-06-11T21:08:42.557Z,1749676122.557 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.023076
2025-06-11T21:08:42.664Z,1749676122.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:42.809Z,1749676122.809 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.275279
2025-06-11T21:08:43.035Z,1749676123.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:43.061Z,1749676123.061 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.527133
2025-06-11T21:08:43.320Z,1749676123.320 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.785413
2025-06-11T21:08:43.459Z,1749676123.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:43.569Z,1749676123.569 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.035625
2025-06-11T21:08:43.821Z,1749676123.821 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.287152
2025-06-11T21:08:43.863Z,1749676123.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:44.073Z,1749676124.073 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.539154
2025-06-11T21:08:44.247Z,1749676124.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:44.328Z,1749676124.328 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.793741
2025-06-11T21:08:44.577Z,1749676124.577 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.043012
2025-06-11T21:08:44.657Z,1749676124.657 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 77.05, 76.37, 76.37
2025-06-11T21:08:44.671Z,1749676124.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:44.704Z,1749676124.704 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:08:44.829Z,1749676124.829 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.295198
2025-06-11T21:08:45.070Z,1749676125.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:45.083Z,1749676125.083 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.549206
2025-06-11T21:08:45.335Z,1749676125.335 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.800927
2025-06-11T21:08:45.511Z,1749676125.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:45.586Z,1749676125.586 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.051944
2025-06-11T21:08:45.710Z,1749676125.710 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:08:45.837Z,1749676125.837 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.303204
2025-06-11T21:08:45.878Z,1749676125.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:46.089Z,1749676126.089 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.555063
2025-06-11T21:08:46.285Z,1749676126.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:46.344Z,1749676126.344 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.809834
2025-06-11T21:08:46.593Z,1749676126.593 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.059182
2025-06-11T21:08:46.703Z,1749676126.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:46.845Z,1749676126.845 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.311204
2025-06-11T21:08:47.081Z,1749676127.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:47.105Z,1749676127.105 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.571191
2025-06-11T21:08:47.360Z,1749676127.360 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.825337
2025-06-11T21:08:47.510Z,1749676127.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:47.610Z,1749676127.610 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.076120
2025-06-11T21:08:47.861Z,1749676127.861 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.327171
2025-06-11T21:08:47.901Z,1749676127.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:08:47.908Z,1749676127.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:48.113Z,1749676128.113 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.579183
2025-06-11T21:08:48.288Z,1749676128.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:48.369Z,1749676128.369 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:08:48.369Z,1749676128.369 [DAT](INFO): response not received
2025-06-11T21:08:48.371Z,1749676128.371 [DAT](INFO): DAT read: user:787>
2025-06-11T21:08:48.374Z,1749676128.374 [DAT](ERROR): No response from remote modem.
2025-06-11T21:08:48.377Z,1749676128.377 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.842478
2025-06-11T21:08:48.617Z,1749676128.617 [DAT](INFO): DAT read: Tx time:21:08:50.3132
2025-06-11T21:08:48.617Z,1749676128.617 [DAT](INFO): Ping request sent.
2025-06-11T21:08:48.617Z,1749676128.617 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:48.618Z,1749676128.618 [DAT](INFO): DAT read: TxSync time:21:08:50.3125
2025-06-11T21:08:48.618Z,1749676128.618 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:48.619Z,1749676128.619 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.001637
2025-06-11T21:08:48.719Z,1749676128.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:48.869Z,1749676128.869 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.251455
2025-06-11T21:08:49.111Z,1749676129.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:49.121Z,1749676129.121 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.503513
2025-06-11T21:08:49.376Z,1749676129.376 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.757652
2025-06-11T21:08:49.549Z,1749676129.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:49.626Z,1749676129.626 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.008168
2025-06-11T21:08:49.877Z,1749676129.877 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.259366
2025-06-11T21:08:49.947Z,1749676129.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:50.130Z,1749676130.130 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.512590
2025-06-11T21:08:50.377Z,1749676130.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:50.384Z,1749676130.384 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.766201
2025-06-11T21:08:50.633Z,1749676130.633 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.015332
2025-06-11T21:08:50.806Z,1749676130.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:50.885Z,1749676130.885 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.267449
2025-06-11T21:08:51.137Z,1749676131.137 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.519597
2025-06-11T21:08:51.245Z,1749676131.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:51.389Z,1749676131.389 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.771464
2025-06-11T21:08:51.641Z,1749676131.641 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.023611
2025-06-11T21:08:51.714Z,1749676131.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:51.893Z,1749676131.893 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.275413
2025-06-11T21:08:52.131Z,1749676132.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:52.145Z,1749676132.145 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.527477
2025-06-11T21:08:52.400Z,1749676132.400 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.781647
2025-06-11T21:08:52.521Z,1749676132.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:52.649Z,1749676132.649 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.031693
2025-06-11T21:08:52.902Z,1749676132.902 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.284310
2025-06-11T21:08:52.926Z,1749676132.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:53.153Z,1749676133.153 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.535405
2025-06-11T21:08:53.302Z,1749676133.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:53.405Z,1749676133.405 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.787492
2025-06-11T21:08:53.657Z,1749676133.657 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.039507
2025-06-11T21:08:53.714Z,1749676133.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:53.909Z,1749676133.909 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.292082
2025-06-11T21:08:54.161Z,1749676134.161 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.543746
2025-06-11T21:08:54.163Z,1749676134.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:54.414Z,1749676134.414 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.796382
2025-06-11T21:08:54.573Z,1749676134.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:54.666Z,1749676134.666 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.048027
2025-06-11T21:08:54.914Z,1749676134.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:54.918Z,1749676134.918 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.300268
2025-06-11T21:08:55.170Z,1749676135.170 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.552557
2025-06-11T21:08:55.315Z,1749676135.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:55.421Z,1749676135.421 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.803418
2025-06-11T21:08:55.673Z,1749676135.673 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.055523
2025-06-11T21:08:55.732Z,1749676135.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:55.925Z,1749676135.925 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.307849
2025-06-11T21:08:56.105Z,1749676136.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:56.177Z,1749676136.177 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.559478
2025-06-11T21:08:56.429Z,1749676136.429 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.811451
2025-06-11T21:08:56.573Z,1749676136.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:56.681Z,1749676136.681 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.063340
2025-06-11T21:08:56.934Z,1749676136.934 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.316191
2025-06-11T21:08:56.945Z,1749676136.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:57.185Z,1749676137.185 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.568021
2025-06-11T21:08:57.337Z,1749676137.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:57.438Z,1749676137.438 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.820270
2025-06-11T21:08:57.689Z,1749676137.689 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.071382
2025-06-11T21:08:57.766Z,1749676137.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:57.941Z,1749676137.941 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.323527
2025-06-11T21:08:58.183Z,1749676138.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:58.193Z,1749676138.193 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.575542
2025-06-11T21:08:58.445Z,1749676138.445 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.827406
2025-06-11T21:08:58.608Z,1749676138.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:58.698Z,1749676138.698 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.080266
2025-06-11T21:08:58.949Z,1749676138.949 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.331351
2025-06-11T21:08:58.967Z,1749676138.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:59.201Z,1749676139.201 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.583726
2025-06-11T21:08:59.339Z,1749676139.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:59.453Z,1749676139.453 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:08:59.453Z,1749676139.453 [DAT](INFO): response not received
2025-06-11T21:08:59.454Z,1749676139.454 [DAT](INFO): DAT read: user:788>
2025-06-11T21:08:59.455Z,1749676139.455 [DAT](INFO): DAT read: Tx time:21:09:01.2633
2025-06-11T21:08:59.455Z,1749676139.455 [DAT](INFO): Ping request sent.
2025-06-11T21:08:59.455Z,1749676139.455 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:08:59.455Z,1749676139.455 [DAT](INFO): publishing transmit ping time
2025-06-11T21:08:59.456Z,1749676139.456 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.000886
2025-06-11T21:08:59.706Z,1749676139.706 [DAT](INFO): DAT read: TxSync time:21:09:01.2625
2025-06-11T21:08:59.707Z,1749676139.707 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.252107
2025-06-11T21:08:59.790Z,1749676139.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:08:59.957Z,1749676139.957 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.501862
2025-06-11T21:09:00.151Z,1749676140.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:00.210Z,1749676140.210 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.754676
2025-06-11T21:09:00.461Z,1749676140.461 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.005779
2025-06-11T21:09:00.627Z,1749676140.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:00.714Z,1749676140.714 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.258858
2025-06-11T21:09:00.963Z,1749676140.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:00.965Z,1749676140.965 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.509978
2025-06-11T21:09:01.217Z,1749676141.217 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.762272
2025-06-11T21:09:01.359Z,1749676141.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:01.469Z,1749676141.469 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.013736
2025-06-11T21:09:01.721Z,1749676141.721 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.265862
2025-06-11T21:09:01.795Z,1749676141.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:01.975Z,1749676141.975 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.519987
2025-06-11T21:09:02.164Z,1749676142.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:02.226Z,1749676142.226 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.770528
2025-06-11T21:09:02.477Z,1749676142.477 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.021837
2025-06-11T21:09:02.631Z,1749676142.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:02.729Z,1749676142.729 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.273785
2025-06-11T21:09:02.981Z,1749676142.981 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.525887
2025-06-11T21:09:03.077Z,1749676143.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:03.238Z,1749676143.238 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.780659
2025-06-11T21:09:03.397Z,1749676143.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:03.485Z,1749676143.485 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.029848
2025-06-11T21:09:03.737Z,1749676143.737 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.281828
2025-06-11T21:09:03.829Z,1749676143.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:03.990Z,1749676143.990 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.534341
2025-06-11T21:09:04.185Z,1749676144.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:04.241Z,1749676144.241 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.786099
2025-06-11T21:09:04.493Z,1749676144.493 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.037819
2025-06-11T21:09:04.675Z,1749676144.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:04.745Z,1749676144.745 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.289959
2025-06-11T21:09:04.997Z,1749676144.997 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.541868
2025-06-11T21:09:05.023Z,1749676145.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:05.249Z,1749676145.249 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.794304
2025-06-11T21:09:05.501Z,1749676145.501 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.045927
2025-06-11T21:09:05.526Z,1749676145.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:05.753Z,1749676145.753 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.298037
2025-06-11T21:09:05.878Z,1749676145.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:06.005Z,1749676146.005 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.550196
2025-06-11T21:09:06.257Z,1749676146.257 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.802010
2025-06-11T21:09:06.267Z,1749676146.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:06.509Z,1749676146.509 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.053876
2025-06-11T21:09:06.748Z,1749676146.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:06.761Z,1749676146.761 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.306130
2025-06-11T21:09:07.013Z,1749676147.013 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.557828
2025-06-11T21:09:07.108Z,1749676147.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:07.265Z,1749676147.265 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.809790
2025-06-11T21:09:07.517Z,1749676147.517 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.062432
2025-06-11T21:09:07.525Z,1749676147.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:07.769Z,1749676147.769 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.313877
2025-06-11T21:09:07.939Z,1749676147.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:08.025Z,1749676148.025 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.569879
2025-06-11T21:09:08.277Z,1749676148.277 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.821869
2025-06-11T21:09:08.305Z,1749676148.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:08.529Z,1749676148.529 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.073964
2025-06-11T21:09:08.781Z,1749676148.781 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.325857
2025-06-11T21:09:08.786Z,1749676148.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:09.033Z,1749676149.033 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.577792
2025-06-11T21:09:09.094Z,1749676149.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:09.289Z,1749676149.289 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.833521
2025-06-11T21:09:09.478Z,1749676149.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:09.537Z,1749676149.537 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.081767
2025-06-11T21:09:09.789Z,1749676149.789 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.333788
2025-06-11T21:09:09.938Z,1749676149.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:10.042Z,1749676150.042 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.586508
2025-06-11T21:09:10.293Z,1749676150.293 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:09:10.293Z,1749676150.293 [DAT](INFO): response not received
2025-06-11T21:09:10.294Z,1749676150.294 [DAT](INFO): DAT read: user:789>
2025-06-11T21:09:10.294Z,1749676150.294 [DAT](INFO): DAT read: Tx time:21:09:12.2134
2025-06-11T21:09:10.295Z,1749676150.295 [DAT](INFO): Ping request sent.
2025-06-11T21:09:10.295Z,1749676150.295 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:10.295Z,1749676150.295 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:10.296Z,1749676150.296 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.000759
2025-06-11T21:09:10.300Z,1749676150.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:10.546Z,1749676150.546 [DAT](INFO): DAT read: TxSync time:21:09:12.2126
2025-06-11T21:09:10.546Z,1749676150.546 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.251447
2025-06-11T21:09:10.781Z,1749676150.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:10.798Z,1749676150.798 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.502743
2025-06-11T21:09:11.049Z,1749676151.049 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.753860
2025-06-11T21:09:11.108Z,1749676151.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:11.301Z,1749676151.301 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.005912
2025-06-11T21:09:11.551Z,1749676151.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:11.553Z,1749676151.553 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.258089
2025-06-11T21:09:11.805Z,1749676151.805 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.509808
2025-06-11T21:09:11.981Z,1749676151.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:12.057Z,1749676152.057 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.761938
2025-06-11T21:09:12.310Z,1749676152.310 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.015059
2025-06-11T21:09:12.361Z,1749676152.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:12.561Z,1749676152.561 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.265884
2025-06-11T21:09:12.813Z,1749676152.813 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.518408
2025-06-11T21:09:12.819Z,1749676152.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:13.065Z,1749676153.065 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.769967
2025-06-11T21:09:13.170Z,1749676153.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:13.317Z,1749676153.317 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.021876
2025-06-11T21:09:13.569Z,1749676153.569 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.273897
2025-06-11T21:09:13.592Z,1749676153.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:13.822Z,1749676153.822 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.527298
2025-06-11T21:09:14.002Z,1749676154.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:14.075Z,1749676154.075 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.779724
2025-06-11T21:09:14.325Z,1749676154.325 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.029920
2025-06-11T21:09:14.401Z,1749676154.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:14.577Z,1749676154.577 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.281956
2025-06-11T21:09:14.829Z,1749676154.829 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.533976
2025-06-11T21:09:14.843Z,1749676154.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:15.081Z,1749676155.081 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=4.785961
2025-06-11T21:09:15.202Z,1749676155.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:15.333Z,1749676155.333 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.037903
2025-06-11T21:09:15.585Z,1749676155.585 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.290020
2025-06-11T21:09:15.594Z,1749676155.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:15.837Z,1749676155.837 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.541960
2025-06-11T21:09:15.858Z,1749676155.858 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:09:16.000Z,1749676156.000 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -141.36, +10669. -55.29, 0.00
2025-06-11T21:09:16.040Z,1749676156.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:16.090Z,1749676156.090 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=5.794445
2025-06-11T21:09:16.341Z,1749676156.341 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.045904
2025-06-11T21:09:16.412Z,1749676156.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:16.595Z,1749676156.595 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.299486
2025-06-11T21:09:16.850Z,1749676156.850 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.555178
2025-06-11T21:09:16.860Z,1749676156.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:09:16.872Z,1749676156.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:17.101Z,1749676157.101 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=6.805873
2025-06-11T21:09:17.237Z,1749676157.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:17.353Z,1749676157.353 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.057942
2025-06-11T21:09:17.605Z,1749676157.605 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.309892
2025-06-11T21:09:17.622Z,1749676157.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:17.857Z,1749676157.857 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.562091
2025-06-11T21:09:18.066Z,1749676158.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:18.110Z,1749676158.110 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=7.814738
2025-06-11T21:09:18.361Z,1749676158.361 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.066016
2025-06-11T21:09:18.436Z,1749676158.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:18.616Z,1749676158.616 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.320835
2025-06-11T21:09:18.866Z,1749676158.866 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.571049
2025-06-11T21:09:19.005Z,1749676159.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:19.117Z,1749676159.117 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=8.822419
2025-06-11T21:09:19.318Z,1749676159.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:19.370Z,1749676159.370 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.074404
2025-06-11T21:09:19.621Z,1749676159.621 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.325920
2025-06-11T21:09:19.745Z,1749676159.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:19.875Z,1749676159.875 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.580024
2025-06-11T21:09:20.125Z,1749676160.125 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.830004
2025-06-11T21:09:20.126Z,1749676160.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:20.377Z,1749676160.377 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.082189
2025-06-11T21:09:20.531Z,1749676160.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:20.629Z,1749676160.629 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.334504
2025-06-11T21:09:20.886Z,1749676160.886 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.589962
2025-06-11T21:09:21.014Z,1749676161.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:21.138Z,1749676161.138 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.843138
2025-06-11T21:09:21.330Z,1749676161.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:21.394Z,1749676161.394 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:09:21.394Z,1749676161.394 [DAT](INFO): response not received
2025-06-11T21:09:21.395Z,1749676161.395 [DAT](INFO): DAT read: user:790>
2025-06-11T21:09:21.396Z,1749676161.396 [DAT](INFO): DAT read: Tx time:21:09:23.1651
2025-06-11T21:09:21.397Z,1749676161.397 [DAT](INFO): Ping request sent.
2025-06-11T21:09:21.397Z,1749676161.397 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:21.397Z,1749676161.397 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:21.398Z,1749676161.398 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.001111
2025-06-11T21:09:21.641Z,1749676161.641 [DAT](INFO): DAT read: TxSync time:21:09:23.1643
2025-06-11T21:09:21.642Z,1749676161.642 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.244880
2025-06-11T21:09:21.742Z,1749676161.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:21.896Z,1749676161.896 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.498774
2025-06-11T21:09:22.145Z,1749676162.145 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.748075
2025-06-11T21:09:22.167Z,1749676162.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:22.397Z,1749676162.397 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.000009
2025-06-11T21:09:22.526Z,1749676162.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:22.649Z,1749676162.649 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.251972
2025-06-11T21:09:22.905Z,1749676162.905 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.508111
2025-06-11T21:09:23.061Z,1749676163.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:23.154Z,1749676163.154 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.756706
2025-06-11T21:09:23.370Z,1749676163.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:23.405Z,1749676163.405 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.008060
2025-06-11T21:09:23.657Z,1749676163.657 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.259965
2025-06-11T21:09:23.787Z,1749676163.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:23.912Z,1749676163.912 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.514681
2025-06-11T21:09:24.161Z,1749676164.161 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.764076
2025-06-11T21:09:24.199Z,1749676164.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:24.413Z,1749676164.413 [DAT](INFO): DAT read: Rx Time:21:09:25.7389
2025-06-11T21:09:24.414Z,1749676164.414 [DAT](INFO): Rx dataTimestamp_ set to:1749676164.413734
2025-06-11T21:09:24.415Z,1749676164.415 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.018137
2025-06-11T21:09:24.575Z,1749676164.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:24.665Z,1749676164.665 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.267996
2025-06-11T21:09:24.939Z,1749676164.939 [DAT](INFO): DAT read: 21:09:25.7389 LVL= 28256, 23201, 25330, 32755, AGC= 61, IDX= 294,-0.07, 2.856,-1.231,-2.718,-2.615, PHS=-0.724, 1.431,-0.106, RAW= 313.8, -6.3, CAL= 317.7, -8.7, ROT= 192.3, 8.7
2025-06-11T21:09:24.949Z,1749676164.949 [DAT](INFO): got valid direction response:
21:09:25.7389 LVL= 28256, 23201, 25330, 32755, AGC= 61, IDX= 294,-0.07, 2.856,-1.231,-2.718,-2.615, PHS=-0.724, 1.431,-0.106, RAW= 313.8, -6.3, CAL= 317.7, -8.7, ROT= 192.3, 8.7
2025-06-11T21:09:24.950Z,1749676164.950 [DAT](INFO): DAT read: $Error in header
2025-06-11T21:09:24.951Z,1749676164.951 [DAT](INFO): Received a bad header
2025-06-11T21:09:24.985Z,1749676164.985 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-06-11T21:09:24.986Z,1749676164.986 [DAT](INFO): direction in FSK: [-0.965804,-0.210579,-0.151261]
2025-06-11T21:09:24.989Z,1749676164.989 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.592552
2025-06-11T21:09:25.085Z,1749676165.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:25.170Z,1749676165.170 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.773307
2025-06-11T21:09:25.374Z,1749676165.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:25.421Z,1749676165.421 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.024031
2025-06-11T21:09:25.673Z,1749676165.673 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.275960
2025-06-11T21:09:25.782Z,1749676165.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:25.929Z,1749676165.929 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.531154
2025-06-11T21:09:26.178Z,1749676166.178 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.781113
2025-06-11T21:09:26.213Z,1749676166.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:26.429Z,1749676166.429 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=5.032608
2025-06-11T21:09:26.603Z,1749676166.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:26.681Z,1749676166.681 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=5.284096
2025-06-11T21:09:26.936Z,1749676166.936 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=5.538162
2025-06-11T21:09:27.039Z,1749676167.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:27.185Z,1749676167.185 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=5.787968
2025-06-11T21:09:27.393Z,1749676167.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:27.437Z,1749676167.437 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=6.040460
2025-06-11T21:09:27.689Z,1749676167.689 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=6.291968
2025-06-11T21:09:27.811Z,1749676167.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:27.944Z,1749676167.944 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=6.546429
2025-06-11T21:09:28.193Z,1749676168.193 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=6.796188
2025-06-11T21:09:28.241Z,1749676168.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:28.445Z,1749676168.445 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=7.047907
2025-06-11T21:09:28.605Z,1749676168.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:28.697Z,1749676168.697 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=7.300522
2025-06-11T21:09:28.952Z,1749676168.952 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=7.554299
2025-06-11T21:09:29.073Z,1749676169.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:29.201Z,1749676169.201 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=7.803839
2025-06-11T21:09:29.424Z,1749676169.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:29.453Z,1749676169.453 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=8.056278
2025-06-11T21:09:29.705Z,1749676169.705 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=8.308012
2025-06-11T21:09:29.817Z,1749676169.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:29.957Z,1749676169.957 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=8.560107
2025-06-11T21:09:30.209Z,1749676170.209 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=8.812065
2025-06-11T21:09:30.264Z,1749676170.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:30.461Z,1749676170.461 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=9.064114
2025-06-11T21:09:30.626Z,1749676170.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:30.714Z,1749676170.714 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=9.316648
2025-06-11T21:09:30.966Z,1749676170.966 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=9.568796
2025-06-11T21:09:31.091Z,1749676171.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:31.217Z,1749676171.217 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=9.820075
2025-06-11T21:09:31.432Z,1749676171.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:31.471Z,1749676171.471 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=10.074238
2025-06-11T21:09:31.721Z,1749676171.721 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=10.323972
2025-06-11T21:09:31.845Z,1749676171.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:31.973Z,1749676171.973 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=10.576023
2025-06-11T21:09:32.225Z,1749676172.225 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:09:32.225Z,1749676172.225 [DAT](INFO): response not received
2025-06-11T21:09:32.226Z,1749676172.226 [DAT](INFO): DAT read: user:792>
2025-06-11T21:09:32.226Z,1749676172.226 [DAT](INFO): DAT read: Tx time:21:09:34.1136
2025-06-11T21:09:32.227Z,1749676172.227 [DAT](INFO): Ping request sent.
2025-06-11T21:09:32.227Z,1749676172.227 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:32.227Z,1749676172.227 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:32.228Z,1749676172.228 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.000760
2025-06-11T21:09:32.421Z,1749676172.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:32.477Z,1749676172.477 [DAT](INFO): DAT read: TxSync time:21:09:34.1128
2025-06-11T21:09:32.479Z,1749676172.479 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.251764
2025-06-11T21:09:32.717Z,1749676172.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:32.729Z,1749676172.729 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.502133
2025-06-11T21:09:32.983Z,1749676172.983 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.755905
2025-06-11T21:09:33.140Z,1749676173.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:33.235Z,1749676173.235 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.008455
2025-06-11T21:09:33.485Z,1749676173.485 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.258034
2025-06-11T21:09:33.522Z,1749676173.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:33.740Z,1749676173.740 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.512790
2025-06-11T21:09:33.923Z,1749676173.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:33.989Z,1749676173.989 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.762380
2025-06-11T21:09:34.241Z,1749676174.241 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.013986
2025-06-11T21:09:34.338Z,1749676174.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:34.493Z,1749676174.493 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.266006
2025-06-11T21:09:34.745Z,1749676174.745 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.517950
2025-06-11T21:09:34.804Z,1749676174.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:34.997Z,1749676174.997 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.769951
2025-06-11T21:09:35.166Z,1749676175.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:35.249Z,1749676175.249 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.021965
2025-06-11T21:09:35.501Z,1749676175.501 [DAT](INFO): DAT read: Rx Time:21:09:36.7390
2025-06-11T21:09:35.501Z,1749676175.501 [DAT](INFO): Rx dataTimestamp_ set to:1749676175.501083
2025-06-11T21:09:35.502Z,1749676175.502 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.275106
2025-06-11T21:09:35.553Z,1749676175.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:35.756Z,1749676175.756 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.528865
2025-06-11T21:09:35.969Z,1749676175.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m.
2025-06-11T21:09:36.014Z,1749676176.014 [DAT](INFO): DAT read: 21:09:36.7390 LVL= 32752, 28769, 27218, 32755, AGC= 63, IDX= 438,-0.12, 1.922,-2.711, 2.465, 1.812, PHS= 0.198, 1.808, 0.651, RAW= 314.2, -33.2, CAL= 311.3, -46.8, ROT= 198.7, 46.8
2025-06-11T21:09:36.015Z,1749676176.015 [DAT](INFO): got valid direction response:
21:09:36.7390 LVL= 32752, 28769, 27218, 32755, AGC= 63, IDX= 438,-0.12, 1.922,-2.711, 2.465, 1.812, PHS= 0.198, 1.808, 0.651, RAW= 314.2, -33.2, CAL= 311.3, -46.8, ROT= 198.7, 46.8
2025-06-11T21:09:36.017Z,1749676176.017 [DAT](INFO): DAT read: Bearing 198.7, 46.8 (Local)
2025-06-11T21:09:36.017Z,1749676176.017 [DAT](INFO): Local bearing/azimuth received:
Bearing 198.7, 46.8 (Local)
2025-06-11T21:09:36.020Z,1749676176.020 [DAT](INFO): DAT read: Range 10 to 50 : 165.9 m (Round-trip 221.2 ms) speed -0.8 m/s
2025-06-11T21:09:36.021Z,1749676176.021 [DAT](INFO): DAT read: user:793>
2025-06-11T21:09:36.022Z,1749676176.022 [DAT](INFO): DAT read: Tx time:21:09:37.8636
2025-06-11T21:09:36.023Z,1749676176.023 [DAT](INFO): Ping request sent.
2025-06-11T21:09:36.023Z,1749676176.023 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:36.023Z,1749676176.023 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-11T21:09:36.033Z,1749676176.033 [DAT](INFO): direction in FSK: [-0.648410,-0.219475,-0.728969]
2025-06-11T21:09:36.033Z,1749676176.033 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:36.033Z,1749676176.033 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:36.047Z,1749676176.047 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:36.047Z,1749676176.047 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:36.086Z,1749676176.086 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.062364
2025-06-11T21:09:36.257Z,1749676176.257 [DAT](INFO): DAT read: TxSync time:21:09:37.8628
2025-06-11T21:09:36.258Z,1749676176.258 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.235022
2025-06-11T21:09:36.398Z,1749676176.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 165.899994 m,
deltaT: 58.495763 s,
deltaX: 114.599991 m,
approachRate: 1.959116 m/s,
rangeRepo size: 4
2025-06-11T21:09:36.405Z,1749676176.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 164.480484 m,
bearing: 223.233194 deg,
lat: 36.906600 deg,
lon: -122.115570 deg,
deltaT: 58.495763 s,
deltaX: 113.616623 m,
approachRate: 1.942305 m/s,
posRepo size: 4
2025-06-11T21:09:36.405Z,1749676176.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.48 m.
2025-06-11T21:09:36.406Z,1749676176.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 165.90 m. Resuming terminal guidance.
2025-06-11T21:09:36.406Z,1749676176.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-11T21:09:36.509Z,1749676176.509 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.486565
2025-06-11T21:09:36.738Z,1749676176.738 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-11T21:09:36.738Z,1749676176.738 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T21:09:36.738Z,1749676176.738 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-11T21:09:36.739Z,1749676176.739 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 165.899994 m (mode 1.000000 count ).
2025-06-11T21:09:36.740Z,1749676176.740 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-11T21:09:36.740Z,1749676176.740 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-11T21:09:36.761Z,1749676176.761 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.738014
2025-06-11T21:09:37.013Z,1749676177.013 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.989978
2025-06-11T21:09:37.171Z,1749676177.171 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-11T21:09:37.171Z,1749676177.171 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-11T21:09:37.172Z,1749676177.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:37.266Z,1749676177.266 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.242811
2025-06-11T21:09:37.517Z,1749676177.517 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.494051
2025-06-11T21:09:37.537Z,1749676177.537 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-11T21:09:37.537Z,1749676177.537 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-11T21:09:37.769Z,1749676177.769 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.745929
2025-06-11T21:09:37.949Z,1749676177.949 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-11T21:09:37.949Z,1749676177.949 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T21:09:37.949Z,1749676177.949 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-11T21:09:37.949Z,1749676177.949 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T21:09:38.022Z,1749676178.022 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.999444
2025-06-11T21:09:38.273Z,1749676178.273 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.249955
2025-06-11T21:09:38.525Z,1749676178.525 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.501972
2025-06-11T21:09:38.777Z,1749676178.777 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.754162
2025-06-11T21:09:39.029Z,1749676179.029 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.006112
2025-06-11T21:09:39.216Z,1749676179.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:39.282Z,1749676179.282 [DAT](INFO): DAT read: Rx Time:21:09:40.4916
2025-06-11T21:09:39.282Z,1749676179.282 [DAT](INFO): Rx dataTimestamp_ set to:1749676179.282102
2025-06-11T21:09:39.283Z,1749676179.283 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.260534
2025-06-11T21:09:39.533Z,1749676179.533 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.510268
2025-06-11T21:09:39.791Z,1749676179.791 [DAT](INFO): DAT read: 21:09:40.4916 LVL= 30144, 17937, 22626, 28739, AGC= 67, IDX= 445, 0.33, 0.977, 2.841, 1.469, 0.883, PHS= 0.182, 2.005, 0.583, RAW= 317.9, -30.5, CAL= 317.0, -44.3, ROT= 193.0, 44.3
2025-06-11T21:09:39.792Z,1749676179.792 [DAT](INFO): got valid direction response:
21:09:40.4916 LVL= 30144, 17937, 22626, 28739, AGC= 67, IDX= 445, 0.33, 0.977, 2.841, 1.469, 0.883, PHS= 0.182, 2.005, 0.583, RAW= 317.9, -30.5, CAL= 317.0, -44.3, ROT= 193.0, 44.3
2025-06-11T21:09:39.793Z,1749676179.793 [DAT](INFO): DAT read: Bearing 193.0, 44.3 (Local)
2025-06-11T21:09:39.793Z,1749676179.793 [DAT](INFO): Local bearing/azimuth received:
Bearing 193.0, 44.3 (Local)
2025-06-11T21:09:39.795Z,1749676179.795 [DAT](INFO): DAT read: Range 10 to 50 : 167.7 m (Round-trip 223.7 ms) speed -1.2 m/s
2025-06-11T21:09:39.795Z,1749676179.795 [DAT](INFO): DAT read: user:794>
2025-06-11T21:09:39.804Z,1749676179.804 [DAT](INFO): DAT read: Tx time:21:09:41.6137
2025-06-11T21:09:39.804Z,1749676179.804 [DAT](INFO): Ping request sent.
2025-06-11T21:09:39.804Z,1749676179.804 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:39.805Z,1749676179.805 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-11T21:09:39.806Z,1749676179.806 [DAT](INFO): direction in FSK: [-0.697350,-0.160996,-0.698415]
2025-06-11T21:09:39.806Z,1749676179.806 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:39.806Z,1749676179.806 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:39.834Z,1749676179.834 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:39.834Z,1749676179.834 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:39.846Z,1749676179.846 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.041732
2025-06-11T21:09:39.991Z,1749676179.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 167.699997 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-06-11T21:09:40.006Z,1749676180.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 166.265854 m,
bearing: 217.051769 deg,
lat: 36.906588 deg,
lon: -122.115574 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-06-11T21:09:40.007Z,1749676180.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-11T21:09:40.013Z,1749676180.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 166.265854 m,
nav range: 107.378708 m,
bearing: 217.344477 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000000 deg/s,
cmd heading: 205.887332 deg,
new cmd heading: 217.344477 deg.
2025-06-11T21:09:40.014Z,1749676180.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793377 target range: 166.265854 and range: 167.70 m.
2025-06-11T21:09:40.037Z,1749676180.037 [DAT](INFO): DAT read: TxSync time:21:09:41.6129
2025-06-11T21:09:40.038Z,1749676180.038 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.233571
2025-06-11T21:09:40.290Z,1749676180.290 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.485622
2025-06-11T21:09:40.394Z,1749676180.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-11T21:09:40.397Z,1749676180.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 166.265854 m,
nav range: 107.705742 m,
bearing: 217.330474 deg,
approach rate: 0.810106 m/s,
LOS rate: -0.034581 deg/s,
cmd heading: 217.344474 deg,
new cmd heading: 217.330474 deg.
2025-06-11T21:09:40.398Z,1749676180.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793132 target range: 166.265854 and range: 167.70 m.
2025-06-11T21:09:40.541Z,1749676180.541 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.736515
2025-06-11T21:09:40.790Z,1749676180.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-11T21:09:40.793Z,1749676180.793 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.988694
2025-06-11T21:09:40.794Z,1749676180.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 166.265854 m,
nav range: 108.016640 m,
bearing: 217.313599 deg,
approach rate: 0.785544 m/s,
LOS rate: -0.042515 deg/s,
cmd heading: 217.330472 deg,
new cmd heading: 217.313599 deg.
2025-06-11T21:09:40.795Z,1749676180.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792838 target range: 166.265854 and range: 167.70 m.
2025-06-11T21:09:41.045Z,1749676181.045 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.240600
2025-06-11T21:09:41.224Z,1749676181.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:41.226Z,1749676181.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-11T21:09:41.229Z,1749676181.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 166.265854 m,
nav range: 108.344772 m,
bearing: 217.291230 deg,
approach rate: 0.751982 m/s,
LOS rate: -0.051108 deg/s,
cmd heading: 217.313602 deg,
new cmd heading: 217.291230 deg.
2025-06-11T21:09:41.230Z,1749676181.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792447 target range: 166.265854 and range: 167.70 m.
2025-06-11T21:09:41.297Z,1749676181.297 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.492759
2025-06-11T21:09:41.549Z,1749676181.549 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.744527
2025-06-11T21:09:41.669Z,1749676181.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-11T21:09:41.676Z,1749676181.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 166.265854 m,
nav range: 108.665405 m,
bearing: 217.264886 deg,
approach rate: 0.723732 m/s,
LOS rate: -0.059289 deg/s,
cmd heading: 217.291226 deg,
new cmd heading: 217.264886 deg.
2025-06-11T21:09:41.677Z,1749676181.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791988 target range: 166.265854 and range: 167.70 m.
2025-06-11T21:09:41.801Z,1749676181.801 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.996990
2025-06-11T21:09:42.053Z,1749676182.053 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.248595
2025-06-11T21:09:42.067Z,1749676182.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-11T21:09:42.070Z,1749676182.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 166.265854 m,
nav range: 108.974304 m,
bearing: 217.235340 deg,
approach rate: 0.776780 m/s,
LOS rate: -0.074087 deg/s,
cmd heading: 217.264889 deg,
new cmd heading: 217.235340 deg.
2025-06-11T21:09:42.071Z,1749676182.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791472 target range: 166.265854 and range: 167.70 m.
2025-06-11T21:09:42.305Z,1749676182.305 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.500991
2025-06-11T21:09:42.505Z,1749676182.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-11T21:09:42.507Z,1749676182.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 166.265854 m,
nav range: 109.290520 m,
bearing: 217.205049 deg,
approach rate: 0.722009 m/s,
LOS rate: -0.068964 deg/s,
cmd heading: 217.235341 deg,
new cmd heading: 217.205049 deg.
2025-06-11T21:09:42.508Z,1749676182.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790943 target range: 166.265854 and range: 167.70 m.
2025-06-11T21:09:42.558Z,1749676182.558 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.753881
2025-06-11T21:09:42.809Z,1749676182.809 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.004508
2025-06-11T21:09:42.955Z,1749676182.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-11T21:09:42.974Z,1749676182.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 166.265854 m,
nav range: 109.614182 m,
bearing: 217.170129 deg,
approach rate: 0.719177 m/s,
LOS rate: -0.077363 deg/s,
cmd heading: 217.205043 deg,
new cmd heading: 217.170129 deg.
2025-06-11T21:09:42.975Z,1749676182.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790334 target range: 166.265854 and range: 167.70 m.
2025-06-11T21:09:43.062Z,1749676183.062 [DAT](INFO): DAT read: Rx Time:21:09:44.2436
2025-06-11T21:09:43.063Z,1749676183.063 [DAT](INFO): Rx dataTimestamp_ set to:1749676183.062325
2025-06-11T21:09:43.064Z,1749676183.064 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.259314
2025-06-11T21:09:43.313Z,1749676183.313 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.508592
2025-06-11T21:09:43.435Z,1749676183.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:43.441Z,1749676183.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-11T21:09:43.448Z,1749676183.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 166.265854 m,
nav range: 109.948257 m,
bearing: 217.136395 deg,
approach rate: 0.687171 m/s,
LOS rate: -0.069176 deg/s,
cmd heading: 217.170127 deg,
new cmd heading: 217.136395 deg.
2025-06-11T21:09:43.449Z,1749676183.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789745 target range: 166.265854 and range: 167.70 m.
2025-06-11T21:09:43.572Z,1749676183.572 [DAT](INFO): DAT read: 21:09:44.2436 LVL= 30848, 18401, 20002, 32755, AGC= 65, IDX= 51, 0.07,-1.662, 0.590,-0.468,-0.621, PHS=-0.953, 1.258, 0.149, RAW= 300.1, -4.8, CAL= 303.8, -6.9, ROT= 206.2, 6.9
2025-06-11T21:09:43.573Z,1749676183.573 [DAT](INFO): got valid direction response:
21:09:44.2436 LVL= 30848, 18401, 20002, 32755, AGC= 65, IDX= 51, 0.07,-1.662, 0.590,-0.468,-0.621, PHS=-0.953, 1.258, 0.149, RAW= 300.1, -4.8, CAL= 303.8, -6.9, ROT= 206.2, 6.9
2025-06-11T21:09:43.574Z,1749676183.574 [DAT](INFO): DAT read: Bearing 206.2, 6.9 (Local)
2025-06-11T21:09:43.574Z,1749676183.574 [DAT](INFO): Local bearing/azimuth received:
Bearing 206.2, 6.9 (Local)
2025-06-11T21:09:43.576Z,1749676183.576 [DAT](INFO): DAT read: Range 10 to 50 : 169.2 m (Round-trip 225.7 ms) speed -0.2 m/s
2025-06-11T21:09:43.577Z,1749676183.577 [DAT](INFO): DAT read: user:795>
2025-06-11T21:09:43.577Z,1749676183.577 [DAT](INFO): DAT read: Tx time:21:09:45.3637
2025-06-11T21:09:43.578Z,1749676183.578 [DAT](INFO): Ping request sent.
2025-06-11T21:09:43.578Z,1749676183.578 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:43.578Z,1749676183.578 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-11T21:09:43.579Z,1749676183.579 [DAT](INFO): direction in FSK: [-0.890760,-0.438308,-0.120137]
2025-06-11T21:09:43.579Z,1749676183.579 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:43.580Z,1749676183.580 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:43.583Z,1749676183.583 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:43.583Z,1749676183.583 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:43.587Z,1749676183.587 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.009083
2025-06-11T21:09:43.799Z,1749676183.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 169.199997 m,
deltaT: 3.780121 s,
deltaX: 1.500000 m,
approachRate: 0.396813 m/s,
rangeRepo size: 2
2025-06-11T21:09:43.811Z,1749676183.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 167.753616 m,
bearing: 216.094394 deg,
lat: 36.906579 deg,
lon: -122.115678 deg,
deltaT: 3.780121 s,
deltaX: 1.487762 m,
approachRate: 0.393575 m/s,
posRepo size: 2
2025-06-11T21:09:43.817Z,1749676183.817 [DAT](INFO): DAT read: TxSync time:21:09:45.3629
2025-06-11T21:09:43.818Z,1749676183.818 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.240113
2025-06-11T21:09:43.819Z,1749676183.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.75 m.
2025-06-11T21:09:43.825Z,1749676183.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.753616 m,
nav range: 116.761322 m,
bearing: 220.433076 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.069176 deg/s,
cmd heading: 217.136399 deg,
new cmd heading: 217.062274 deg.
2025-06-11T21:09:43.826Z,1749676183.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788451 target range: 167.753616 and range: 169.20 m.
2025-06-11T21:09:44.069Z,1749676184.069 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.491494
2025-06-11T21:09:44.171Z,1749676184.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.75 m.
2025-06-11T21:09:44.174Z,1749676184.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.753616 m,
nav range: 117.015030 m,
bearing: 220.395572 deg,
approach rate: 0.679881 m/s,
LOS rate: -0.100284 deg/s,
cmd heading: 217.062278 deg,
new cmd heading: 216.950010 deg.
2025-06-11T21:09:44.177Z,1749676184.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786492 target range: 167.753616 and range: 169.20 m.
2025-06-11T21:09:44.321Z,1749676184.321 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.743130
2025-06-11T21:09:44.573Z,1749676184.573 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.995044
2025-06-11T21:09:44.600Z,1749676184.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.75 m.
2025-06-11T21:09:44.603Z,1749676184.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.753616 m,
nav range: 117.309525 m,
bearing: 220.351525 deg,
approach rate: 0.687281 m/s,
LOS rate: -0.102538 deg/s,
cmd heading: 216.950017 deg,
new cmd heading: 216.818207 deg.
2025-06-11T21:09:44.604Z,1749676184.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.784192 target range: 167.753616 and range: 169.20 m.
2025-06-11T21:09:44.826Z,1749676184.826 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.247961
2025-06-11T21:09:44.967Z,1749676184.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.75 m.
2025-06-11T21:09:44.970Z,1749676184.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.753616 m,
nav range: 117.551155 m,
bearing: 220.312450 deg,
approach rate: 0.658394 m/s,
LOS rate: -0.106251 deg/s,
cmd heading: 216.818208 deg,
new cmd heading: 216.701226 deg.
2025-06-11T21:09:44.971Z,1749676184.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782150 target range: 167.753616 and range: 169.20 m.
2025-06-11T21:09:45.077Z,1749676185.077 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.499509
2025-06-11T21:09:45.329Z,1749676185.329 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.751050
2025-06-11T21:09:45.398Z,1749676185.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.75 m.
2025-06-11T21:09:45.401Z,1749676185.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.753616 m,
nav range: 117.828674 m,
bearing: 220.270280 deg,
approach rate: 0.643557 m/s,
LOS rate: -0.097562 deg/s,
cmd heading: 216.701221 deg,
new cmd heading: 216.575007 deg.
2025-06-11T21:09:45.402Z,1749676185.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779947 target range: 167.753616 and range: 169.20 m.
2025-06-11T21:09:45.581Z,1749676185.581 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.003379
2025-06-11T21:09:45.833Z,1749676185.833 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.255310
2025-06-11T21:09:45.893Z,1749676185.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:45.895Z,1749676185.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.75 m.
2025-06-11T21:09:45.898Z,1749676185.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.753616 m,
nav range: 118.145798 m,
bearing: 220.218192 deg,
approach rate: 0.638052 m/s,
LOS rate: -0.104518 deg/s,
cmd heading: 216.575012 deg,
new cmd heading: 216.419170 deg.
2025-06-11T21:09:45.899Z,1749676185.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777227 target range: 167.753616 and range: 169.20 m.
2025-06-11T21:09:46.085Z,1749676186.085 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.507072
2025-06-11T21:09:46.280Z,1749676186.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.75 m.
2025-06-11T21:09:46.283Z,1749676186.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.753616 m,
nav range: 118.361855 m,
bearing: 220.180034 deg,
approach rate: 0.562166 m/s,
LOS rate: -0.099105 deg/s,
cmd heading: 216.419175 deg,
new cmd heading: 216.304909 deg.
2025-06-11T21:09:46.284Z,1749676186.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775233 target range: 167.753616 and range: 169.20 m.
2025-06-11T21:09:46.338Z,1749676186.338 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.760360
2025-06-11T21:09:46.589Z,1749676186.589 [DAT](INFO): DAT read: Rx Time:21:09:47.9974
2025-06-11T21:09:46.589Z,1749676186.589 [DAT](INFO): Rx dataTimestamp_ set to:1749676186.589087
2025-06-11T21:09:46.590Z,1749676186.590 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.012213
2025-06-11T21:09:46.678Z,1749676186.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.75 m.
2025-06-11T21:09:46.681Z,1749676186.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.753616 m,
nav range: 118.633965 m,
bearing: 220.133280 deg,
approach rate: 0.682817 m/s,
LOS rate: -0.117052 deg/s,
cmd heading: 216.304906 deg,
new cmd heading: 216.164967 deg.
2025-06-11T21:09:46.682Z,1749676186.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772790 target range: 167.753616 and range: 169.20 m.
2025-06-11T21:09:46.841Z,1749676186.841 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.263056
2025-06-11T21:09:46.988Z,1749676186.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:09:47.032Z,1749676187.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.75 m.
2025-06-11T21:09:47.035Z,1749676187.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.753616 m,
nav range: 118.847633 m,
bearing: 220.091063 deg,
approach rate: 0.603554 m/s,
LOS rate: -0.119037 deg/s,
cmd heading: 216.164969 deg,
new cmd heading: 216.038545 deg.
2025-06-11T21:09:47.057Z,1749676187.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770584 target range: 167.753616 and range: 169.20 m.
2025-06-11T21:09:47.093Z,1749676187.093 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.515155
2025-06-11T21:09:47.351Z,1749676187.351 [DAT](INFO): DAT read: 21:09:47.9974 LVL= 26096, 17777, 17010, 28387, AGC= 64, IDX= 458,-0.21, 0.714, 2.342, 1.461, 0.600, PHS= 0.201, 1.788, 0.858, RAW= 305.7, -36.1, CAL= 299.5, -48.8, ROT= 210.5, 48.8
2025-06-11T21:09:47.352Z,1749676187.352 [DAT](INFO): got valid direction response:
21:09:47.9974 LVL= 26096, 17777, 17010, 28387, AGC= 64, IDX= 458,-0.21, 0.714, 2.342, 1.461, 0.600, PHS= 0.201, 1.788, 0.858, RAW= 305.7, -36.1, CAL= 299.5, -48.8, ROT= 210.5, 48.8
2025-06-11T21:09:47.353Z,1749676187.353 [DAT](INFO): DAT read: Bearing 210.5, 48.8 (Local)
2025-06-11T21:09:47.353Z,1749676187.353 [DAT](INFO): Local bearing/azimuth received:
Bearing 210.5, 48.8 (Local)
2025-06-11T21:09:47.355Z,1749676187.355 [DAT](INFO): DAT read: Range 10 to 50 : 172.1 m (Round-trip 229.5 ms) speed -0.4 m/s
2025-06-11T21:09:47.355Z,1749676187.355 [DAT](INFO): DAT read: user:796>
2025-06-11T21:09:47.356Z,1749676187.356 [DAT](INFO): DAT read: Tx time:21:09:49.1137
2025-06-11T21:09:47.356Z,1749676187.356 [DAT](INFO): Ping request sent.
2025-06-11T21:09:47.357Z,1749676187.357 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:47.357Z,1749676187.357 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-11T21:09:47.358Z,1749676187.358 [DAT](INFO): direction in FSK: [-0.567546,-0.334310,-0.752415]
2025-06-11T21:09:47.358Z,1749676187.358 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:47.358Z,1749676187.358 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:47.362Z,1749676187.362 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:47.362Z,1749676187.362 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:47.365Z,1749676187.365 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.008519
2025-06-11T21:09:47.534Z,1749676187.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 172.100006 m,
deltaT: 3.779777 s,
deltaX: 2.900009 m,
approachRate: 0.767243 m/s,
rangeRepo size: 3
2025-06-11T21:09:47.545Z,1749676187.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 170.629471 m,
bearing: 207.774039 deg,
lat: 36.906470 deg,
lon: -122.115678 deg,
deltaT: 3.779777 s,
deltaX: 2.875854 m,
approachRate: 0.760853 m/s,
posRepo size: 3
2025-06-11T21:09:47.545Z,1749676187.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:47.552Z,1749676187.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 128.674896 m,
bearing: 216.551515 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.119037 deg/s,
cmd heading: 216.038542 deg,
new cmd heading: 215.859402 deg.
2025-06-11T21:09:47.553Z,1749676187.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767457 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:47.598Z,1749676187.598 [DAT](INFO): DAT read: TxSync time:21:09:49.1129
2025-06-11T21:09:47.599Z,1749676187.599 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.242764
2025-06-11T21:09:47.849Z,1749676187.849 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.492334
2025-06-11T21:09:47.946Z,1749676187.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:47.949Z,1749676187.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:47.951Z,1749676187.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 128.917084 m,
bearing: 216.515166 deg,
approach rate: 0.583601 m/s,
LOS rate: -0.087427 deg/s,
cmd heading: 215.859400 deg,
new cmd heading: 215.750557 deg.
2025-06-11T21:09:47.952Z,1749676187.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765558 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:47.993Z,1749676187.993 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:09:48.101Z,1749676188.101 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.744209
2025-06-11T21:09:48.321Z,1749676188.321 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061113111041,35.0, +1.0,1490.9, 0
2025-06-11T21:09:48.353Z,1749676188.353 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.996365
2025-06-11T21:09:48.356Z,1749676188.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:48.359Z,1749676188.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.161957 m,
bearing: 216.472766 deg,
approach rate: 0.607485 m/s,
LOS rate: -0.104989 deg/s,
cmd heading: 215.750554 deg,
new cmd heading: 215.623593 deg.
2025-06-11T21:09:48.364Z,1749676188.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763342 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:48.605Z,1749676188.605 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.248277
2025-06-11T21:09:48.686Z,1749676188.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:48.689Z,1749676188.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.355469 m,
bearing: 216.435026 deg,
approach rate: 0.578088 m/s,
LOS rate: -0.112571 deg/s,
cmd heading: 215.623594 deg,
new cmd heading: 215.510546 deg.
2025-06-11T21:09:48.690Z,1749676188.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761369 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:48.860Z,1749676188.860 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.503836
2025-06-11T21:09:49.078Z,1749676189.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:49.081Z,1749676189.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.577209 m,
bearing: 216.389238 deg,
approach rate: 0.565812 m/s,
LOS rate: -0.116637 deg/s,
cmd heading: 215.510541 deg,
new cmd heading: 215.373412 deg.
2025-06-11T21:09:49.082Z,1749676189.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758975 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:49.109Z,1749676189.109 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.752581
2025-06-11T21:09:49.361Z,1749676189.361 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.004214
2025-06-11T21:09:49.505Z,1749676189.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:49.507Z,1749676189.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.782410 m,
bearing: 216.340253 deg,
approach rate: 0.481379 m/s,
LOS rate: -0.114734 deg/s,
cmd heading: 215.373418 deg,
new cmd heading: 215.226694 deg.
2025-06-11T21:09:49.510Z,1749676189.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756414 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:49.614Z,1749676189.614 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.257312
2025-06-11T21:09:49.856Z,1749676189.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:49.859Z,1749676189.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.967819 m,
bearing: 216.293587 deg,
approach rate: 0.527049 m/s,
LOS rate: -0.132464 deg/s,
cmd heading: 215.226692 deg,
new cmd heading: 215.086895 deg.
2025-06-11T21:09:49.860Z,1749676189.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753974 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:49.865Z,1749676189.865 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.508354
2025-06-11T21:09:50.117Z,1749676190.117 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.760380
2025-06-11T21:09:50.261Z,1749676190.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:50.263Z,1749676190.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:50.268Z,1749676190.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.167191 m,
bearing: 216.240696 deg,
approach rate: 0.490813 m/s,
LOS rate: -0.130008 deg/s,
cmd heading: 215.086892 deg,
new cmd heading: 214.928463 deg.
2025-06-11T21:09:50.271Z,1749676190.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.751209 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:50.369Z,1749676190.369 [DAT](INFO): DAT read: Rx Time:21:09:51.7098
2025-06-11T21:09:50.369Z,1749676190.369 [DAT](INFO): Rx dataTimestamp_ set to:1749676190.369145
2025-06-11T21:09:50.370Z,1749676190.370 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.013461
2025-06-11T21:09:50.621Z,1749676190.621 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.264228
2025-06-11T21:09:50.690Z,1749676190.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:50.693Z,1749676190.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.356873 m,
bearing: 216.183840 deg,
approach rate: 0.444050 m/s,
LOS rate: -0.132907 deg/s,
cmd heading: 214.928459 deg,
new cmd heading: 214.758139 deg.
2025-06-11T21:09:50.694Z,1749676190.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748237 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:50.892Z,1749676190.892 [DAT](INFO): DAT read: 21:09:51.7098 LVL= 22128, 16881, 15826, 28531, AGC= 63, IDX= 41,-0.01,-2.623,-0.235,-0.726,-1.172, PHS=-1.363, 0.984, 0.444, RAW= 282.7, -0.6, CAL= 285.3, -2.0, ROT= 224.7, 2.0
2025-06-11T21:09:50.893Z,1749676190.893 [DAT](INFO): got valid direction response:
21:09:51.7098 LVL= 22128, 16881, 15826, 28531, AGC= 63, IDX= 41,-0.01,-2.623,-0.235,-0.726,-1.172, PHS=-1.363, 0.984, 0.444, RAW= 282.7, -0.6, CAL= 285.3, -2.0, ROT= 224.7, 2.0
2025-06-11T21:09:50.894Z,1749676190.894 [DAT](INFO): DAT read: Bearing 224.7, 2.0 (Local)
2025-06-11T21:09:50.894Z,1749676190.894 [DAT](INFO): Local bearing/azimuth received:
Bearing 224.7, 2.0 (Local)
2025-06-11T21:09:50.916Z,1749676190.916 [DAT](INFO): DAT read: Range 10 to 50 : 143.8 m (Round-trip 191.8 ms) speed -0.6 m/s
2025-06-11T21:09:50.917Z,1749676190.917 [DAT](INFO): DAT read: user:797>
2025-06-11T21:09:50.918Z,1749676190.918 [DAT](INFO): DAT read: Tx time:21:09:52.8138
2025-06-11T21:09:50.919Z,1749676190.919 [DAT](INFO): Ping request sent.
2025-06-11T21:09:50.919Z,1749676190.919 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:50.924Z,1749676190.924 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-11T21:09:50.926Z,1749676190.926 [DAT](INFO): direction in FSK: [-0.710366,-0.702966,-0.034899]
2025-06-11T21:09:50.926Z,1749676190.926 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:50.926Z,1749676190.926 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:50.940Z,1749676190.940 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:50.941Z,1749676190.941 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:50.948Z,1749676190.948 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.028766
2025-06-11T21:09:51.125Z,1749676191.125 [DAT](INFO): DAT read: TxSync time:21:09:52.8130
2025-06-11T21:09:51.126Z,1749676191.126 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.206565
2025-06-11T21:09:51.127Z,1749676191.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 143.800003 m,
deltaT: 3.530017 s,
deltaX: -28.300003 m,
approachRate: -8.016959 m/s,
rangeRepo size: 3
2025-06-11T21:09:51.132Z,1749676191.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:51.135Z,1749676191.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.540024 m,
bearing: 216.126249 deg,
approach rate: 0.429812 m/s,
LOS rate: -0.134962 deg/s,
cmd heading: 214.758141 deg,
new cmd heading: 214.585612 deg.
2025-06-11T21:09:51.140Z,1749676191.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745225 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:51.377Z,1749676191.377 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.458196
2025-06-11T21:09:51.619Z,1749676191.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:51.625Z,1749676191.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.741562 m,
bearing: 216.055369 deg,
approach rate: 0.401010 m/s,
LOS rate: -0.140816 deg/s,
cmd heading: 214.585610 deg,
new cmd heading: 214.373299 deg.
2025-06-11T21:09:51.626Z,1749676191.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.741520 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:51.629Z,1749676191.629 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.709711
2025-06-11T21:09:51.881Z,1749676191.881 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.961502
2025-06-11T21:09:51.980Z,1749676191.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:51.983Z,1749676191.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.886856 m,
bearing: 216.002036 deg,
approach rate: 0.401856 m/s,
LOS rate: -0.147346 deg/s,
cmd heading: 214.373301 deg,
new cmd heading: 214.213479 deg.
2025-06-11T21:09:51.984Z,1749676191.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738730 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:52.133Z,1749676192.133 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.214203
2025-06-11T21:09:52.385Z,1749676192.385 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.465652
2025-06-11T21:09:52.442Z,1749676192.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:52.448Z,1749676192.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:52.451Z,1749676192.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.042023 m,
bearing: 215.936840 deg,
approach rate: 0.334598 m/s,
LOS rate: -0.140420 deg/s,
cmd heading: 214.213474 deg,
new cmd heading: 214.018120 deg.
2025-06-11T21:09:52.460Z,1749676192.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735321 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:52.637Z,1749676192.637 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.717586
2025-06-11T21:09:52.801Z,1749676192.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:52.803Z,1749676192.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.167725 m,
bearing: 215.881744 deg,
approach rate: 0.352350 m/s,
LOS rate: -0.154290 deg/s,
cmd heading: 214.018117 deg,
new cmd heading: 213.852988 deg.
2025-06-11T21:09:52.808Z,1749676192.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732439 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:52.889Z,1749676192.889 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.969702
2025-06-11T21:09:53.141Z,1749676193.141 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.221579
2025-06-11T21:09:53.223Z,1749676193.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:53.226Z,1749676193.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.315948 m,
bearing: 215.813851 deg,
approach rate: 0.350553 m/s,
LOS rate: -0.160387 deg/s,
cmd heading: 213.852991 deg,
new cmd heading: 213.649542 deg.
2025-06-11T21:09:53.227Z,1749676193.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728888 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:53.393Z,1749676193.393 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.473590
2025-06-11T21:09:53.631Z,1749676193.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:53.638Z,1749676193.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.431137 m,
bearing: 215.754192 deg,
approach rate: 0.282640 m/s,
LOS rate: -0.146259 deg/s,
cmd heading: 213.649547 deg,
new cmd heading: 213.470726 deg.
2025-06-11T21:09:53.639Z,1749676193.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725767 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:53.645Z,1749676193.645 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.725924
2025-06-11T21:09:53.897Z,1749676193.897 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.977699
2025-06-11T21:09:54.006Z,1749676194.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:54.009Z,1749676194.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.545334 m,
bearing: 215.692146 deg,
approach rate: 0.304427 m/s,
LOS rate: -0.165260 deg/s,
cmd heading: 213.470732 deg,
new cmd heading: 213.284756 deg.
2025-06-11T21:09:54.010Z,1749676194.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722521 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:54.153Z,1749676194.153 [DAT](INFO): DAT read: Rx Time:21:09:55.3731
2025-06-11T21:09:54.154Z,1749676194.154 [DAT](INFO): Rx dataTimestamp_ set to:1749676194.153727
2025-06-11T21:09:54.155Z,1749676194.155 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.235503
2025-06-11T21:09:54.401Z,1749676194.401 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.481589
2025-06-11T21:09:54.449Z,1749676194.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:54.451Z,1749676194.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:54.454Z,1749676194.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.659973 m,
bearing: 215.624477 deg,
approach rate: 0.257397 m/s,
LOS rate: -0.151801 deg/s,
cmd heading: 213.284760 deg,
new cmd heading: 213.081933 deg.
2025-06-11T21:09:54.455Z,1749676194.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.718981 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:54.659Z,1749676194.659 [DAT](INFO): DAT read: 21:09:55.3731 LVL= 29552, 24993, 18738, 32755, AGC= 64, IDX= 49,-0.07,-1.671, 0.163, 0.708,-0.178, PHS=-1.405, 0.387, 0.883, RAW= 258.1, 1.3, CAL= 261.5, 2.3, ROT= 248.5, -2.3
2025-06-11T21:09:54.660Z,1749676194.660 [DAT](INFO): got valid direction response:
21:09:55.3731 LVL= 29552, 24993, 18738, 32755, AGC= 64, IDX= 49,-0.07,-1.671, 0.163, 0.708,-0.178, PHS=-1.405, 0.387, 0.883, RAW= 258.1, 1.3, CAL= 261.5, 2.3, ROT= 248.5, -2.3
2025-06-11T21:09:54.661Z,1749676194.661 [DAT](INFO): DAT read: Bearing 248.5, -2.3 (Local)
2025-06-11T21:09:54.661Z,1749676194.661 [DAT](INFO): Local bearing/azimuth received:
Bearing 248.5, -2.3 (Local)
2025-06-11T21:09:54.663Z,1749676194.663 [DAT](INFO): DAT read: Range 10 to 50 : 116.3 m (Round-trip 155.1 ms) speed -0.3 m/s
2025-06-11T21:09:54.664Z,1749676194.664 [DAT](INFO): DAT read: user:798>
2025-06-11T21:09:54.665Z,1749676194.665 [DAT](INFO): DAT read: Tx time:21:09:56.4638
2025-06-11T21:09:54.665Z,1749676194.665 [DAT](INFO): Ping request sent.
2025-06-11T21:09:54.665Z,1749676194.665 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:54.666Z,1749676194.666 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-11T21:09:54.667Z,1749676194.667 [DAT](INFO): direction in FSK: [-0.366206,-0.929668,0.040132]
2025-06-11T21:09:54.667Z,1749676194.667 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:54.667Z,1749676194.667 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:54.671Z,1749676194.671 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:54.671Z,1749676194.671 [DAT](INFO): publishing direction and range info
2025-06-11T21:09:54.674Z,1749676194.674 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.008588
2025-06-11T21:09:54.893Z,1749676194.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 116.300003 m,
deltaT: 7.308088 s,
deltaX: -55.800003 m,
approachRate: -7.635376 m/s,
rangeRepo size: 3
2025-06-11T21:09:54.894Z,1749676194.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:54.906Z,1749676194.906 [DAT](INFO): DAT read: TxSync time:21:09:56.4630
2025-06-11T21:09:54.907Z,1749676194.907 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.241400
2025-06-11T21:09:54.909Z,1749676194.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.760269 m,
bearing: 215.565449 deg,
approach rate: 0.227416 m/s,
LOS rate: -0.133742 deg/s,
cmd heading: 213.081931 deg,
new cmd heading: 212.904980 deg.
2025-06-11T21:09:54.911Z,1749676194.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.715893 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:55.158Z,1749676195.158 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.491784
2025-06-11T21:09:55.409Z,1749676195.409 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.743348
2025-06-11T21:09:55.462Z,1749676195.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:55.485Z,1749676195.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.912582 m,
bearing: 215.474792 deg,
approach rate: 0.267299 m/s,
LOS rate: -0.158912 deg/s,
cmd heading: 212.904974 deg,
new cmd heading: 212.633321 deg.
2025-06-11T21:09:55.486Z,1749676195.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.711152 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:55.661Z,1749676195.661 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.995349
2025-06-11T21:09:55.914Z,1749676195.914 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.247923
2025-06-11T21:09:55.970Z,1749676195.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:55.977Z,1749676195.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.014420 m,
bearing: 215.399445 deg,
approach rate: 0.200533 m/s,
LOS rate: -0.148255 deg/s,
cmd heading: 212.633324 deg,
new cmd heading: 212.407459 deg.
2025-06-11T21:09:55.978Z,1749676195.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.707210 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:56.165Z,1749676196.165 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.499973
2025-06-11T21:09:56.419Z,1749676196.419 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.753352
2025-06-11T21:09:56.486Z,1749676196.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:56.488Z,1749676196.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:56.490Z,1749676196.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.117905 m,
bearing: 215.317891 deg,
approach rate: 0.200011 m/s,
LOS rate: -0.157501 deg/s,
cmd heading: 212.407463 deg,
new cmd heading: 212.162993 deg.
2025-06-11T21:09:56.491Z,1749676196.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.702943 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:56.669Z,1749676196.669 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.003534
2025-06-11T21:09:56.818Z,1749676196.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:56.821Z,1749676196.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.178558 m,
bearing: 215.267256 deg,
approach rate: 0.183519 m/s,
LOS rate: -0.153135 deg/s,
cmd heading: 212.162997 deg,
new cmd heading: 212.011162 deg.
2025-06-11T21:09:56.822Z,1749676196.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.700293 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:56.922Z,1749676196.922 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.256807
2025-06-11T21:09:57.173Z,1749676197.173 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.507280
2025-06-11T21:09:57.244Z,1749676197.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:57.246Z,1749676197.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.252777 m,
bearing: 215.201372 deg,
approach rate: 0.174407 m/s,
LOS rate: -0.154734 deg/s,
cmd heading: 212.011162 deg,
new cmd heading: 211.813622 deg.
2025-06-11T21:09:57.247Z,1749676197.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.696845 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:57.426Z,1749676197.426 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.760549
2025-06-11T21:09:57.665Z,1749676197.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:57.668Z,1749676197.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.323975 m,
bearing: 215.136561 deg,
approach rate: 0.168774 m/s,
LOS rate: -0.153553 deg/s,
cmd heading: 211.813619 deg,
new cmd heading: 211.619291 deg.
2025-06-11T21:09:57.669Z,1749676197.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693453 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:57.677Z,1749676197.677 [DAT](INFO): DAT read: Rx Time:21:09:59.0241
2025-06-11T21:09:57.677Z,1749676197.677 [DAT](INFO): Rx dataTimestamp_ set to:1749676197.677216
2025-06-11T21:09:57.678Z,1749676197.678 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.012577
2025-06-11T21:09:57.929Z,1749676197.929 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.263512
2025-06-11T21:09:58.049Z,1749676198.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:58.052Z,1749676198.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.379776 m,
bearing: 215.078394 deg,
approach rate: 0.145322 m/s,
LOS rate: -0.151418 deg/s,
cmd heading: 211.619287 deg,
new cmd heading: 211.444860 deg.
2025-06-11T21:09:58.053Z,1749676198.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.690409 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:58.182Z,1749676198.182 [DAT](INFO): DAT read: Range 10 to 50 : 117.0 m (Round-trip 156.1 ms) speed 0.0 m/s
2025-06-11T21:09:58.183Z,1749676198.183 [DAT](INFO): DAT read: user:799>
2025-06-11T21:09:58.184Z,1749676198.184 [DAT](INFO): DAT read: Tx time:21:10:00.1138
2025-06-11T21:09:58.184Z,1749676198.184 [DAT](INFO): Ping request sent.
2025-06-11T21:09:58.184Z,1749676198.184 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:09:58.185Z,1749676198.185 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-06-11T21:09:58.185Z,1749676198.185 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:58.185Z,1749676198.185 [DAT](INFO): publishing transmit ping time
2025-06-11T21:09:58.186Z,1749676198.186 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.001930
2025-06-11T21:09:58.436Z,1749676198.436 [DAT](INFO): DAT read: TxSync time:21:10:00.1130
2025-06-11T21:09:58.439Z,1749676198.439 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.253953
2025-06-11T21:09:58.522Z,1749676198.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:09:58.525Z,1749676198.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 117.000000 m,
deltaT: 10.836600 s,
deltaX: -55.100006 m,
approachRate: -5.084621 m/s,
rangeRepo size: 3
2025-06-11T21:09:58.525Z,1749676198.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:58.528Z,1749676198.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.453415 m,
bearing: 215.002869 deg,
approach rate: 0.155299 m/s,
LOS rate: -0.159189 deg/s,
cmd heading: 211.444857 deg,
new cmd heading: 211.218409 deg.
2025-06-11T21:09:58.529Z,1749676198.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.686457 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:58.685Z,1749676198.685 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.500400
2025-06-11T21:09:58.911Z,1749676198.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:58.914Z,1749676198.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.508911 m,
bearing: 214.942063 deg,
approach rate: 0.143071 m/s,
LOS rate: -0.156694 deg/s,
cmd heading: 211.218409 deg,
new cmd heading: 211.036068 deg.
2025-06-11T21:09:58.915Z,1749676198.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.683274 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:58.938Z,1749676198.938 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.753219
2025-06-11T21:09:59.189Z,1749676199.189 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.004469
2025-06-11T21:09:59.253Z,1749676199.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:59.276Z,1749676199.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.554443 m,
bearing: 214.888249 deg,
approach rate: 0.133221 m/s,
LOS rate: -0.157399 deg/s,
cmd heading: 211.036070 deg,
new cmd heading: 210.874683 deg.
2025-06-11T21:09:59.277Z,1749676199.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.680458 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:59.444Z,1749676199.444 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.259149
2025-06-11T21:09:59.693Z,1749676199.693 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.508498
2025-06-11T21:09:59.704Z,1749676199.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:09:59.706Z,1749676199.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.606277 m,
bearing: 214.817261 deg,
approach rate: 0.115091 m/s,
LOS rate: -0.157558 deg/s,
cmd heading: 210.874687 deg,
new cmd heading: 210.661808 deg.
2025-06-11T21:09:59.707Z,1749676199.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.676742 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:09:59.945Z,1749676199.945 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.760513
2025-06-11T21:10:00.081Z,1749676200.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:00.084Z,1749676200.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.645615 m,
bearing: 214.758481 deg,
approach rate: 0.104162 m/s,
LOS rate: -0.155598 deg/s,
cmd heading: 210.661803 deg,
new cmd heading: 210.485517 deg.
2025-06-11T21:10:00.085Z,1749676200.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.673665 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:00.197Z,1749676200.197 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.012478
2025-06-11T21:10:00.452Z,1749676200.452 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.266603
2025-06-11T21:10:00.554Z,1749676200.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:00.556Z,1749676200.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:00.559Z,1749676200.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.699036 m,
bearing: 214.685457 deg,
approach rate: 0.112577 m/s,
LOS rate: -0.153827 deg/s,
cmd heading: 210.485516 deg,
new cmd heading: 210.266532 deg.
2025-06-11T21:10:00.560Z,1749676200.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669843 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:00.701Z,1749676200.701 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.516564
2025-06-11T21:10:00.953Z,1749676200.953 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.768410
2025-06-11T21:10:00.994Z,1749676200.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:01.001Z,1749676201.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.746338 m,
bearing: 214.621061 deg,
approach rate: 0.107918 m/s,
LOS rate: -0.146864 deg/s,
cmd heading: 210.266527 deg,
new cmd heading: 210.073410 deg.
2025-06-11T21:10:01.002Z,1749676201.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.666473 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:01.205Z,1749676201.205 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.020681
2025-06-11T21:10:01.332Z,1749676201.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:01.335Z,1749676201.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.785980 m,
bearing: 214.567335 deg,
approach rate: 0.117373 m/s,
LOS rate: -0.159024 deg/s,
cmd heading: 210.073410 deg,
new cmd heading: 209.912280 deg.
2025-06-11T21:10:01.336Z,1749676201.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.663661 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:01.460Z,1749676201.460 [DAT](INFO): DAT read: Rx Time:21:10:02.6748
2025-06-11T21:10:01.462Z,1749676201.462 [DAT](INFO): Rx dataTimestamp_ set to:1749676201.460913
2025-06-11T21:10:01.464Z,1749676201.464 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.278684
2025-06-11T21:10:01.709Z,1749676201.709 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.524525
2025-06-11T21:10:01.787Z,1749676201.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:01.790Z,1749676201.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.819061 m,
bearing: 214.501325 deg,
approach rate: 0.072724 m/s,
LOS rate: -0.145078 deg/s,
cmd heading: 209.912286 deg,
new cmd heading: 209.714305 deg.
2025-06-11T21:10:01.791Z,1749676201.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.660205 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:01.970Z,1749676201.970 [DAT](INFO): DAT read: 21:10:02.6748 LVL= 27184, 31937, 11794, 32755, AGC= 57, IDX= 450,-0.15, 2.030,-2.938,-1.775,-3.045, PHS=-1.120, 0.154, 1.267, RAW= 242.2, -3.0, CAL= 243.6, -7.1, ROT= 266.4, 7.1
2025-06-11T21:10:01.971Z,1749676201.971 [DAT](INFO): got valid direction response:
21:10:02.6748 LVL= 27184, 31937, 11794, 32755, AGC= 57, IDX= 450,-0.15, 2.030,-2.938,-1.775,-3.045, PHS=-1.120, 0.154, 1.267, RAW= 242.2, -3.0, CAL= 243.6, -7.1, ROT= 266.4, 7.1
2025-06-11T21:10:01.972Z,1749676201.972 [DAT](INFO): DAT read: $Error in header
2025-06-11T21:10:01.972Z,1749676201.972 [DAT](INFO): Received a bad header
2025-06-11T21:10:01.984Z,1749676201.984 [DAT](INFO): #Rx 40: Read direction message, but no range.
2025-06-11T21:10:01.985Z,1749676201.985 [DAT](INFO): direction in FSK: [-0.062309,-0.990374,-0.123601]
2025-06-11T21:10:01.989Z,1749676201.989 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.804188
2025-06-11T21:10:02.172Z,1749676202.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:02.175Z,1749676202.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.848312 m,
bearing: 214.436281 deg,
approach rate: 0.075966 m/s,
LOS rate: -0.168882 deg/s,
cmd heading: 209.714306 deg,
new cmd heading: 209.519220 deg.
2025-06-11T21:10:02.176Z,1749676202.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.656800 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:02.213Z,1749676202.213 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.028534
2025-06-11T21:10:02.468Z,1749676202.468 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.282903
2025-06-11T21:10:02.571Z,1749676202.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:02.574Z,1749676202.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:02.576Z,1749676202.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.869370 m,
bearing: 214.374214 deg,
approach rate: 0.052409 m/s,
LOS rate: -0.154454 deg/s,
cmd heading: 209.519222 deg,
new cmd heading: 209.333051 deg.
2025-06-11T21:10:02.577Z,1749676202.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.653551 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:02.717Z,1749676202.717 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.532724
2025-06-11T21:10:02.969Z,1749676202.969 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.784463
2025-06-11T21:10:03.024Z,1749676203.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:03.026Z,1749676203.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.889160 m,
bearing: 214.305425 deg,
approach rate: 0.044782 m/s,
LOS rate: -0.155632 deg/s,
cmd heading: 209.333045 deg,
new cmd heading: 209.126710 deg.
2025-06-11T21:10:03.027Z,1749676203.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.649950 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:03.221Z,1749676203.221 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.036443
2025-06-11T21:10:03.415Z,1749676203.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:03.422Z,1749676203.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.903397 m,
bearing: 214.244953 deg,
approach rate: 0.035598 m/s,
LOS rate: -0.151193 deg/s,
cmd heading: 209.126705 deg,
new cmd heading: 208.945309 deg.
2025-06-11T21:10:03.423Z,1749676203.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.646784 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:03.478Z,1749676203.478 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.292779
2025-06-11T21:10:03.725Z,1749676203.725 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.540489
2025-06-11T21:10:03.945Z,1749676203.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:03.960Z,1749676203.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.912979 m,
bearing: 214.163297 deg,
approach rate: 0.018096 m/s,
LOS rate: -0.154194 deg/s,
cmd heading: 208.945309 deg,
new cmd heading: 208.700358 deg.
2025-06-11T21:10:03.961Z,1749676203.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.642509 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:03.977Z,1749676203.977 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.793104
2025-06-11T21:10:04.229Z,1749676204.229 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.044509
2025-06-11T21:10:04.307Z,1749676204.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:04.309Z,1749676204.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.916473 m,
bearing: 214.108674 deg,
approach rate: 0.009661 m/s,
LOS rate: -0.151018 deg/s,
cmd heading: 208.700364 deg,
new cmd heading: 208.536500 deg.
2025-06-11T21:10:04.310Z,1749676204.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639648 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:04.484Z,1749676204.484 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.298762
2025-06-11T21:10:04.730Z,1749676204.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:04.733Z,1749676204.733 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.548504
2025-06-11T21:10:04.734Z,1749676204.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:04.737Z,1749676204.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.909210 m,
bearing: 214.043736 deg,
approach rate: -0.016992 m/s,
LOS rate: -0.151931 deg/s,
cmd heading: 208.536494 deg,
new cmd heading: 208.341672 deg.
2025-06-11T21:10:04.738Z,1749676204.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.636248 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:04.985Z,1749676204.985 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.800413
2025-06-11T21:10:05.146Z,1749676205.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:05.149Z,1749676205.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.902512 m,
bearing: 213.982336 deg,
approach rate: -0.016278 m/s,
LOS rate: -0.149213 deg/s,
cmd heading: 208.341670 deg,
new cmd heading: 208.157460 deg.
2025-06-11T21:10:05.149Z,1749676205.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.633033 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:05.237Z,1749676205.237 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.052799
2025-06-11T21:10:05.491Z,1749676205.491 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.306338
2025-06-11T21:10:05.596Z,1749676205.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:05.602Z,1749676205.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.875092 m,
bearing: 213.911854 deg,
approach rate: -0.061128 m/s,
LOS rate: -0.157158 deg/s,
cmd heading: 208.157460 deg,
new cmd heading: 207.945974 deg.
2025-06-11T21:10:05.603Z,1749676205.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.629342 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:05.741Z,1749676205.741 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.556351
2025-06-11T21:10:05.957Z,1749676205.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:05.965Z,1749676205.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.850922 m,
bearing: 213.857714 deg,
approach rate: -0.066594 m/s,
LOS rate: -0.149196 deg/s,
cmd heading: 207.945970 deg,
new cmd heading: 207.783519 deg.
2025-06-11T21:10:05.966Z,1749676205.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.626507 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:05.995Z,1749676205.995 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.811107
2025-06-11T21:10:06.246Z,1749676206.246 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.061279
2025-06-11T21:10:06.327Z,1749676206.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:06.330Z,1749676206.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.821976 m,
bearing: 213.800369 deg,
approach rate: -0.078307 m/s,
LOS rate: -0.155167 deg/s,
cmd heading: 207.783521 deg,
new cmd heading: 207.611450 deg.
2025-06-11T21:10:06.331Z,1749676206.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623503 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:06.497Z,1749676206.497 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.312469
2025-06-11T21:10:06.749Z,1749676206.749 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.564565
2025-06-11T21:10:06.761Z,1749676206.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:06.763Z,1749676206.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:06.766Z,1749676206.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.774384 m,
bearing: 213.733300 deg,
approach rate: -0.109115 m/s,
LOS rate: -0.153825 deg/s,
cmd heading: 207.611455 deg,
new cmd heading: 207.410176 deg.
2025-06-11T21:10:06.767Z,1749676206.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.619990 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:07.006Z,1749676207.006 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.821220
2025-06-11T21:10:07.132Z,1749676207.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:07.134Z,1749676207.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.727509 m,
bearing: 213.677430 deg,
approach rate: -0.127151 m/s,
LOS rate: -0.151605 deg/s,
cmd heading: 207.410169 deg,
new cmd heading: 207.242500 deg.
2025-06-11T21:10:07.135Z,1749676207.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617064 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:07.253Z,1749676207.253 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.068643
2025-06-11T21:10:07.505Z,1749676207.505 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.320413
2025-06-11T21:10:07.619Z,1749676207.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:07.621Z,1749676207.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.643539 m,
bearing: 213.603592 deg,
approach rate: -0.172427 m/s,
LOS rate: -0.151719 deg/s,
cmd heading: 207.242501 deg,
new cmd heading: 207.020848 deg.
2025-06-11T21:10:07.622Z,1749676207.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613195 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:07.757Z,1749676207.757 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.572389
2025-06-11T21:10:08.009Z,1749676208.009 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.824284
2025-06-11T21:10:08.023Z,1749676208.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:08.026Z,1749676208.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.574020 m,
bearing: 213.542242 deg,
approach rate: -0.171859 m/s,
LOS rate: -0.151743 deg/s,
cmd heading: 207.020848 deg,
new cmd heading: 206.836703 deg.
2025-06-11T21:10:08.027Z,1749676208.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609982 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:08.261Z,1749676208.261 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.076940
2025-06-11T21:10:08.391Z,1749676208.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:08.394Z,1749676208.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.510727 m,
bearing: 213.486213 deg,
approach rate: -0.171983 m/s,
LOS rate: -0.152317 deg/s,
cmd heading: 206.836706 deg,
new cmd heading: 206.668539 deg.
2025-06-11T21:10:08.395Z,1749676208.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607046 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:08.514Z,1749676208.514 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.329119
2025-06-11T21:10:08.765Z,1749676208.765 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.580589
2025-06-11T21:10:08.799Z,1749676208.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:08.802Z,1749676208.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:08.821Z,1749676208.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.419373 m,
bearing: 213.426730 deg,
approach rate: -0.222582 m/s,
LOS rate: -0.145027 deg/s,
cmd heading: 206.668533 deg,
new cmd heading: 206.489963 deg.
2025-06-11T21:10:08.821Z,1749676208.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603930 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:09.017Z,1749676209.017 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.833097
2025-06-11T21:10:09.202Z,1749676209.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:09.204Z,1749676209.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.331238 m,
bearing: 213.372328 deg,
approach rate: -0.220319 m/s,
LOS rate: -0.136085 deg/s,
cmd heading: 206.489965 deg,
new cmd heading: 206.326650 deg.
2025-06-11T21:10:09.205Z,1749676209.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601079 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:09.271Z,1749676209.271 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:10:09.271Z,1749676209.271 [DAT](INFO): response not received
2025-06-11T21:10:09.271Z,1749676209.271 [DAT](INFO): DAT read: user:801>
2025-06-11T21:10:09.272Z,1749676209.272 [DAT](INFO): DAT read: Tx time:21:10:11.0639
2025-06-11T21:10:09.272Z,1749676209.272 [DAT](INFO): Ping request sent.
2025-06-11T21:10:09.272Z,1749676209.272 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:10:09.273Z,1749676209.273 [DAT](INFO): publishing transmit ping time
2025-06-11T21:10:09.273Z,1749676209.273 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.000767
2025-06-11T21:10:09.523Z,1749676209.523 [DAT](INFO): DAT read: TxSync time:21:10:11.0631
2025-06-11T21:10:09.524Z,1749676209.524 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.250942
2025-06-11T21:10:09.697Z,1749676209.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:09.699Z,1749676209.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.202164 m,
bearing: 213.303531 deg,
approach rate: -0.260822 m/s,
LOS rate: -0.139154 deg/s,
cmd heading: 206.326655 deg,
new cmd heading: 206.120064 deg.
2025-06-11T21:10:09.700Z,1749676209.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597474 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:09.773Z,1749676209.773 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.500347
2025-06-11T21:10:10.025Z,1749676210.025 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.752084
2025-06-11T21:10:10.121Z,1749676210.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:10.123Z,1749676210.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 132.085236 m,
bearing: 213.244604 deg,
approach rate: -0.275542 m/s,
LOS rate: -0.138985 deg/s,
cmd heading: 206.120069 deg,
new cmd heading: 205.943132 deg.
2025-06-11T21:10:10.125Z,1749676210.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594386 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:10.277Z,1749676210.277 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.004255
2025-06-11T21:10:10.529Z,1749676210.529 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.256332
2025-06-11T21:10:10.614Z,1749676210.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:10.637Z,1749676210.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.967270 m,
bearing: 213.188172 deg,
approach rate: -0.239825 m/s,
LOS rate: -0.114830 deg/s,
cmd heading: 205.943126 deg,
new cmd heading: 205.773678 deg.
2025-06-11T21:10:10.638Z,1749676210.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591428 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:10.781Z,1749676210.781 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.508263
2025-06-11T21:10:11.033Z,1749676211.033 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.760332
2025-06-11T21:10:11.087Z,1749676211.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:11.089Z,1749676211.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:11.092Z,1749676211.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.805298 m,
bearing: 213.121090 deg,
approach rate: -0.339940 m/s,
LOS rate: -0.140962 deg/s,
cmd heading: 205.773683 deg,
new cmd heading: 205.572190 deg.
2025-06-11T21:10:11.093Z,1749676211.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587912 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:11.285Z,1749676211.285 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.012267
2025-06-11T21:10:11.460Z,1749676211.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:11.463Z,1749676211.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.690933 m,
bearing: 213.075883 deg,
approach rate: -0.308374 m/s,
LOS rate: -0.122001 deg/s,
cmd heading: 205.572192 deg,
new cmd heading: 205.436455 deg.
2025-06-11T21:10:11.464Z,1749676211.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585542 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:11.537Z,1749676211.537 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.264352
2025-06-11T21:10:11.789Z,1749676211.789 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.516243
2025-06-11T21:10:11.930Z,1749676211.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:11.938Z,1749676211.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.541367 m,
bearing: 213.022016 deg,
approach rate: -0.322478 m/s,
LOS rate: -0.116274 deg/s,
cmd heading: 205.436449 deg,
new cmd heading: 205.274664 deg.
2025-06-11T21:10:11.939Z,1749676211.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582719 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:12.042Z,1749676212.042 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.769191
2025-06-11T21:10:12.293Z,1749676212.293 [DAT](INFO): DAT read: Rx Time:21:10:13.6228
2025-06-11T21:10:12.293Z,1749676212.293 [DAT](INFO): Rx dataTimestamp_ set to:1749676212.293043
2025-06-11T21:10:12.294Z,1749676212.294 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.021365
2025-06-11T21:10:12.354Z,1749676212.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:12.375Z,1749676212.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.388428 m,
bearing: 212.969684 deg,
approach rate: -0.355946 m/s,
LOS rate: -0.121937 deg/s,
cmd heading: 205.274669 deg,
new cmd heading: 205.117492 deg.
2025-06-11T21:10:12.400Z,1749676212.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579976 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:12.545Z,1749676212.545 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.272184
2025-06-11T21:10:12.807Z,1749676212.807 [DAT](INFO): DAT read: 21:10:13.6228 LVL= 27120, 21953, 13810, 32755, AGC= 59, IDX= 396, 0.12, 1.618, 1.059, 3.072, 2.108, PHS=-0.401,-1.002, 0.962, RAW= 192.6, 5.1, CAL= 192.8, -3.2, ROT= 317.2, 3.2
2025-06-11T21:10:12.808Z,1749676212.808 [DAT](INFO): got valid direction response:
21:10:13.6228 LVL= 27120, 21953, 13810, 32755, AGC= 59, IDX= 396, 0.12, 1.618, 1.059, 3.072, 2.108, PHS=-0.401,-1.002, 0.962, RAW= 192.6, 5.1, CAL= 192.8, -3.2, ROT= 317.2, 3.2
2025-06-11T21:10:12.809Z,1749676212.809 [DAT](INFO): DAT read: $Error in header
2025-06-11T21:10:12.809Z,1749676212.809 [DAT](INFO): Received a bad header
2025-06-11T21:10:12.817Z,1749676212.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:12.819Z,1749676212.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.246674 m,
bearing: 212.922796 deg,
approach rate: -0.305974 m/s,
LOS rate: -0.101318 deg/s,
cmd heading: 205.117493 deg,
new cmd heading: 204.976675 deg.
2025-06-11T21:10:12.820Z,1749676212.820 [DAT](INFO): #Rx 41: Read direction message, but no range.
2025-06-11T21:10:12.821Z,1749676212.821 [DAT](INFO): direction in FSK: [0.732586,-0.678382,-0.055822]
2025-06-11T21:10:12.825Z,1749676212.825 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.552084
2025-06-11T21:10:12.829Z,1749676212.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577518 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:13.049Z,1749676213.049 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.776327
2025-06-11T21:10:13.122Z,1749676213.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:13.125Z,1749676213.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:13.127Z,1749676213.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 131.113007 m,
bearing: 212.880932 deg,
approach rate: -0.434284 m/s,
LOS rate: -0.136153 deg/s,
cmd heading: 204.976668 deg,
new cmd heading: 204.850950 deg.
2025-06-11T21:10:13.144Z,1749676213.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575324 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:13.301Z,1749676213.301 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=4.028176
2025-06-11T21:10:13.536Z,1749676213.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:13.539Z,1749676213.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.964157 m,
bearing: 212.834191 deg,
approach rate: -0.361895 m/s,
LOS rate: -0.113770 deg/s,
cmd heading: 204.850952 deg,
new cmd heading: 204.710569 deg.
2025-06-11T21:10:13.540Z,1749676213.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572873 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:13.553Z,1749676213.553 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=4.280363
2025-06-11T21:10:13.805Z,1749676213.805 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=4.532211
2025-06-11T21:10:14.014Z,1749676214.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:14.017Z,1749676214.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.781586 m,
bearing: 212.786549 deg,
approach rate: -0.382003 m/s,
LOS rate: -0.099822 deg/s,
cmd heading: 204.710564 deg,
new cmd heading: 204.567440 deg.
2025-06-11T21:10:14.018Z,1749676214.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570375 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:14.058Z,1749676214.058 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=4.784696
2025-06-11T21:10:14.309Z,1749676214.309 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.036370
2025-06-11T21:10:14.339Z,1749676214.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:14.346Z,1749676214.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.661728 m,
bearing: 212.757197 deg,
approach rate: -0.368788 m/s,
LOS rate: -0.090395 deg/s,
cmd heading: 204.567444 deg,
new cmd heading: 204.479307 deg.
2025-06-11T21:10:14.347Z,1749676214.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568837 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:14.561Z,1749676214.561 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.288890
2025-06-11T21:10:14.775Z,1749676214.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:14.777Z,1749676214.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.485413 m,
bearing: 212.715618 deg,
approach rate: -0.404723 m/s,
LOS rate: -0.095571 deg/s,
cmd heading: 204.479307 deg,
new cmd heading: 204.354402 deg.
2025-06-11T21:10:14.778Z,1749676214.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566657 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:14.814Z,1749676214.814 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.540979
2025-06-11T21:10:15.065Z,1749676215.065 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.792257
2025-06-11T21:10:15.145Z,1749676215.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:15.147Z,1749676215.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:15.150Z,1749676215.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.335617 m,
bearing: 212.684988 deg,
approach rate: -0.401797 m/s,
LOS rate: -0.082253 deg/s,
cmd heading: 204.354397 deg,
new cmd heading: 204.262401 deg.
2025-06-11T21:10:15.151Z,1749676215.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565052 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:15.317Z,1749676215.317 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.044281
2025-06-11T21:10:15.529Z,1749676215.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:15.532Z,1749676215.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 130.179916 m,
bearing: 212.655482 deg,
approach rate: -0.407696 m/s,
LOS rate: -0.077354 deg/s,
cmd heading: 204.262408 deg,
new cmd heading: 204.173782 deg.
2025-06-11T21:10:15.533Z,1749676215.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563505 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:15.569Z,1749676215.569 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.296827
2025-06-11T21:10:15.821Z,1749676215.821 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.548267
2025-06-11T21:10:15.981Z,1749676215.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:15.983Z,1749676215.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.996689 m,
bearing: 212.621077 deg,
approach rate: -0.405716 m/s,
LOS rate: -0.076289 deg/s,
cmd heading: 204.173779 deg,
new cmd heading: 204.070420 deg.
2025-06-11T21:10:15.985Z,1749676215.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561701 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:16.074Z,1749676216.074 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.800864
2025-06-11T21:10:16.325Z,1749676216.325 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=7.052449
2025-06-11T21:10:16.364Z,1749676216.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:16.367Z,1749676216.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.845703 m,
bearing: 212.592649 deg,
approach rate: -0.411144 m/s,
LOS rate: -0.077502 deg/s,
cmd heading: 204.070425 deg,
new cmd heading: 203.985042 deg.
2025-06-11T21:10:16.372Z,1749676216.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560211 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:16.577Z,1749676216.577 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=7.304359
2025-06-11T21:10:16.775Z,1749676216.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:16.778Z,1749676216.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.665985 m,
bearing: 212.568015 deg,
approach rate: -0.420563 m/s,
LOS rate: -0.057727 deg/s,
cmd heading: 203.985048 deg,
new cmd heading: 203.911043 deg.
2025-06-11T21:10:16.779Z,1749676216.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558919 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:16.830Z,1749676216.830 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=7.557406
2025-06-11T21:10:17.081Z,1749676217.081 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=7.808272
2025-06-11T21:10:17.157Z,1749676217.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:17.159Z,1749676217.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:17.162Z,1749676217.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.504654 m,
bearing: 212.545842 deg,
approach rate: -0.420100 m/s,
LOS rate: -0.057811 deg/s,
cmd heading: 203.911049 deg,
new cmd heading: 203.844446 deg.
2025-06-11T21:10:17.163Z,1749676217.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557757 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:17.333Z,1749676217.333 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.060268
2025-06-11T21:10:17.558Z,1749676217.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:17.561Z,1749676217.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.335541 m,
bearing: 212.527227 deg,
approach rate: -0.426928 m/s,
LOS rate: -0.047055 deg/s,
cmd heading: 203.844441 deg,
new cmd heading: 203.788523 deg.
2025-06-11T21:10:17.562Z,1749676217.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556781 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:17.585Z,1749676217.585 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.312348
2025-06-11T21:10:17.837Z,1749676217.837 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.564263
2025-06-11T21:10:17.987Z,1749676217.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:17.990Z,1749676217.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 129.148621 m,
bearing: 212.511060 deg,
approach rate: -0.432912 m/s,
LOS rate: -0.037496 deg/s,
cmd heading: 203.788529 deg,
new cmd heading: 203.739960 deg.
2025-06-11T21:10:17.991Z,1749676217.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555933 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:18.090Z,1749676218.090 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.817027
2025-06-11T21:10:18.116Z,1749676218.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:10:18.341Z,1749676218.341 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=9.068318
2025-06-11T21:10:18.356Z,1749676218.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:18.359Z,1749676218.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 128.988068 m,
bearing: 212.499241 deg,
approach rate: -0.435580 m/s,
LOS rate: -0.032105 deg/s,
cmd heading: 203.739967 deg,
new cmd heading: 203.704466 deg.
2025-06-11T21:10:18.360Z,1749676218.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555314 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:18.593Z,1749676218.593 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=9.320304
2025-06-11T21:10:18.814Z,1749676218.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:18.817Z,1749676218.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 128.786423 m,
bearing: 212.489297 deg,
approach rate: -0.440185 m/s,
LOS rate: -0.021741 deg/s,
cmd heading: 203.704463 deg,
new cmd heading: 203.674585 deg.
2025-06-11T21:10:18.818Z,1749676218.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554792 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:18.845Z,1749676218.845 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=9.572433
2025-06-11T21:10:19.101Z,1749676219.101 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=9.828287
2025-06-11T21:10:19.120Z,1749676219.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:10:19.169Z,1749676219.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:19.171Z,1749676219.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:19.174Z,1749676219.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 128.628433 m,
bearing: 212.485493 deg,
approach rate: -0.442221 m/s,
LOS rate: -0.010663 deg/s,
cmd heading: 203.674588 deg,
new cmd heading: 203.663160 deg.
2025-06-11T21:10:19.175Z,1749676219.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554593 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:19.357Z,1749676219.357 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=10.084090
2025-06-11T21:10:19.566Z,1749676219.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:19.568Z,1749676219.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 128.453400 m,
bearing: 212.483474 deg,
approach rate: -0.443785 m/s,
LOS rate: -0.005125 deg/s,
cmd heading: 203.663154 deg,
new cmd heading: 203.657090 deg.
2025-06-11T21:10:19.569Z,1749676219.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554487 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:19.605Z,1749676219.605 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=10.332575
2025-06-11T21:10:19.857Z,1749676219.857 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=10.584270
2025-06-11T21:10:20.009Z,1749676220.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:20.012Z,1749676220.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 128.251709 m,
bearing: 212.484801 deg,
approach rate: -0.454998 m/s,
LOS rate: 0.002998 deg/s,
cmd heading: 203.657089 deg,
new cmd heading: 203.661076 deg.
2025-06-11T21:10:20.013Z,1749676220.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554556 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:20.109Z,1749676220.109 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:10:20.109Z,1749676220.109 [DAT](INFO): response not received
2025-06-11T21:10:20.110Z,1749676220.110 [DAT](INFO): DAT read: user:803>
2025-06-11T21:10:20.111Z,1749676220.111 [DAT](INFO): DAT read: Tx time:21:10:22.0140
2025-06-11T21:10:20.112Z,1749676220.112 [DAT](INFO): Ping request sent.
2025-06-11T21:10:20.112Z,1749676220.112 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:10:20.112Z,1749676220.112 [DAT](INFO): publishing transmit ping time
2025-06-11T21:10:20.113Z,1749676220.113 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.001164
2025-06-11T21:10:20.361Z,1749676220.361 [DAT](INFO): DAT read: TxSync time:21:10:22.0132
2025-06-11T21:10:20.362Z,1749676220.362 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.249888
2025-06-11T21:10:20.402Z,1749676220.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:20.406Z,1749676220.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 128.072586 m,
bearing: 212.488225 deg,
approach rate: -0.455197 m/s,
LOS rate: 0.008714 deg/s,
cmd heading: 203.661078 deg,
new cmd heading: 203.671365 deg.
2025-06-11T21:10:20.407Z,1749676220.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554736 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:20.613Z,1749676220.613 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.500824
2025-06-11T21:10:20.866Z,1749676220.866 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.754055
2025-06-11T21:10:20.912Z,1749676220.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:20.922Z,1749676220.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 127.835403 m,
bearing: 212.491456 deg,
approach rate: -0.469510 m/s,
LOS rate: 0.006408 deg/s,
cmd heading: 203.671364 deg,
new cmd heading: 203.681075 deg.
2025-06-11T21:10:20.923Z,1749676220.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554905 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:21.117Z,1749676221.117 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.004870
2025-06-11T21:10:21.246Z,1749676221.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:21.252Z,1749676221.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:21.255Z,1749676221.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 127.672455 m,
bearing: 212.498161 deg,
approach rate: -0.478880 m/s,
LOS rate: 0.019728 deg/s,
cmd heading: 203.681077 deg,
new cmd heading: 203.701216 deg.
2025-06-11T21:10:21.264Z,1749676221.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555257 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:21.369Z,1749676221.369 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.257450
2025-06-11T21:10:21.621Z,1749676221.621 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.508852
2025-06-11T21:10:21.642Z,1749676221.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:21.645Z,1749676221.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 127.475159 m,
bearing: 212.508934 deg,
approach rate: -0.499983 m/s,
LOS rate: 0.027345 deg/s,
cmd heading: 203.701212 deg,
new cmd heading: 203.733583 deg.
2025-06-11T21:10:21.646Z,1749676221.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555822 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:21.873Z,1749676221.873 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.760915
2025-06-11T21:10:22.080Z,1749676222.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:22.083Z,1749676222.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 127.259972 m,
bearing: 212.523360 deg,
approach rate: -0.501013 m/s,
LOS rate: 0.033643 deg/s,
cmd heading: 203.733587 deg,
new cmd heading: 203.776936 deg.
2025-06-11T21:10:22.088Z,1749676222.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556578 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:22.125Z,1749676222.125 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.013311
2025-06-11T21:10:22.377Z,1749676222.377 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.264886
2025-06-11T21:10:22.425Z,1749676222.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:22.427Z,1749676222.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 127.083374 m,
bearing: 212.537411 deg,
approach rate: -0.500855 m/s,
LOS rate: 0.039906 deg/s,
cmd heading: 203.776932 deg,
new cmd heading: 203.819143 deg.
2025-06-11T21:10:22.429Z,1749676222.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557315 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:22.629Z,1749676222.629 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.517122
2025-06-11T21:10:22.878Z,1749676222.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:22.881Z,1749676222.881 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.769000
2025-06-11T21:10:22.885Z,1749676222.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 126.849564 m,
bearing: 212.554228 deg,
approach rate: -0.515414 m/s,
LOS rate: 0.037140 deg/s,
cmd heading: 203.819142 deg,
new cmd heading: 203.869687 deg.
2025-06-11T21:10:22.886Z,1749676222.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558197 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:23.133Z,1749676223.133 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.021369
2025-06-11T21:10:23.299Z,1749676223.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:23.302Z,1749676223.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:23.304Z,1749676223.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 126.626404 m,
bearing: 212.573209 deg,
approach rate: -0.526953 m/s,
LOS rate: 0.044899 deg/s,
cmd heading: 203.869686 deg,
new cmd heading: 203.926729 deg.
2025-06-11T21:10:23.305Z,1749676223.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559193 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:23.385Z,1749676223.385 [DAT](INFO): DAT read: Rx Time:21:10:24.6061
2025-06-11T21:10:23.385Z,1749676223.385 [DAT](INFO): Rx dataTimestamp_ set to:1749676223.385139
2025-06-11T21:10:23.386Z,1749676223.386 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.274112
2025-06-11T21:10:23.637Z,1749676223.637 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.524962
2025-06-11T21:10:23.640Z,1749676223.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:23.643Z,1749676223.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 126.437798 m,
bearing: 212.591857 deg,
approach rate: -0.557903 m/s,
LOS rate: 0.055246 deg/s,
cmd heading: 203.926731 deg,
new cmd heading: 203.982761 deg.
2025-06-11T21:10:23.644Z,1749676223.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560171 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:23.900Z,1749676223.900 [DAT](INFO): DAT read: 21:10:24.6062 LVL= 32752, 32753, 31314, 32755, AGC= 68, IDX= 256, 0.18,-1.801, 3.131,-1.726,-2.281, PHS= 0.567,-0.825, 0.552, RAW= 149.4, -4.3, CAL= 154.1, -12.9, ROT= 355.9, 12.9
2025-06-11T21:10:23.902Z,1749676223.902 [DAT](INFO): got valid direction response:
21:10:24.6062 LVL= 32752, 32753, 31314, 32755, AGC= 68, IDX= 256, 0.18,-1.801, 3.131,-1.726,-2.281, PHS= 0.567,-0.825, 0.552, RAW= 149.4, -4.3, CAL= 154.1, -12.9, ROT= 355.9, 12.9
2025-06-11T21:10:23.903Z,1749676223.903 [DAT](INFO): DAT read: $Error in header
2025-06-11T21:10:23.904Z,1749676223.904 [DAT](INFO): Received a bad header
2025-06-11T21:10:23.917Z,1749676223.917 [DAT](INFO): #Rx 42: Read direction message, but no range.
2025-06-11T21:10:23.918Z,1749676223.918 [DAT](INFO): direction in FSK: [0.972267,-0.069693,-0.223250]
2025-06-11T21:10:23.928Z,1749676223.928 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.816434
2025-06-11T21:10:24.073Z,1749676224.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:24.076Z,1749676224.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 126.192902 m,
bearing: 212.612297 deg,
approach rate: -0.565296 m/s,
LOS rate: 0.047273 deg/s,
cmd heading: 203.982766 deg,
new cmd heading: 204.044204 deg.
2025-06-11T21:10:24.077Z,1749676224.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561243 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:24.141Z,1749676224.141 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=4.029080
2025-06-11T21:10:24.393Z,1749676224.393 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=4.280901
2025-06-11T21:10:24.453Z,1749676224.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:24.455Z,1749676224.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 125.988632 m,
bearing: 212.634942 deg,
approach rate: -0.538106 m/s,
LOS rate: 0.059750 deg/s,
cmd heading: 204.044211 deg,
new cmd heading: 204.112256 deg.
2025-06-11T21:10:24.461Z,1749676224.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562431 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:24.645Z,1749676224.645 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=4.532907
2025-06-11T21:10:24.893Z,1749676224.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:24.897Z,1749676224.897 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=4.785062
2025-06-11T21:10:24.895Z,1749676224.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 125.728462 m,
bearing: 212.663137 deg,
approach rate: -0.590946 m/s,
LOS rate: 0.064175 deg/s,
cmd heading: 204.112253 deg,
new cmd heading: 204.197014 deg.
2025-06-11T21:10:24.899Z,1749676224.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563910 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:25.149Z,1749676225.149 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=5.036806
2025-06-11T21:10:25.307Z,1749676225.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:25.309Z,1749676225.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:25.312Z,1749676225.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 125.491287 m,
bearing: 212.692350 deg,
approach rate: -0.569782 m/s,
LOS rate: 0.070312 deg/s,
cmd heading: 204.197016 deg,
new cmd heading: 204.284818 deg.
2025-06-11T21:10:25.313Z,1749676225.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565443 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:25.403Z,1749676225.403 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=5.290852
2025-06-11T21:10:25.653Z,1749676225.653 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=5.541053
2025-06-11T21:10:25.685Z,1749676225.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:25.692Z,1749676225.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 125.283173 m,
bearing: 212.721135 deg,
approach rate: -0.553557 m/s,
LOS rate: 0.076692 deg/s,
cmd heading: 204.284825 deg,
new cmd heading: 204.371323 deg.
2025-06-11T21:10:25.693Z,1749676225.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566952 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:25.906Z,1749676225.906 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=5.793694
2025-06-11T21:10:26.108Z,1749676226.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:26.111Z,1749676226.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 125.028633 m,
bearing: 212.753807 deg,
approach rate: -0.602286 m/s,
LOS rate: 0.077466 deg/s,
cmd heading: 204.371322 deg,
new cmd heading: 204.469539 deg.
2025-06-11T21:10:26.111Z,1749676226.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568667 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:26.158Z,1749676226.158 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=6.045363
2025-06-11T21:10:26.409Z,1749676226.409 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=6.296931
2025-06-11T21:10:26.499Z,1749676226.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:26.502Z,1749676226.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 124.812897 m,
bearing: 212.787834 deg,
approach rate: -0.551778 m/s,
LOS rate: 0.087180 deg/s,
cmd heading: 204.469540 deg,
new cmd heading: 204.571798 deg.
2025-06-11T21:10:26.503Z,1749676226.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570451 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:26.661Z,1749676226.661 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=6.548865
2025-06-11T21:10:26.915Z,1749676226.915 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=6.802725
2025-06-11T21:10:26.958Z,1749676226.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:26.965Z,1749676226.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 124.535988 m,
bearing: 212.832324 deg,
approach rate: -0.603103 m/s,
LOS rate: 0.097112 deg/s,
cmd heading: 204.571802 deg,
new cmd heading: 204.705566 deg.
2025-06-11T21:10:26.966Z,1749676226.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572786 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:27.165Z,1749676227.165 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=7.052887
2025-06-11T21:10:27.270Z,1749676227.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:27.272Z,1749676227.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 124.350540 m,
bearing: 212.864823 deg,
approach rate: -0.594965 m/s,
LOS rate: 0.104422 deg/s,
cmd heading: 204.705564 deg,
new cmd heading: 204.803208 deg.
2025-06-11T21:10:27.273Z,1749676227.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574490 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:27.417Z,1749676227.417 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=7.305097
2025-06-11T21:10:27.670Z,1749676227.670 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=7.557308
2025-06-11T21:10:27.710Z,1749676227.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:27.712Z,1749676227.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:27.715Z,1749676227.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 124.097389 m,
bearing: 212.912650 deg,
approach rate: -0.571746 m/s,
LOS rate: 0.108239 deg/s,
cmd heading: 204.803209 deg,
new cmd heading: 204.946982 deg.
2025-06-11T21:10:27.716Z,1749676227.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577000 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:27.922Z,1749676227.922 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=7.809433
2025-06-11T21:10:28.120Z,1749676228.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:28.123Z,1749676228.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 123.866394 m,
bearing: 212.960202 deg,
approach rate: -0.572514 m/s,
LOS rate: 0.118077 deg/s,
cmd heading: 204.946984 deg,
new cmd heading: 205.089907 deg.
2025-06-11T21:10:28.128Z,1749676228.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579494 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:28.173Z,1749676228.173 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=8.061567
2025-06-11T21:10:28.425Z,1749676228.425 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=8.312915
2025-06-11T21:10:28.504Z,1749676228.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:28.506Z,1749676228.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 123.652702 m,
bearing: 213.006803 deg,
approach rate: -0.551100 m/s,
LOS rate: 0.120387 deg/s,
cmd heading: 205.089913 deg,
new cmd heading: 205.229954 deg.
2025-06-11T21:10:28.507Z,1749676228.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581939 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:28.677Z,1749676228.677 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=8.564911
2025-06-11T21:10:28.929Z,1749676228.929 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=8.817541
2025-06-11T21:10:28.966Z,1749676228.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:28.969Z,1749676228.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 123.389496 m,
bearing: 213.073447 deg,
approach rate: -0.569559 m/s,
LOS rate: 0.144521 deg/s,
cmd heading: 205.229959 deg,
new cmd heading: 205.430317 deg.
2025-06-11T21:10:28.970Z,1749676228.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585435 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:29.181Z,1749676229.181 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.068907
2025-06-11T21:10:29.303Z,1749676229.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:29.306Z,1749676229.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 123.203667 m,
bearing: 213.120696 deg,
approach rate: -0.551083 m/s,
LOS rate: 0.140331 deg/s,
cmd heading: 205.430316 deg,
new cmd heading: 205.572277 deg.
2025-06-11T21:10:29.307Z,1749676229.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587913 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:29.435Z,1749676229.435 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.323253
2025-06-11T21:10:29.689Z,1749676229.689 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.576942
2025-06-11T21:10:29.715Z,1749676229.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:29.717Z,1749676229.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:29.720Z,1749676229.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 122.979179 m,
bearing: 213.181356 deg,
approach rate: -0.541561 m/s,
LOS rate: 0.146605 deg/s,
cmd heading: 205.572274 deg,
new cmd heading: 205.754586 deg.
2025-06-11T21:10:29.721Z,1749676229.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591095 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:29.942Z,1749676229.942 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.829466
2025-06-11T21:10:30.139Z,1749676230.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:30.142Z,1749676230.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 122.759232 m,
bearing: 213.243216 deg,
approach rate: -0.521761 m/s,
LOS rate: 0.147007 deg/s,
cmd heading: 205.754586 deg,
new cmd heading: 205.940496 deg.
2025-06-11T21:10:30.143Z,1749676230.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594340 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:30.194Z,1749676230.194 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=10.082405
2025-06-11T21:10:30.445Z,1749676230.445 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=10.332891
2025-06-11T21:10:30.513Z,1749676230.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:30.524Z,1749676230.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 122.547417 m,
bearing: 213.303695 deg,
approach rate: -0.565919 m/s,
LOS rate: 0.161866 deg/s,
cmd heading: 205.940490 deg,
new cmd heading: 206.122241 deg.
2025-06-11T21:10:30.525Z,1749676230.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597512 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:30.699Z,1749676230.699 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=10.587260
2025-06-11T21:10:30.953Z,1749676230.953 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=10.840984
2025-06-11T21:10:30.955Z,1749676230.955 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,2506111311530410.2, 0.0,1490.7, 0
2025-06-11T21:10:30.997Z,1749676230.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:30.999Z,1749676230.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 122.282677 m,
bearing: 213.380047 deg,
approach rate: -0.547423 m/s,
LOS rate: 0.158220 deg/s,
cmd heading: 206.122241 deg,
new cmd heading: 206.351791 deg.
2025-06-11T21:10:31.001Z,1749676231.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601518 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:31.205Z,1749676231.205 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:10:31.205Z,1749676231.205 [DAT](INFO): response not received
2025-06-11T21:10:31.206Z,1749676231.206 [DAT](INFO): DAT read: user:805>
2025-06-11T21:10:31.206Z,1749676231.206 [DAT](INFO): DAT read: Tx time:21:10:32.9641
2025-06-11T21:10:31.207Z,1749676231.207 [DAT](INFO): Ping request sent.
2025-06-11T21:10:31.207Z,1749676231.207 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:10:31.207Z,1749676231.207 [DAT](INFO): publishing transmit ping time
2025-06-11T21:10:31.208Z,1749676231.208 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.000771
2025-06-11T21:10:31.321Z,1749676231.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:31.324Z,1749676231.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 122.105927 m,
bearing: 213.431099 deg,
approach rate: -0.544792 m/s,
LOS rate: 0.157584 deg/s,
cmd heading: 206.351790 deg,
new cmd heading: 206.505168 deg.
2025-06-11T21:10:31.325Z,1749676231.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604195 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:31.457Z,1749676231.457 [DAT](INFO): DAT read: TxSync time:21:10:32.9633
2025-06-11T21:10:31.458Z,1749676231.458 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.251020
2025-06-11T21:10:31.709Z,1749676231.709 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.502058
2025-06-11T21:10:31.729Z,1749676231.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:31.731Z,1749676231.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:31.734Z,1749676231.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 121.883347 m,
bearing: 213.495129 deg,
approach rate: -0.543306 m/s,
LOS rate: 0.156579 deg/s,
cmd heading: 206.505169 deg,
new cmd heading: 206.697608 deg.
2025-06-11T21:10:31.735Z,1749676231.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607554 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:31.961Z,1749676231.961 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.753963
2025-06-11T21:10:32.101Z,1749676232.101 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-06-11T21:10:32.195Z,1749676232.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:32.203Z,1749676232.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 121.656998 m,
bearing: 213.569796 deg,
approach rate: -0.488720 m/s,
LOS rate: 0.161516 deg/s,
cmd heading: 206.697603 deg,
new cmd heading: 206.922018 deg.
2025-06-11T21:10:32.208Z,1749676232.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611470 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:32.213Z,1749676232.213 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.006053
2025-06-11T21:10:32.465Z,1749676232.465 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.258030
2025-06-11T21:10:32.595Z,1749676232.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:32.598Z,1749676232.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 121.436371 m,
bearing: 213.641647 deg,
approach rate: -0.550785 m/s,
LOS rate: 0.179700 deg/s,
cmd heading: 206.922015 deg,
new cmd heading: 207.137961 deg.
2025-06-11T21:10:32.598Z,1749676232.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615239 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:32.717Z,1749676232.717 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.510268
2025-06-11T21:10:32.981Z,1749676232.981 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.774300
2025-06-11T21:10:33.048Z,1749676233.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:33.050Z,1749676233.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 121.197472 m,
bearing: 213.720157 deg,
approach rate: -0.527307 m/s,
LOS rate: 0.173632 deg/s,
cmd heading: 207.137959 deg,
new cmd heading: 207.373951 deg.
2025-06-11T21:10:33.051Z,1749676233.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.619358 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:33.222Z,1749676233.222 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.014803
2025-06-11T21:10:33.473Z,1749676233.473 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.265857
2025-06-11T21:10:33.507Z,1749676233.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:33.510Z,1749676233.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 120.953293 m,
bearing: 213.798658 deg,
approach rate: -0.531455 m/s,
LOS rate: 0.171201 deg/s,
cmd heading: 207.373955 deg,
new cmd heading: 207.609930 deg.
2025-06-11T21:10:33.511Z,1749676233.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623477 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:33.725Z,1749676233.725 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.518042
2025-06-11T21:10:33.862Z,1749676233.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:33.864Z,1749676233.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:33.867Z,1749676233.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 120.762215 m,
bearing: 213.858633 deg,
approach rate: -0.534944 m/s,
LOS rate: 0.168173 deg/s,
cmd heading: 207.609925 deg,
new cmd heading: 207.790134 deg.
2025-06-11T21:10:33.868Z,1749676233.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.626622 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:33.977Z,1749676233.977 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.770210
2025-06-11T21:10:34.229Z,1749676234.229 [DAT](INFO): DAT read: Rx Time:21:10:35.5503
2025-06-11T21:10:34.229Z,1749676234.229 [DAT](INFO): Rx dataTimestamp_ set to:1749676234.228992
2025-06-11T21:10:34.230Z,1749676234.230 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.023081
2025-06-11T21:10:34.388Z,1749676234.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:34.391Z,1749676234.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 120.486076 m,
bearing: 213.942194 deg,
approach rate: -0.531708 m/s,
LOS rate: 0.161266 deg/s,
cmd heading: 207.790132 deg,
new cmd heading: 208.041387 deg.
2025-06-11T21:10:34.391Z,1749676234.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.631007 target range: 170.629471 and range: 172.10 m.
2025-06-11T21:10:34.481Z,1749676234.481 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.274077
2025-06-11T21:10:34.734Z,1749676234.734 [DAT](INFO): DAT read: Range 10 to 50 : 136.5 m (Round-trip 182.0 ms) speed -0.5 m/s
2025-06-11T21:10:34.735Z,1749676234.735 [DAT](INFO): DAT read: user:806>
2025-06-11T21:10:34.736Z,1749676234.736 [DAT](INFO): DAT read: Tx time:21:10:36.6658
2025-06-11T21:10:34.736Z,1749676234.736 [DAT](INFO): Ping request sent.
2025-06-11T21:10:34.736Z,1749676234.736 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:10:34.736Z,1749676234.736 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-06-11T21:10:34.736Z,1749676234.736 [DAT](INFO): publishing transmit ping time
2025-06-11T21:10:34.737Z,1749676234.737 [DAT](INFO): publishing transmit ping time
2025-06-11T21:10:34.738Z,1749676234.738 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.002222
2025-06-11T21:10:34.760Z,1749676234.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 136.500000 m,
deltaT: 47.388279 s,
deltaX: -35.600006 m,
approachRate: -0.751241 m/s,
rangeRepo size: 4
2025-06-11T21:10:34.761Z,1749676234.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:34.763Z,1749676234.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 120.269966 m,
bearing: 214.005987 deg,
approach rate: -0.575749 m/s,
LOS rate: 0.170259 deg/s,
cmd heading: 208.041388 deg,
new cmd heading: 208.233110 deg.
2025-06-11T21:10:34.764Z,1749676234.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.634353 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:34.991Z,1749676234.991 [DAT](INFO): DAT read: TxSync time:21:10:36.6650
2025-06-11T21:10:34.994Z,1749676234.994 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.257307
2025-06-11T21:10:35.178Z,1749676235.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:35.180Z,1749676235.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 120.036438 m,
bearing: 214.071333 deg,
approach rate: -0.558055 m/s,
LOS rate: 0.156460 deg/s,
cmd heading: 208.233111 deg,
new cmd heading: 208.429531 deg.
2025-06-11T21:10:35.181Z,1749676235.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.637782 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:35.238Z,1749676235.238 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.501598
2025-06-11T21:10:35.489Z,1749676235.489 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.752755
2025-06-11T21:10:35.579Z,1749676235.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:35.599Z,1749676235.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 119.816673 m,
bearing: 214.133102 deg,
approach rate: -0.548092 m/s,
LOS rate: 0.154334 deg/s,
cmd heading: 208.429534 deg,
new cmd heading: 208.615179 deg.
2025-06-11T21:10:35.604Z,1749676235.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.641022 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:35.741Z,1749676235.741 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.004684
2025-06-11T21:10:35.995Z,1749676235.995 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.259414
2025-06-11T21:10:36.061Z,1749676236.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:36.063Z,1749676236.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:36.070Z,1749676236.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 119.538918 m,
bearing: 214.204785 deg,
approach rate: -0.573624 m/s,
LOS rate: 0.148385 deg/s,
cmd heading: 208.615178 deg,
new cmd heading: 208.830727 deg.
2025-06-11T21:10:36.070Z,1749676236.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.644784 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:36.245Z,1749676236.245 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.508782
2025-06-11T21:10:36.409Z,1749676236.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:36.412Z,1749676236.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 119.334641 m,
bearing: 214.257750 deg,
approach rate: -0.589350 m/s,
LOS rate: 0.153069 deg/s,
cmd heading: 208.830725 deg,
new cmd heading: 208.989892 deg.
2025-06-11T21:10:36.413Z,1749676236.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.647562 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:36.498Z,1749676236.498 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.761265
2025-06-11T21:10:36.749Z,1749676236.749 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.012679
2025-06-11T21:10:36.801Z,1749676236.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:36.803Z,1749676236.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 119.109634 m,
bearing: 214.316331 deg,
approach rate: -0.574853 m/s,
LOS rate: 0.149947 deg/s,
cmd heading: 208.989896 deg,
new cmd heading: 209.165970 deg.
2025-06-11T21:10:36.804Z,1749676236.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.650635 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:37.004Z,1749676237.004 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.267203
2025-06-11T21:10:37.217Z,1749676237.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:37.220Z,1749676237.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 118.857872 m,
bearing: 214.375320 deg,
approach rate: -0.604379 m/s,
LOS rate: 0.141908 deg/s,
cmd heading: 209.165965 deg,
new cmd heading: 209.343305 deg.
2025-06-11T21:10:37.221Z,1749676237.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.653730 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:37.253Z,1749676237.253 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.516748
2025-06-11T21:10:37.505Z,1749676237.505 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.768631
2025-06-11T21:10:37.655Z,1749676237.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:37.658Z,1749676237.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 118.591644 m,
bearing: 214.436135 deg,
approach rate: -0.607913 m/s,
LOS rate: 0.139179 deg/s,
cmd heading: 209.343304 deg,
new cmd heading: 209.526158 deg.
2025-06-11T21:10:37.659Z,1749676237.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.656921 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:37.758Z,1749676237.758 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.021422
2025-06-11T21:10:38.011Z,1749676238.011 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.274875
2025-06-11T21:10:38.088Z,1749676238.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:38.090Z,1749676238.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:38.109Z,1749676238.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 118.322174 m,
bearing: 214.496783 deg,
approach rate: -0.619338 m/s,
LOS rate: 0.139708 deg/s,
cmd heading: 209.526161 deg,
new cmd heading: 209.708519 deg.
2025-06-11T21:10:38.110Z,1749676238.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.660104 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:38.261Z,1749676238.261 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.525124
2025-06-11T21:10:38.513Z,1749676238.513 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.776841
2025-06-11T21:10:38.539Z,1749676238.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:38.542Z,1749676238.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 118.043282 m,
bearing: 214.558862 deg,
approach rate: -0.621043 m/s,
LOS rate: 0.138565 deg/s,
cmd heading: 209.708514 deg,
new cmd heading: 209.895189 deg.
2025-06-11T21:10:38.543Z,1749676238.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.663362 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:38.765Z,1749676238.765 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.028730
2025-06-11T21:10:38.963Z,1749676238.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:38.970Z,1749676238.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 117.785362 m,
bearing: 214.615786 deg,
approach rate: -0.610308 m/s,
LOS rate: 0.134995 deg/s,
cmd heading: 209.895183 deg,
new cmd heading: 210.066331 deg.
2025-06-11T21:10:38.973Z,1749676238.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.666349 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:39.020Z,1749676239.020 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.283284
2025-06-11T21:10:39.269Z,1749676239.269 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.532846
2025-06-11T21:10:39.359Z,1749676239.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:39.363Z,1749676239.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 117.524231 m,
bearing: 214.671717 deg,
approach rate: -0.657114 m/s,
LOS rate: 0.141057 deg/s,
cmd heading: 210.066334 deg,
new cmd heading: 210.234497 deg.
2025-06-11T21:10:39.380Z,1749676239.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669284 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:39.521Z,1749676239.521 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.784995
2025-06-11T21:10:39.744Z,1749676239.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:39.746Z,1749676239.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 117.276978 m,
bearing: 214.724349 deg,
approach rate: -0.643371 m/s,
LOS rate: 0.137241 deg/s,
cmd heading: 210.234493 deg,
new cmd heading: 210.392721 deg.
2025-06-11T21:10:39.747Z,1749676239.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.672046 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:39.773Z,1749676239.773 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=5.036840
2025-06-11T21:10:40.028Z,1749676240.028 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=5.291124
2025-06-11T21:10:40.166Z,1749676240.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:40.168Z,1749676240.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:40.171Z,1749676240.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 116.997658 m,
bearing: 214.784762 deg,
approach rate: -0.658383 m/s,
LOS rate: 0.142739 deg/s,
cmd heading: 210.392721 deg,
new cmd heading: 210.574393 deg.
2025-06-11T21:10:40.172Z,1749676240.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.675216 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:40.277Z,1749676240.277 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=5.540826
2025-06-11T21:10:40.529Z,1749676240.529 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=5.792796
2025-06-11T21:10:40.565Z,1749676240.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:40.568Z,1749676240.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 116.735313 m,
bearing: 214.841273 deg,
approach rate: -0.660621 m/s,
LOS rate: 0.142623 deg/s,
cmd heading: 210.574391 deg,
new cmd heading: 210.744304 deg.
2025-06-11T21:10:40.569Z,1749676240.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.678182 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:40.781Z,1749676240.781 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.045289
2025-06-11T21:10:40.960Z,1749676240.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:40.963Z,1749676240.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 116.474518 m,
bearing: 214.897338 deg,
approach rate: -0.660295 m/s,
LOS rate: 0.142267 deg/s,
cmd heading: 210.744298 deg,
new cmd heading: 210.912871 deg.
2025-06-11T21:10:40.964Z,1749676240.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.681124 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:41.037Z,1749676241.037 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.300164
2025-06-11T21:10:41.285Z,1749676241.285 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.548701
2025-06-11T21:10:41.392Z,1749676241.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:41.395Z,1749676241.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 116.190186 m,
bearing: 214.958992 deg,
approach rate: -0.658646 m/s,
LOS rate: 0.143169 deg/s,
cmd heading: 210.912867 deg,
new cmd heading: 211.098281 deg.
2025-06-11T21:10:41.395Z,1749676241.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.684360 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:41.537Z,1749676241.537 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.801207
2025-06-11T21:10:41.766Z,1749676241.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:41.769Z,1749676241.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 115.943314 m,
bearing: 215.012178 deg,
approach rate: -0.660151 m/s,
LOS rate: 0.142525 deg/s,
cmd heading: 211.098280 deg,
new cmd heading: 211.258176 deg.
2025-06-11T21:10:41.769Z,1749676241.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.687151 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:41.790Z,1749676241.790 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.053630
2025-06-11T21:10:42.044Z,1749676242.044 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.307559
2025-06-11T21:10:42.212Z,1749676242.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:42.219Z,1749676242.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:42.222Z,1749676242.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 115.648323 m,
bearing: 215.073935 deg,
approach rate: -0.651137 m/s,
LOS rate: 0.136665 deg/s,
cmd heading: 211.258175 deg,
new cmd heading: 211.443917 deg.
2025-06-11T21:10:42.222Z,1749676242.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.690392 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:42.294Z,1749676242.294 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.557542
2025-06-11T21:10:42.545Z,1749676242.545 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.808741
2025-06-11T21:10:42.583Z,1749676242.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:42.586Z,1749676242.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 115.395149 m,
bearing: 215.126886 deg,
approach rate: -0.694306 m/s,
LOS rate: 0.145533 deg/s,
cmd heading: 211.443915 deg,
new cmd heading: 211.603117 deg.
2025-06-11T21:10:42.587Z,1749676242.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693171 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:42.797Z,1749676242.797 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=8.060823
2025-06-11T21:10:42.976Z,1749676242.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:42.979Z,1749676242.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 115.131645 m,
bearing: 215.181960 deg,
approach rate: -0.670446 m/s,
LOS rate: 0.140449 deg/s,
cmd heading: 211.603113 deg,
new cmd heading: 211.768714 deg.
2025-06-11T21:10:42.980Z,1749676242.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.696061 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:43.053Z,1749676243.053 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=8.315396
2025-06-11T21:10:43.301Z,1749676243.301 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=8.564669
2025-06-11T21:10:43.413Z,1749676243.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:43.415Z,1749676243.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 114.840874 m,
bearing: 215.239837 deg,
approach rate: -0.666424 m/s,
LOS rate: 0.132984 deg/s,
cmd heading: 211.768717 deg,
new cmd heading: 211.942786 deg.
2025-06-11T21:10:43.416Z,1749676243.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.699100 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:43.553Z,1749676243.553 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=8.817049
2025-06-11T21:10:43.785Z,1749676243.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:43.791Z,1749676243.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 114.591858 m,
bearing: 215.289330 deg,
approach rate: -0.668142 m/s,
LOS rate: 0.133084 deg/s,
cmd heading: 211.942792 deg,
new cmd heading: 212.091592 deg.
2025-06-11T21:10:43.792Z,1749676243.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.701697 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:43.805Z,1749676243.805 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.068830
2025-06-11T21:10:44.060Z,1749676244.060 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.323217
2025-06-11T21:10:44.284Z,1749676244.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:44.286Z,1749676244.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:44.289Z,1749676244.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 114.267426 m,
bearing: 215.354038 deg,
approach rate: -0.647698 m/s,
LOS rate: 0.129552 deg/s,
cmd heading: 212.091594 deg,
new cmd heading: 212.286271 deg.
2025-06-11T21:10:44.290Z,1749676244.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.705094 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:44.309Z,1749676244.309 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.572667
2025-06-11T21:10:44.561Z,1749676244.561 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.824735
2025-06-11T21:10:44.717Z,1749676244.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:44.719Z,1749676244.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 113.980614 m,
bearing: 215.410840 deg,
approach rate: -0.666259 m/s,
LOS rate: 0.132281 deg/s,
cmd heading: 212.286268 deg,
new cmd heading: 212.457101 deg.
2025-06-11T21:10:44.721Z,1749676244.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.708076 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:44.814Z,1749676244.814 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=10.077896
2025-06-11T21:10:45.101Z,1749676245.101 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=10.355366
2025-06-11T21:10:45.257Z,1749676245.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:45.276Z,1749676245.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 113.634491 m,
bearing: 215.478788 deg,
approach rate: -0.640247 m/s,
LOS rate: 0.126072 deg/s,
cmd heading: 212.457105 deg,
new cmd heading: 212.661570 deg.
2025-06-11T21:10:45.277Z,1749676245.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.711645 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:45.318Z,1749676245.318 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=10.581658
2025-06-11T21:10:45.569Z,1749676245.569 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=10.832671
2025-06-11T21:10:45.769Z,1749676245.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:45.776Z,1749676245.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 113.311897 m,
bearing: 215.542051 deg,
approach rate: -0.630340 m/s,
LOS rate: 0.123966 deg/s,
cmd heading: 212.661573 deg,
new cmd heading: 212.851901 deg.
2025-06-11T21:10:45.777Z,1749676245.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.714967 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:45.821Z,1749676245.821 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:10:45.821Z,1749676245.821 [DAT](INFO): response not received
2025-06-11T21:10:45.822Z,1749676245.822 [DAT](INFO): DAT read: user:807>
2025-06-11T21:10:45.823Z,1749676245.823 [DAT](INFO): DAT read: Tx time:21:10:47.6143
2025-06-11T21:10:45.823Z,1749676245.823 [DAT](INFO): Ping request sent.
2025-06-11T21:10:45.823Z,1749676245.823 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:10:45.823Z,1749676245.823 [DAT](INFO): publishing transmit ping time
2025-06-11T21:10:45.824Z,1749676245.824 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.000894
2025-06-11T21:10:46.073Z,1749676246.073 [DAT](INFO): DAT read: TxSync time:21:10:47.6135
2025-06-11T21:10:46.074Z,1749676246.074 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.250775
2025-06-11T21:10:46.245Z,1749676246.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:46.253Z,1749676246.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 113.008904 m,
bearing: 215.605388 deg,
approach rate: -0.636463 m/s,
LOS rate: 0.133401 deg/s,
cmd heading: 212.851904 deg,
new cmd heading: 213.042423 deg.
2025-06-11T21:10:46.255Z,1749676246.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.718292 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:46.326Z,1749676246.326 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.502592
2025-06-11T21:10:46.577Z,1749676246.577 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.753724
2025-06-11T21:10:46.638Z,1749676246.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:46.640Z,1749676246.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:46.660Z,1749676246.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 112.761971 m,
bearing: 215.657281 deg,
approach rate: -0.624919 m/s,
LOS rate: 0.131614 deg/s,
cmd heading: 213.042425 deg,
new cmd heading: 213.198443 deg.
2025-06-11T21:10:46.661Z,1749676246.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721015 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:46.829Z,1749676246.829 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.005843
2025-06-11T21:10:47.013Z,1749676247.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:47.015Z,1749676247.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 112.528358 m,
bearing: 215.706033 deg,
approach rate: -0.627288 m/s,
LOS rate: 0.131179 deg/s,
cmd heading: 213.198440 deg,
new cmd heading: 213.344999 deg.
2025-06-11T21:10:47.017Z,1749676247.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723573 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:47.081Z,1749676247.081 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.258019
2025-06-11T21:10:47.333Z,1749676247.333 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.509810
2025-06-11T21:10:47.446Z,1749676247.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:47.449Z,1749676247.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 112.265678 m,
bearing: 215.763647 deg,
approach rate: -0.606101 m/s,
LOS rate: 0.133248 deg/s,
cmd heading: 213.345002 deg,
new cmd heading: 213.518248 deg.
2025-06-11T21:10:47.450Z,1749676247.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726596 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:47.585Z,1749676247.585 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.761832
2025-06-11T21:10:47.822Z,1749676247.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:47.825Z,1749676247.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 112.034981 m,
bearing: 215.814129 deg,
approach rate: -0.613633 m/s,
LOS rate: 0.134555 deg/s,
cmd heading: 213.518243 deg,
new cmd heading: 213.670003 deg.
2025-06-11T21:10:47.826Z,1749676247.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729245 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:47.837Z,1749676247.837 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.013912
2025-06-11T21:10:48.096Z,1749676248.096 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.272695
2025-06-11T21:10:48.259Z,1749676248.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:48.262Z,1749676248.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 111.770798 m,
bearing: 215.875812 deg,
approach rate: -0.605167 m/s,
LOS rate: 0.141630 deg/s,
cmd heading: 213.669996 deg,
new cmd heading: 213.855480 deg.
2025-06-11T21:10:48.262Z,1749676248.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732482 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:48.349Z,1749676248.349 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.526099
2025-06-11T21:10:48.601Z,1749676248.601 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.777709
2025-06-11T21:10:48.677Z,1749676248.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:48.679Z,1749676248.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:48.702Z,1749676248.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 111.515656 m,
bearing: 215.934307 deg,
approach rate: -0.606331 m/s,
LOS rate: 0.139328 deg/s,
cmd heading: 213.855477 deg,
new cmd heading: 214.031363 deg.
2025-06-11T21:10:48.703Z,1749676248.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735552 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:48.853Z,1749676248.853 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.029824
2025-06-11T21:10:49.103Z,1749676249.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:49.106Z,1749676249.106 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.283206
2025-06-11T21:10:49.110Z,1749676249.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 111.266388 m,
bearing: 215.990805 deg,
approach rate: -0.589848 m/s,
LOS rate: 0.133992 deg/s,
cmd heading: 214.031368 deg,
new cmd heading: 214.201241 deg.
2025-06-11T21:10:49.113Z,1749676249.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738517 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:49.244Z,1749676249.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:10:49.357Z,1749676249.358 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.534495
2025-06-11T21:10:49.609Z,1749676249.609 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.785862
2025-06-11T21:10:49.641Z,1749676249.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:49.648Z,1749676249.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 110.930626 m,
bearing: 216.069289 deg,
approach rate: -0.622867 m/s,
LOS rate: 0.146036 deg/s,
cmd heading: 214.201235 deg,
new cmd heading: 214.437400 deg.
2025-06-11T21:10:49.649Z,1749676249.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.742639 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:49.862Z,1749676249.862 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.038622
2025-06-11T21:10:50.008Z,1749676250.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:50.011Z,1749676250.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 110.698357 m,
bearing: 216.123103 deg,
approach rate: -0.632347 m/s,
LOS rate: 0.146814 deg/s,
cmd heading: 214.437395 deg,
new cmd heading: 214.599175 deg.
2025-06-11T21:10:50.012Z,1749676250.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745462 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:50.113Z,1749676250.113 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.289886
2025-06-11T21:10:50.248Z,1749676250.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:10:50.365Z,1749676250.365 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.541778
2025-06-11T21:10:50.448Z,1749676250.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:50.454Z,1749676250.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 110.431923 m,
bearing: 216.185494 deg,
approach rate: -0.629596 m/s,
LOS rate: 0.147788 deg/s,
cmd heading: 214.599175 deg,
new cmd heading: 214.786798 deg.
2025-06-11T21:10:50.455Z,1749676250.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748737 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:50.617Z,1749676250.617 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.793814
2025-06-11T21:10:50.808Z,1749676250.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:50.810Z,1749676250.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:50.813Z,1749676250.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 110.193832 m,
bearing: 216.240778 deg,
approach rate: -0.629235 m/s,
LOS rate: 0.146424 deg/s,
cmd heading: 214.786800 deg,
new cmd heading: 214.953012 deg.
2025-06-11T21:10:50.814Z,1749676250.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.751638 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:50.870Z,1749676250.870 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=5.046778
2025-06-11T21:10:51.125Z,1749676251.125 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=5.302103
2025-06-11T21:10:51.271Z,1749676251.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:51.274Z,1749676251.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 109.894615 m,
bearing: 216.311165 deg,
approach rate: -0.648529 m/s,
LOS rate: 0.152973 deg/s,
cmd heading: 214.953006 deg,
new cmd heading: 215.164741 deg.
2025-06-11T21:10:51.275Z,1749676251.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755333 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:51.377Z,1749676251.377 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=5.554176
2025-06-11T21:10:51.612Z,1749676251.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:51.615Z,1749676251.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 109.673973 m,
bearing: 216.362712 deg,
approach rate: -0.648333 m/s,
LOS rate: 0.151771 deg/s,
cmd heading: 215.164742 deg,
new cmd heading: 215.319695 deg.
2025-06-11T21:10:51.615Z,1749676251.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758038 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:51.629Z,1749676251.629 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=5.805748
2025-06-11T21:10:51.881Z,1749676251.881 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.057772
2025-06-11T21:10:52.027Z,1749676252.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:52.030Z,1749676252.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 109.404449 m,
bearing: 216.425339 deg,
approach rate: -0.649018 m/s,
LOS rate: 0.151176 deg/s,
cmd heading: 215.319692 deg,
new cmd heading: 215.508032 deg.
2025-06-11T21:10:52.031Z,1749676252.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761325 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:52.133Z,1749676252.133 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.309978
2025-06-11T21:10:52.385Z,1749676252.385 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.561692
2025-06-11T21:10:52.463Z,1749676252.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:52.476Z,1749676252.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 109.124435 m,
bearing: 216.483557 deg,
approach rate: -0.641657 m/s,
LOS rate: 0.133751 deg/s,
cmd heading: 215.508027 deg,
new cmd heading: 215.683130 deg.
2025-06-11T21:10:52.478Z,1749676252.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764381 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:52.637Z,1749676252.637 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=6.813806
2025-06-11T21:10:52.842Z,1749676252.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:52.844Z,1749676252.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:52.847Z,1749676252.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 108.855385 m,
bearing: 216.539800 deg,
approach rate: -0.707263 m/s,
LOS rate: 0.148214 deg/s,
cmd heading: 215.683126 deg,
new cmd heading: 215.852273 deg.
2025-06-11T21:10:52.847Z,1749676252.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767333 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:52.889Z,1749676252.889 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.066073
2025-06-11T21:10:53.141Z,1749676253.141 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.318478
2025-06-11T21:10:53.304Z,1749676253.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:53.306Z,1749676253.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 108.539848 m,
bearing: 216.600112 deg,
approach rate: -0.686291 m/s,
LOS rate: 0.131559 deg/s,
cmd heading: 215.852269 deg,
new cmd heading: 216.033729 deg.
2025-06-11T21:10:53.307Z,1749676253.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770500 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:53.394Z,1749676253.394 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.570548
2025-06-11T21:10:53.645Z,1749676253.645 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.821948
2025-06-11T21:10:53.650Z,1749676253.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:53.653Z,1749676253.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 108.303482 m,
bearing: 216.645175 deg,
approach rate: -0.681640 m/s,
LOS rate: 0.130239 deg/s,
cmd heading: 216.033733 deg,
new cmd heading: 216.169219 deg.
2025-06-11T21:10:53.654Z,1749676253.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.772865 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:53.897Z,1749676253.897 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=8.073744
2025-06-11T21:10:54.049Z,1749676254.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:54.052Z,1749676254.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 108.027992 m,
bearing: 216.697546 deg,
approach rate: -0.690800 m/s,
LOS rate: 0.131655 deg/s,
cmd heading: 216.169217 deg,
new cmd heading: 216.326729 deg.
2025-06-11T21:10:54.053Z,1749676254.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775614 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:54.149Z,1749676254.149 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=8.325840
2025-06-11T21:10:54.401Z,1749676254.401 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=8.577827
2025-06-11T21:10:54.468Z,1749676254.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:54.471Z,1749676254.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 107.732567 m,
bearing: 216.749157 deg,
approach rate: -0.705364 m/s,
LOS rate: 0.123566 deg/s,
cmd heading: 216.326735 deg,
new cmd heading: 216.481993 deg.
2025-06-11T21:10:54.473Z,1749676254.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778324 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:54.653Z,1749676254.653 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=8.829742
2025-06-11T21:10:54.850Z,1749676254.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:54.852Z,1749676254.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:54.855Z,1749676254.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 107.461617 m,
bearing: 216.796505 deg,
approach rate: -0.705546 m/s,
LOS rate: 0.123603 deg/s,
cmd heading: 216.481999 deg,
new cmd heading: 216.624400 deg.
2025-06-11T21:10:54.856Z,1749676254.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.780809 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:54.906Z,1749676254.906 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.082489
2025-06-11T21:10:55.157Z,1749676255.157 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.333834
2025-06-11T21:10:55.306Z,1749676255.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:55.309Z,1749676255.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 107.141068 m,
bearing: 216.852847 deg,
approach rate: -0.705611 m/s,
LOS rate: 0.124395 deg/s,
cmd heading: 216.624395 deg,
new cmd heading: 216.793927 deg.
2025-06-11T21:10:55.310Z,1749676255.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783768 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:55.409Z,1749676255.409 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.586366
2025-06-11T21:10:55.661Z,1749676255.661 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.837912
2025-06-11T21:10:55.695Z,1749676255.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:55.702Z,1749676255.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 106.874336 m,
bearing: 216.896023 deg,
approach rate: -0.685871 m/s,
LOS rate: 0.111299 deg/s,
cmd heading: 216.793934 deg,
new cmd heading: 216.923784 deg.
2025-06-11T21:10:55.703Z,1749676255.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786034 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:55.914Z,1749676255.914 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=10.090562
2025-06-11T21:10:56.061Z,1749676256.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:56.063Z,1749676256.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 106.612511 m,
bearing: 216.938472 deg,
approach rate: -0.716565 m/s,
LOS rate: 0.116459 deg/s,
cmd heading: 216.923789 deg,
new cmd heading: 217.051447 deg.
2025-06-11T21:10:56.064Z,1749676256.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788262 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:56.165Z,1749676256.165 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=10.341905
2025-06-11T21:10:56.417Z,1749676256.417 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=10.593763
2025-06-11T21:10:56.499Z,1749676256.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:56.506Z,1749676256.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 106.318161 m,
bearing: 216.985471 deg,
approach rate: -0.670774 m/s,
LOS rate: 0.107399 deg/s,
cmd heading: 217.051445 deg,
new cmd heading: 217.192832 deg.
2025-06-11T21:10:56.507Z,1749676256.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790730 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:56.669Z,1749676256.669 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:10:56.669Z,1749676256.669 [DAT](INFO): response not received
2025-06-11T21:10:56.670Z,1749676256.670 [DAT](INFO): DAT read: user:808>
2025-06-11T21:10:56.671Z,1749676256.671 [DAT](INFO): DAT read: Tx time:21:10:58.5644
2025-06-11T21:10:56.671Z,1749676256.671 [DAT](INFO): Ping request sent.
2025-06-11T21:10:56.671Z,1749676256.671 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:10:56.671Z,1749676256.671 [DAT](INFO): publishing transmit ping time
2025-06-11T21:10:56.672Z,1749676256.672 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.000761
2025-06-11T21:10:56.922Z,1749676256.922 [DAT](INFO): DAT read: TxSync time:21:10:58.5636
2025-06-11T21:10:56.923Z,1749676256.923 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.251826
2025-06-11T21:10:56.941Z,1749676256.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:56.943Z,1749676256.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:56.969Z,1749676256.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 105.993111 m,
bearing: 217.037452 deg,
approach rate: -0.733089 m/s,
LOS rate: 0.117593 deg/s,
cmd heading: 217.192830 deg,
new cmd heading: 217.349252 deg.
2025-06-11T21:10:56.970Z,1749676256.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793460 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:57.173Z,1749676257.173 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.502056
2025-06-11T21:10:57.389Z,1749676257.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:57.396Z,1749676257.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 105.691101 m,
bearing: 217.086024 deg,
approach rate: -0.676162 m/s,
LOS rate: 0.109059 deg/s,
cmd heading: 217.349255 deg,
new cmd heading: 217.495389 deg.
2025-06-11T21:10:57.397Z,1749676257.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796011 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:57.425Z,1749676257.425 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.753922
2025-06-11T21:10:57.677Z,1749676257.677 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.005807
2025-06-11T21:10:57.715Z,1749676257.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:57.718Z,1749676257.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 105.461601 m,
bearing: 217.123130 deg,
approach rate: -0.704030 m/s,
LOS rate: 0.114075 deg/s,
cmd heading: 217.495394 deg,
new cmd heading: 217.606952 deg.
2025-06-11T21:10:57.719Z,1749676257.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797958 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:57.929Z,1749676257.929 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.258233
2025-06-11T21:10:58.165Z,1749676258.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:58.168Z,1749676258.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 105.152672 m,
bearing: 217.173102 deg,
approach rate: -0.686597 m/s,
LOS rate: 0.111389 deg/s,
cmd heading: 217.606958 deg,
new cmd heading: 217.757315 deg.
2025-06-11T21:10:58.169Z,1749676258.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.800582 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:58.189Z,1749676258.189 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.517898
2025-06-11T21:10:58.441Z,1749676258.441 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.769699
2025-06-11T21:10:58.643Z,1749676258.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:58.670Z,1749676258.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 104.822334 m,
bearing: 217.228656 deg,
approach rate: -0.691340 m/s,
LOS rate: 0.116632 deg/s,
cmd heading: 217.757318 deg,
new cmd heading: 217.924505 deg.
2025-06-11T21:10:58.671Z,1749676258.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803500 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:58.693Z,1749676258.693 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.021926
2025-06-11T21:10:58.945Z,1749676258.945 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.273835
2025-06-11T21:10:59.030Z,1749676259.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:10:59.033Z,1749676259.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:59.035Z,1749676259.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 104.560608 m,
bearing: 217.271563 deg,
approach rate: -0.672107 m/s,
LOS rate: 0.110460 deg/s,
cmd heading: 217.924507 deg,
new cmd heading: 218.053550 deg.
2025-06-11T21:10:59.037Z,1749676259.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.805753 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:59.197Z,1749676259.197 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.525891
2025-06-11T21:10:59.449Z,1749676259.449 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.778421
2025-06-11T21:10:59.466Z,1749676259.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:59.469Z,1749676259.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 104.279755 m,
bearing: 217.321505 deg,
approach rate: -0.647573 m/s,
LOS rate: 0.115465 deg/s,
cmd heading: 218.053557 deg,
new cmd heading: 218.203788 deg.
2025-06-11T21:10:59.470Z,1749676259.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.808375 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:59.701Z,1749676259.701 [DAT](INFO): DAT read: Rx Time:21:11:01.0883
2025-06-11T21:10:59.702Z,1749676259.702 [DAT](INFO): Rx dataTimestamp_ set to:1749676259.701419
2025-06-11T21:10:59.703Z,1749676259.703 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.031695
2025-06-11T21:10:59.828Z,1749676259.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:10:59.830Z,1749676259.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 104.038124 m,
bearing: 217.364180 deg,
approach rate: -0.699618 m/s,
LOS rate: 0.123846 deg/s,
cmd heading: 218.203794 deg,
new cmd heading: 218.332114 deg.
2025-06-11T21:10:59.831Z,1749676259.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810614 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:10:59.953Z,1749676259.953 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.281868
2025-06-11T21:11:00.209Z,1749676260.209 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.537258
2025-06-11T21:11:00.299Z,1749676260.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.63 m.
2025-06-11T21:11:00.324Z,1749676260.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 170.629471 m,
nav range: 103.748962 m,
bearing: 217.414857 deg,
approach rate: -0.602597 m/s,
LOS rate: 0.105903 deg/s,
cmd heading: 218.332119 deg,
new cmd heading: 218.484574 deg.
2025-06-11T21:11:00.332Z,1749676260.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813275 target range: 170.629471 and range: 136.50 m.
2025-06-11T21:11:00.468Z,1749676260.468 [DAT](INFO): DAT read: 21:11:01.0883 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 231,-0.35, 1.649, 0.014, 1.168, 0.985, PHS= 0.752,-0.924, 0.179, RAW= 130.4, -0.1, CAL= 136.3, -8.7, ROT= 13.7, 8.7
2025-06-11T21:11:00.469Z,1749676260.469 [DAT](INFO): got valid direction response:
21:11:01.0883 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 231,-0.35, 1.649, 0.014, 1.168, 0.985, PHS= 0.752,-0.924, 0.179, RAW= 130.4, -0.1, CAL= 136.3, -8.7, ROT= 13.7, 8.7
2025-06-11T21:11:00.470Z,1749676260.470 [DAT](INFO): DAT read: Bearing 13.7, 8.7 (Local)
2025-06-11T21:11:00.470Z,1749676260.470 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.7, 8.7 (Local)
2025-06-11T21:11:00.472Z,1749676260.472 [DAT](INFO): DAT read: Range 10 to 50 : 89.8 m (Round-trip 119.8 ms) speed 0.6 m/s
2025-06-11T21:11:00.473Z,1749676260.473 [DAT](INFO): DAT read: user:809>
2025-06-11T21:11:00.474Z,1749676260.474 [DAT](INFO): DAT read: Tx time:21:11:02.2144
2025-06-11T21:11:00.474Z,1749676260.474 [DAT](INFO): Ping request sent.
2025-06-11T21:11:00.474Z,1749676260.474 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:11:00.475Z,1749676260.475 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-11T21:11:00.476Z,1749676260.476 [DAT](INFO): direction in FSK: [0.960370,0.234113,-0.151261]
2025-06-11T21:11:00.476Z,1749676260.476 [DAT](INFO): publishing transmit ping time
2025-06-11T21:11:00.477Z,1749676260.477 [DAT](INFO): publishing direction and range info
2025-06-11T21:11:00.493Z,1749676260.493 [DAT](INFO): publishing transmit ping time
2025-06-11T21:11:00.493Z,1749676260.493 [DAT](INFO): publishing direction and range info
2025-06-11T21:11:00.501Z,1749676260.501 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.026567
2025-06-11T21:11:00.709Z,1749676260.709 [DAT](INFO): DAT read: TxSync time:21:11:02.2136
2025-06-11T21:11:00.710Z,1749676260.710 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.235528
2025-06-11T21:11:00.729Z,1749676260.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 89.800003 m,
deltaT: 25.724309 s,
deltaX: -46.699997 m,
approachRate: -1.815403 m/s,
rangeRepo size: 4
2025-06-11T21:11:00.731Z,1749676260.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 89.032585 m,
bearing: 230.938273 deg,
lat: 36.906455 deg,
lon: -122.115676 deg,
deltaT: 73.112588 s,
deltaX: -81.596886 m,
approachRate: -1.116044 m/s,
posRepo size: 4
2025-06-11T21:11:00.736Z,1749676260.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:00.739Z,1749676260.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 104.632706 m,
bearing: 216.849152 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.105903 deg/s,
cmd heading: 218.484569 deg,
new cmd heading: 218.623420 deg.
2025-06-11T21:11:00.744Z,1749676260.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.815699 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:00.962Z,1749676260.962 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.488149
2025-06-11T21:11:01.043Z,1749676261.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:01.061Z,1749676261.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:01.068Z,1749676261.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 104.414581 m,
bearing: 216.888313 deg,
approach rate: -0.656197 m/s,
LOS rate: 0.118055 deg/s,
cmd heading: 218.623427 deg,
new cmd heading: 218.741153 deg.
2025-06-11T21:11:01.069Z,1749676261.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.817753 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:01.213Z,1749676261.213 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.738714
2025-06-11T21:11:01.465Z,1749676261.465 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.990589
2025-06-11T21:11:01.478Z,1749676261.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:01.480Z,1749676261.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 104.142281 m,
bearing: 216.938849 deg,
approach rate: -0.653604 m/s,
LOS rate: 0.121619 deg/s,
cmd heading: 218.741152 deg,
new cmd heading: 218.893156 deg.
2025-06-11T21:11:01.481Z,1749676261.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.820406 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:01.718Z,1749676261.718 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.244012
2025-06-11T21:11:01.856Z,1749676261.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:01.859Z,1749676261.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 103.904274 m,
bearing: 216.982846 deg,
approach rate: -0.629585 m/s,
LOS rate: 0.116649 deg/s,
cmd heading: 218.893151 deg,
new cmd heading: 219.025444 deg.
2025-06-11T21:11:01.880Z,1749676261.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.822715 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:01.970Z,1749676261.970 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.495242
2025-06-11T21:11:02.221Z,1749676262.221 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.746536
2025-06-11T21:11:02.275Z,1749676262.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:02.279Z,1749676262.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 103.640251 m,
bearing: 217.031108 deg,
approach rate: -0.629071 m/s,
LOS rate: 0.115284 deg/s,
cmd heading: 219.025438 deg,
new cmd heading: 219.170593 deg.
2025-06-11T21:11:02.280Z,1749676262.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.825248 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:02.473Z,1749676262.473 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.998584
2025-06-11T21:11:02.705Z,1749676262.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:02.708Z,1749676262.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 103.375542 m,
bearing: 217.084694 deg,
approach rate: -0.616073 m/s,
LOS rate: 0.125033 deg/s,
cmd heading: 219.170593 deg,
new cmd heading: 219.331763 deg.
2025-06-11T21:11:02.709Z,1749676262.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.828061 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:02.736Z,1749676262.736 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.253279
2025-06-11T21:11:02.977Z,1749676262.977 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.502482
2025-06-11T21:11:03.070Z,1749676263.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:03.072Z,1749676263.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:03.075Z,1749676263.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 103.149704 m,
bearing: 217.130085 deg,
approach rate: -0.615410 m/s,
LOS rate: 0.123961 deg/s,
cmd heading: 219.331759 deg,
new cmd heading: 219.468228 deg.
2025-06-11T21:11:03.076Z,1749676263.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830443 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:03.229Z,1749676263.229 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.754678
2025-06-11T21:11:03.481Z,1749676263.481 [DAT](INFO): DAT read: Rx Time:21:11:04.7357
2025-06-11T21:11:03.481Z,1749676263.481 [DAT](INFO): Rx dataTimestamp_ set to:1749676263.481142
2025-06-11T21:11:03.482Z,1749676263.482 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.007725
2025-06-11T21:11:03.531Z,1749676263.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:03.534Z,1749676263.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 102.866241 m,
bearing: 217.190415 deg,
approach rate: -0.617448 m/s,
LOS rate: 0.131776 deg/s,
cmd heading: 219.468226 deg,
new cmd heading: 219.649715 deg.
2025-06-11T21:11:03.535Z,1749676263.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833611 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:03.733Z,1749676263.733 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.258661
2025-06-11T21:11:03.943Z,1749676263.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:03.946Z,1749676263.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 102.623878 m,
bearing: 217.241777 deg,
approach rate: -0.588190 m/s,
LOS rate: 0.124945 deg/s,
cmd heading: 219.649718 deg,
new cmd heading: 219.804167 deg.
2025-06-11T21:11:03.947Z,1749676263.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836306 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:03.994Z,1749676263.994 [DAT](INFO): DAT read: 21:11:04.7357 LVL= 31600, 32753, 28978, 32755, AGC= 71, IDX= 411, 0.49,-2.802, 1.879, 3.000, 2.734, PHS= 0.835,-0.807, 0.264, RAW= 130.0, -4.1, CAL= 135.3, -14.7, ROT= 14.7, 14.7
2025-06-11T21:11:03.996Z,1749676263.996 [DAT](INFO): got valid direction response:
21:11:04.7357 LVL= 31600, 32753, 28978, 32755, AGC= 71, IDX= 411, 0.49,-2.802, 1.879, 3.000, 2.734, PHS= 0.835,-0.807, 0.264, RAW= 130.0, -4.1, CAL= 135.3, -14.7, ROT= 14.7, 14.7
2025-06-11T21:11:03.997Z,1749676263.997 [DAT](INFO): DAT read: $Error in header
2025-06-11T21:11:03.997Z,1749676263.997 [DAT](INFO): Received a bad header
2025-06-11T21:11:04.015Z,1749676264.015 [DAT](INFO): #Rx 45: Read direction message, but no range.
2025-06-11T21:11:04.016Z,1749676264.016 [DAT](INFO): direction in FSK: [0.935607,0.245452,-0.253758]
2025-06-11T21:11:04.019Z,1749676264.019 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.544991
2025-06-11T21:11:04.237Z,1749676264.237 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.762525
2025-06-11T21:11:04.283Z,1749676264.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:04.285Z,1749676264.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 102.400848 m,
bearing: 217.288774 deg,
approach rate: -0.657030 m/s,
LOS rate: 0.138752 deg/s,
cmd heading: 219.804162 deg,
new cmd heading: 219.945460 deg.
2025-06-11T21:11:04.286Z,1749676264.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838773 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:04.489Z,1749676264.489 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=4.014486
2025-06-11T21:11:04.711Z,1749676264.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:04.713Z,1749676264.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 102.131989 m,
bearing: 217.342280 deg,
approach rate: -0.628142 m/s,
LOS rate: 0.125336 deg/s,
cmd heading: 219.945465 deg,
new cmd heading: 220.106405 deg.
2025-06-11T21:11:04.714Z,1749676264.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841582 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:04.741Z,1749676264.741 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=4.266416
2025-06-11T21:11:04.993Z,1749676264.993 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=4.518562
2025-06-11T21:11:05.088Z,1749676265.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:05.090Z,1749676265.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:05.093Z,1749676265.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 101.893494 m,
bearing: 217.389431 deg,
approach rate: -0.628873 m/s,
LOS rate: 0.124620 deg/s,
cmd heading: 220.106411 deg,
new cmd heading: 220.248194 deg.
2025-06-11T21:11:05.094Z,1749676265.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844056 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:05.245Z,1749676265.245 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=4.770570
2025-06-11T21:11:05.497Z,1749676265.497 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.022576
2025-06-11T21:11:05.535Z,1749676265.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:05.538Z,1749676265.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 101.608871 m,
bearing: 217.444195 deg,
approach rate: -0.639089 m/s,
LOS rate: 0.123312 deg/s,
cmd heading: 220.248192 deg,
new cmd heading: 220.412945 deg.
2025-06-11T21:11:05.539Z,1749676265.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846932 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:05.749Z,1749676265.749 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.274531
2025-06-11T21:11:05.979Z,1749676265.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:05.998Z,1749676265.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 101.325325 m,
bearing: 217.498568 deg,
approach rate: -0.639182 m/s,
LOS rate: 0.122913 deg/s,
cmd heading: 220.412950 deg,
new cmd heading: 220.576526 deg.
2025-06-11T21:11:05.999Z,1749676265.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.849787 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:06.001Z,1749676266.001 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.526595
2025-06-11T21:11:06.253Z,1749676266.253 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.779074
2025-06-11T21:11:06.330Z,1749676266.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:06.333Z,1749676266.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 101.101387 m,
bearing: 217.541739 deg,
approach rate: -0.637649 m/s,
LOS rate: 0.123199 deg/s,
cmd heading: 220.576520 deg,
new cmd heading: 220.706320 deg.
2025-06-11T21:11:06.334Z,1749676266.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.852052 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:06.505Z,1749676266.505 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=6.030504
2025-06-11T21:11:06.751Z,1749676266.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:06.754Z,1749676266.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 100.823990 m,
bearing: 217.594181 deg,
approach rate: -0.659247 m/s,
LOS rate: 0.124972 deg/s,
cmd heading: 220.706321 deg,
new cmd heading: 220.864076 deg.
2025-06-11T21:11:06.755Z,1749676266.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.854805 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:06.757Z,1749676266.757 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=6.282627
2025-06-11T21:11:07.009Z,1749676267.009 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=6.534550
2025-06-11T21:11:07.127Z,1749676267.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:07.129Z,1749676267.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:07.136Z,1749676267.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 100.584648 m,
bearing: 217.638525 deg,
approach rate: -0.632737 m/s,
LOS rate: 0.117511 deg/s,
cmd heading: 220.864071 deg,
new cmd heading: 220.997420 deg.
2025-06-11T21:11:07.138Z,1749676267.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857133 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:07.262Z,1749676267.262 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=6.787302
2025-06-11T21:11:07.513Z,1749676267.513 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.038552
2025-06-11T21:11:07.557Z,1749676267.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:07.564Z,1749676267.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 100.283897 m,
bearing: 217.683573 deg,
approach rate: -0.702874 m/s,
LOS rate: 0.105596 deg/s,
cmd heading: 220.997423 deg,
new cmd heading: 221.132973 deg.
2025-06-11T21:11:07.572Z,1749676267.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.859499 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:07.765Z,1749676267.765 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.290777
2025-06-11T21:11:07.937Z,1749676267.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:07.939Z,1749676267.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 100.003242 m,
bearing: 217.725525 deg,
approach rate: -0.738879 m/s,
LOS rate: 0.110757 deg/s,
cmd heading: 221.132975 deg,
new cmd heading: 221.259184 deg.
2025-06-11T21:11:07.941Z,1749676267.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.861701 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:08.018Z,1749676268.018 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.543422
2025-06-11T21:11:08.270Z,1749676268.270 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.795787
2025-06-11T21:11:08.333Z,1749676268.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:08.336Z,1749676268.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 99.718315 m,
bearing: 217.768042 deg,
approach rate: -0.719096 m/s,
LOS rate: 0.107610 deg/s,
cmd heading: 221.259183 deg,
new cmd heading: 221.387098 deg.
2025-06-11T21:11:08.337Z,1749676268.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.863934 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:08.521Z,1749676268.521 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.046541
2025-06-11T21:11:08.759Z,1749676268.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:08.762Z,1749676268.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 99.419586 m,
bearing: 217.812473 deg,
approach rate: -0.700914 m/s,
LOS rate: 0.104562 deg/s,
cmd heading: 221.387099 deg,
new cmd heading: 221.520792 deg.
2025-06-11T21:11:08.763Z,1749676268.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.866267 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:08.773Z,1749676268.773 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.298672
2025-06-11T21:11:09.025Z,1749676269.025 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.550485
2025-06-11T21:11:09.198Z,1749676269.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:09.201Z,1749676269.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:09.203Z,1749676269.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 99.103310 m,
bearing: 217.859496 deg,
approach rate: -0.716553 m/s,
LOS rate: 0.106875 deg/s,
cmd heading: 221.520793 deg,
new cmd heading: 221.662312 deg.
2025-06-11T21:11:09.204Z,1749676269.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.868737 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:09.278Z,1749676269.278 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.803573
2025-06-11T21:11:09.529Z,1749676269.529 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=9.054614
2025-06-11T21:11:09.624Z,1749676269.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:09.627Z,1749676269.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 98.802437 m,
bearing: 217.899879 deg,
approach rate: -0.709835 m/s,
LOS rate: 0.095565 deg/s,
cmd heading: 221.662315 deg,
new cmd heading: 221.783834 deg.
2025-06-11T21:11:09.632Z,1749676269.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870858 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:09.781Z,1749676269.781 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=9.306589
2025-06-11T21:11:09.985Z,1749676269.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:09.987Z,1749676269.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 98.530632 m,
bearing: 217.935796 deg,
approach rate: -0.754655 m/s,
LOS rate: 0.099996 deg/s,
cmd heading: 221.783838 deg,
new cmd heading: 221.891884 deg.
2025-06-11T21:11:09.988Z,1749676269.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872744 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:10.033Z,1749676270.033 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=9.559093
2025-06-11T21:11:10.285Z,1749676270.285 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=9.810487
2025-06-11T21:11:10.424Z,1749676270.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:10.427Z,1749676270.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 98.213455 m,
bearing: 217.977965 deg,
approach rate: -0.722048 m/s,
LOS rate: 0.096308 deg/s,
cmd heading: 221.891891 deg,
new cmd heading: 222.018808 deg.
2025-06-11T21:11:10.428Z,1749676270.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.874959 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:10.538Z,1749676270.538 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.063633
2025-06-11T21:11:10.789Z,1749676270.789 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.314645
2025-06-11T21:11:10.821Z,1749676270.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:10.823Z,1749676270.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 97.923820 m,
bearing: 218.012647 deg,
approach rate: -0.730256 m/s,
LOS rate: 0.087702 deg/s,
cmd heading: 222.018810 deg,
new cmd heading: 222.123163 deg.
2025-06-11T21:11:10.828Z,1749676270.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.876781 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:11.045Z,1749676271.045 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.570123
2025-06-11T21:11:11.176Z,1749676271.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:11.181Z,1749676271.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 97.658562 m,
bearing: 218.044284 deg,
approach rate: -0.746123 m/s,
LOS rate: 0.089231 deg/s,
cmd heading: 222.123161 deg,
new cmd heading: 222.218331 deg.
2025-06-11T21:11:11.182Z,1749676271.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878442 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:11.294Z,1749676271.294 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:11:11.294Z,1749676271.294 [DAT](INFO): response not received
2025-06-11T21:11:11.295Z,1749676271.295 [DAT](INFO): DAT read: user:811>
2025-06-11T21:11:11.295Z,1749676271.295 [DAT](INFO): DAT read: Tx time:21:11:13.1645
2025-06-11T21:11:11.296Z,1749676271.296 [DAT](INFO): Ping request sent.
2025-06-11T21:11:11.296Z,1749676271.296 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:11:11.296Z,1749676271.296 [DAT](INFO): publishing transmit ping time
2025-06-11T21:11:11.297Z,1749676271.297 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.000920
2025-06-11T21:11:11.545Z,1749676271.545 [DAT](INFO): DAT read: TxSync time:21:11:13.1637
2025-06-11T21:11:11.546Z,1749676271.546 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.250073
2025-06-11T21:11:11.621Z,1749676271.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:11.623Z,1749676271.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:11.626Z,1749676271.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 97.331871 m,
bearing: 218.084845 deg,
approach rate: -0.730767 m/s,
LOS rate: 0.091034 deg/s,
cmd heading: 222.218333 deg,
new cmd heading: 222.340423 deg.
2025-06-11T21:11:11.627Z,1749676271.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880573 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:11.797Z,1749676271.797 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.501320
2025-06-11T21:11:11.969Z,1749676271.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:11.973Z,1749676271.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 97.080566 m,
bearing: 218.115645 deg,
approach rate: -0.725865 m/s,
LOS rate: 0.089193 deg/s,
cmd heading: 222.340430 deg,
new cmd heading: 222.433069 deg.
2025-06-11T21:11:11.974Z,1749676271.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882190 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:12.050Z,1749676272.050 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.753921
2025-06-11T21:11:12.304Z,1749676272.304 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.008278
2025-06-11T21:11:12.370Z,1749676272.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:12.374Z,1749676272.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 96.789764 m,
bearing: 218.150981 deg,
approach rate: -0.725319 m/s,
LOS rate: 0.088399 deg/s,
cmd heading: 222.433074 deg,
new cmd heading: 222.539400 deg.
2025-06-11T21:11:12.375Z,1749676272.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.884045 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:12.553Z,1749676272.553 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.257191
2025-06-11T21:11:12.806Z,1749676272.806 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.510521
2025-06-11T21:11:12.822Z,1749676272.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:12.829Z,1749676272.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 96.486893 m,
bearing: 218.189981 deg,
approach rate: -0.670772 m/s,
LOS rate: 0.086645 deg/s,
cmd heading: 222.539393 deg,
new cmd heading: 222.656760 deg.
2025-06-11T21:11:12.830Z,1749676272.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.886094 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:13.057Z,1749676273.057 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.761764
2025-06-11T21:11:13.170Z,1749676273.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:13.173Z,1749676273.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 96.232796 m,
bearing: 218.222502 deg,
approach rate: -0.729994 m/s,
LOS rate: 0.093677 deg/s,
cmd heading: 222.656763 deg,
new cmd heading: 222.754584 deg.
2025-06-11T21:11:13.174Z,1749676273.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.887801 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:13.309Z,1749676273.309 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.013070
2025-06-11T21:11:13.563Z,1749676273.563 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.266947
2025-06-11T21:11:13.622Z,1749676273.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:13.625Z,1749676273.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 95.922028 m,
bearing: 218.262548 deg,
approach rate: -0.686718 m/s,
LOS rate: 0.088778 deg/s,
cmd heading: 222.754585 deg,
new cmd heading: 222.875112 deg.
2025-06-11T21:11:13.626Z,1749676273.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.889904 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:13.813Z,1749676273.813 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.517031
2025-06-11T21:11:14.035Z,1749676274.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:14.045Z,1749676274.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:14.060Z,1749676274.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 95.652252 m,
bearing: 218.297206 deg,
approach rate: -0.638310 m/s,
LOS rate: 0.082233 deg/s,
cmd heading: 222.875111 deg,
new cmd heading: 222.979376 deg.
2025-06-11T21:11:14.061Z,1749676274.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.891724 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:14.065Z,1749676274.065 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.769169
2025-06-11T21:11:14.317Z,1749676274.317 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.021045
2025-06-11T21:11:14.393Z,1749676274.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:14.400Z,1749676274.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 95.400146 m,
bearing: 218.329489 deg,
approach rate: -0.724510 m/s,
LOS rate: 0.093022 deg/s,
cmd heading: 222.979380 deg,
new cmd heading: 223.076486 deg.
2025-06-11T21:11:14.401Z,1749676274.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.893419 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:14.569Z,1749676274.569 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.273053
2025-06-11T21:11:14.821Z,1749676274.821 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.525139
2025-06-11T21:11:14.847Z,1749676274.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:14.854Z,1749676274.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 95.108246 m,
bearing: 218.372950 deg,
approach rate: -0.642284 m/s,
LOS rate: 0.095922 deg/s,
cmd heading: 223.076492 deg,
new cmd heading: 223.207274 deg.
2025-06-11T21:11:14.855Z,1749676274.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.895702 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:15.074Z,1749676275.074 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.778114
2025-06-11T21:11:15.205Z,1749676275.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:15.208Z,1749676275.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 94.867661 m,
bearing: 218.408381 deg,
approach rate: -0.682403 m/s,
LOS rate: 0.100753 deg/s,
cmd heading: 223.207276 deg,
new cmd heading: 223.313840 deg.
2025-06-11T21:11:15.209Z,1749676275.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.897562 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:15.325Z,1749676275.325 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=4.029310
2025-06-11T21:11:15.580Z,1749676275.580 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=4.283603
2025-06-11T21:11:15.650Z,1749676275.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:15.652Z,1749676275.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 94.575340 m,
bearing: 218.455720 deg,
approach rate: -0.650108 m/s,
LOS rate: 0.105604 deg/s,
cmd heading: 223.313841 deg,
new cmd heading: 223.456295 deg.
2025-06-11T21:11:15.653Z,1749676275.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.900048 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:15.829Z,1749676275.829 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=4.533032
2025-06-11T21:11:16.016Z,1749676276.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:16.019Z,1749676276.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 94.356010 m,
bearing: 218.491169 deg,
approach rate: -0.605614 m/s,
LOS rate: 0.098111 deg/s,
cmd heading: 223.456291 deg,
new cmd heading: 223.562887 deg.
2025-06-11T21:11:16.019Z,1749676276.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.901908 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:16.081Z,1749676276.081 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=4.785146
2025-06-11T21:11:16.333Z,1749676276.333 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.037137
2025-06-11T21:11:16.419Z,1749676276.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:16.421Z,1749676276.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:16.424Z,1749676276.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 94.087379 m,
bearing: 218.534821 deg,
approach rate: -0.656403 m/s,
LOS rate: 0.106969 deg/s,
cmd heading: 223.562883 deg,
new cmd heading: 223.694214 deg.
2025-06-11T21:11:16.425Z,1749676276.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.904201 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:16.587Z,1749676276.587 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.291117
2025-06-11T21:11:16.837Z,1749676276.837 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:11:16.837Z,1749676276.837 [DAT](INFO): response not received
2025-06-11T21:11:16.837Z,1749676276.837 [DAT](ERROR): No response from remote modem.
2025-06-11T21:11:16.838Z,1749676276.838 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.542138
2025-06-11T21:11:16.907Z,1749676276.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:16.932Z,1749676276.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 93.791824 m,
bearing: 218.585559 deg,
approach rate: -0.607960 m/s,
LOS rate: 0.104697 deg/s,
cmd heading: 223.694214 deg,
new cmd heading: 223.846907 deg.
2025-06-11T21:11:16.934Z,1749676276.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.906866 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:17.089Z,1749676277.089 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.793119
2025-06-11T21:11:17.264Z,1749676277.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:17.267Z,1749676277.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 93.570801 m,
bearing: 218.623482 deg,
approach rate: -0.619329 m/s,
LOS rate: 0.106514 deg/s,
cmd heading: 223.846910 deg,
new cmd heading: 223.960946 deg.
2025-06-11T21:11:17.268Z,1749676277.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.908856 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:17.341Z,1749676277.341 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=6.045218
2025-06-11T21:11:17.596Z,1749676277.596 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=6.299549
2025-06-11T21:11:17.729Z,1749676277.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:17.731Z,1749676277.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 93.292000 m,
bearing: 218.677255 deg,
approach rate: -0.599975 m/s,
LOS rate: 0.116064 deg/s,
cmd heading: 223.960947 deg,
new cmd heading: 224.122746 deg.
2025-06-11T21:11:17.733Z,1749676277.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.911680 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:17.845Z,1749676277.845 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=6.549226
2025-06-11T21:11:18.097Z,1749676278.097 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=6.800997
2025-06-11T21:11:18.216Z,1749676278.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:18.226Z,1749676278.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 93.005684 m,
bearing: 218.732511 deg,
approach rate: -0.594782 m/s,
LOS rate: 0.115140 deg/s,
cmd heading: 224.122740 deg,
new cmd heading: 224.289018 deg.
2025-06-11T21:11:18.227Z,1749676278.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914582 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:18.349Z,1749676278.349 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.053122
2025-06-11T21:11:18.612Z,1749676278.612 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.315324
2025-06-11T21:11:18.626Z,1749676278.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:18.629Z,1749676278.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:18.631Z,1749676278.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 92.783287 m,
bearing: 218.775677 deg,
approach rate: -0.532289 m/s,
LOS rate: 0.103563 deg/s,
cmd heading: 224.289014 deg,
new cmd heading: 224.418824 deg.
2025-06-11T21:11:18.640Z,1749676278.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.916847 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:18.861Z,1749676278.861 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.565059
2025-06-11T21:11:19.001Z,1749676279.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:19.003Z,1749676279.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 92.540779 m,
bearing: 218.822253 deg,
approach rate: -0.650949 m/s,
LOS rate: 0.125349 deg/s,
cmd heading: 224.418829 deg,
new cmd heading: 224.558923 deg.
2025-06-11T21:11:19.004Z,1749676279.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919292 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:19.113Z,1749676279.113 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=7.817077
2025-06-11T21:11:19.360Z,1749676279.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:19.363Z,1749676279.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 92.324753 m,
bearing: 218.863001 deg,
approach rate: -0.607881 m/s,
LOS rate: 0.114930 deg/s,
cmd heading: 224.558916 deg,
new cmd heading: 224.681446 deg.
2025-06-11T21:11:19.366Z,1749676279.366 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.069936
2025-06-11T21:11:19.368Z,1749676279.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.921431 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:19.619Z,1749676279.619 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.322796
2025-06-11T21:11:19.781Z,1749676279.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:19.784Z,1749676279.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 92.058296 m,
bearing: 218.911225 deg,
approach rate: -0.626204 m/s,
LOS rate: 0.113659 deg/s,
cmd heading: 224.681450 deg,
new cmd heading: 224.826539 deg.
2025-06-11T21:11:19.785Z,1749676279.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.923963 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:19.870Z,1749676279.870 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.574402
2025-06-11T21:11:20.121Z,1749676280.121 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.825095
2025-06-11T21:11:20.161Z,1749676280.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:20.163Z,1749676280.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 91.826233 m,
bearing: 218.952799 deg,
approach rate: -0.611696 m/s,
LOS rate: 0.109862 deg/s,
cmd heading: 224.826537 deg,
new cmd heading: 224.951574 deg.
2025-06-11T21:11:20.165Z,1749676280.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.926146 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:20.368Z,1749676280.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:11:20.373Z,1749676280.373 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=9.077037
2025-06-11T21:11:20.573Z,1749676280.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:20.575Z,1749676280.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 91.584564 m,
bearing: 218.995644 deg,
approach rate: -0.586741 m/s,
LOS rate: 0.104297 deg/s,
cmd heading: 224.951570 deg,
new cmd heading: 225.080444 deg.
2025-06-11T21:11:20.580Z,1749676280.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.928395 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:20.627Z,1749676280.627 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=9.330965
2025-06-11T21:11:20.878Z,1749676280.878 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=9.581787
2025-06-11T21:11:21.014Z,1749676281.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:21.020Z,1749676281.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:21.023Z,1749676281.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 91.306931 m,
bearing: 219.043584 deg,
approach rate: -0.626112 m/s,
LOS rate: 0.108442 deg/s,
cmd heading: 225.080442 deg,
new cmd heading: 225.224699 deg.
2025-06-11T21:11:21.029Z,1749676281.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.930912 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:21.129Z,1749676281.129 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=9.833706
2025-06-11T21:11:21.372Z,1749676281.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:11:21.383Z,1749676281.383 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.086816
2025-06-11T21:11:21.435Z,1749676281.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:21.437Z,1749676281.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 91.029388 m,
bearing: 219.091123 deg,
approach rate: -0.663200 m/s,
LOS rate: 0.113942 deg/s,
cmd heading: 225.224696 deg,
new cmd heading: 225.367746 deg.
2025-06-11T21:11:21.438Z,1749676281.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.933409 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:21.636Z,1749676281.636 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.339788
2025-06-11T21:11:21.823Z,1749676281.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:21.831Z,1749676281.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 90.789665 m,
bearing: 219.128729 deg,
approach rate: -0.618470 m/s,
LOS rate: 0.097276 deg/s,
cmd heading: 225.367747 deg,
new cmd heading: 225.480862 deg.
2025-06-11T21:11:21.836Z,1749676281.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.935384 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:21.886Z,1749676281.886 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.589861
2025-06-11T21:11:22.137Z,1749676282.137 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.841021
2025-06-11T21:11:22.198Z,1749676282.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:22.201Z,1749676282.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 90.528175 m,
bearing: 219.169498 deg,
approach rate: -0.696268 m/s,
LOS rate: 0.108870 deg/s,
cmd heading: 225.480869 deg,
new cmd heading: 225.603530 deg.
2025-06-11T21:11:22.201Z,1749676282.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.937524 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:22.389Z,1749676282.389 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=11.093123
2025-06-11T21:11:22.642Z,1749676282.642 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=11.346501
2025-06-11T21:11:22.659Z,1749676282.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:22.711Z,1749676282.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 90.226921 m,
bearing: 219.216147 deg,
approach rate: -0.654852 m/s,
LOS rate: 0.101741 deg/s,
cmd heading: 225.603525 deg,
new cmd heading: 225.743938 deg.
2025-06-11T21:11:22.719Z,1749676282.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.939975 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:22.893Z,1749676282.893 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=11.597103
2025-06-11T21:11:23.061Z,1749676283.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:23.063Z,1749676283.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:23.070Z,1749676283.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 89.952690 m,
bearing: 219.256343 deg,
approach rate: -0.676184 m/s,
LOS rate: 0.099416 deg/s,
cmd heading: 225.743940 deg,
new cmd heading: 225.864897 deg.
2025-06-11T21:11:23.071Z,1749676283.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.942086 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:23.146Z,1749676283.146 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=11.849992
2025-06-11T21:11:23.397Z,1749676283.397 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=12.101534
2025-06-11T21:11:23.437Z,1749676283.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:23.440Z,1749676283.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 89.684570 m,
bearing: 219.295576 deg,
approach rate: -0.716720 m/s,
LOS rate: 0.105188 deg/s,
cmd heading: 225.864903 deg,
new cmd heading: 225.982953 deg.
2025-06-11T21:11:23.441Z,1749676283.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.944147 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:23.649Z,1749676283.649 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=12.353112
2025-06-11T21:11:23.868Z,1749676283.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:23.871Z,1749676283.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 89.398804 m,
bearing: 219.332073 deg,
approach rate: -0.664002 m/s,
LOS rate: 0.085076 deg/s,
cmd heading: 225.982956 deg,
new cmd heading: 226.092798 deg.
2025-06-11T21:11:23.871Z,1749676283.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.946064 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:23.902Z,1749676283.902 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=12.606039
2025-06-11T21:11:24.153Z,1749676284.153 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=12.856951
2025-06-11T21:11:24.220Z,1749676284.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:24.223Z,1749676284.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 89.139633 m,
bearing: 219.365075 deg,
approach rate: -0.734823 m/s,
LOS rate: 0.093842 deg/s,
cmd heading: 226.092799 deg,
new cmd heading: 226.192092 deg.
2025-06-11T21:11:24.228Z,1749676284.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.947797 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:24.405Z,1749676284.405 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=13.109066
2025-06-11T21:11:24.622Z,1749676284.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:24.624Z,1749676284.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 88.847710 m,
bearing: 219.402156 deg,
approach rate: -0.727769 m/s,
LOS rate: 0.092748 deg/s,
cmd heading: 226.192096 deg,
new cmd heading: 226.303705 deg.
2025-06-11T21:11:24.625Z,1749676284.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.949745 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:24.657Z,1749676284.657 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=13.361488
2025-06-11T21:11:24.909Z,1749676284.909 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=13.613479
2025-06-11T21:11:25.042Z,1749676285.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:25.045Z,1749676285.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 88.541435 m,
bearing: 219.437427 deg,
approach rate: -0.728450 m/s,
LOS rate: 0.084180 deg/s,
cmd heading: 226.303702 deg,
new cmd heading: 226.409881 deg.
2025-06-11T21:11:25.046Z,1749676285.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.951598 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:25.161Z,1749676285.161 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=13.865142
2025-06-11T21:11:25.413Z,1749676285.413 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=14.117176
2025-06-11T21:11:25.423Z,1749676285.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:25.425Z,1749676285.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:25.428Z,1749676285.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 88.262939 m,
bearing: 219.469497 deg,
approach rate: -0.726991 m/s,
LOS rate: 0.083980 deg/s,
cmd heading: 226.409884 deg,
new cmd heading: 226.506397 deg.
2025-06-11T21:11:25.429Z,1749676285.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.953282 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:25.665Z,1749676285.665 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=14.369164
2025-06-11T21:11:25.875Z,1749676285.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:25.881Z,1749676285.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 87.951172 m,
bearing: 219.501704 deg,
approach rate: -0.693592 m/s,
LOS rate: 0.071904 deg/s,
cmd heading: 226.506394 deg,
new cmd heading: 226.603356 deg.
2025-06-11T21:11:25.882Z,1749676285.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954975 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:25.919Z,1749676285.919 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=14.622865
2025-06-11T21:11:26.169Z,1749676286.169 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=14.873239
2025-06-11T21:11:26.235Z,1749676286.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:26.238Z,1749676286.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 87.669128 m,
bearing: 219.530727 deg,
approach rate: -0.781570 m/s,
LOS rate: 0.080686 deg/s,
cmd heading: 226.603356 deg,
new cmd heading: 226.690706 deg.
2025-06-11T21:11:26.239Z,1749676286.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.956499 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:26.421Z,1749676286.421 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=15.125062
2025-06-11T21:11:26.637Z,1749676286.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:26.639Z,1749676286.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 87.377945 m,
bearing: 219.560674 deg,
approach rate: -0.725854 m/s,
LOS rate: 0.074899 deg/s,
cmd heading: 226.690700 deg,
new cmd heading: 226.780839 deg.
2025-06-11T21:11:26.640Z,1749676286.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.958072 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:26.674Z,1749676286.674 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=15.378728
2025-06-11T21:11:26.926Z,1749676286.926 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=15.629848
2025-06-11T21:11:27.067Z,1749676287.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:27.069Z,1749676287.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 87.066772 m,
bearing: 219.596867 deg,
approach rate: -0.723724 m/s,
LOS rate: 0.084480 deg/s,
cmd heading: 226.780845 deg,
new cmd heading: 226.889814 deg.
2025-06-11T21:11:27.070Z,1749676287.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.959974 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:27.177Z,1749676287.177 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=15.881115
2025-06-11T21:11:27.429Z,1749676287.429 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.133120
2025-06-11T21:11:27.449Z,1749676287.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:27.453Z,1749676287.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:27.459Z,1749676287.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 86.796219 m,
bearing: 219.628197 deg,
approach rate: -0.699794 m/s,
LOS rate: 0.081287 deg/s,
cmd heading: 226.889814 deg,
new cmd heading: 226.984094 deg.
2025-06-11T21:11:27.461Z,1749676287.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.961620 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:27.681Z,1749676287.681 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.385281
2025-06-11T21:11:27.875Z,1749676287.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:27.878Z,1749676287.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 86.491302 m,
bearing: 219.663612 deg,
approach rate: -0.722453 m/s,
LOS rate: 0.084207 deg/s,
cmd heading: 226.984098 deg,
new cmd heading: 227.090718 deg.
2025-06-11T21:11:27.879Z,1749676287.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.963481 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:27.934Z,1749676287.934 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.637920
2025-06-11T21:11:28.185Z,1749676288.185 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.889063
2025-06-11T21:11:28.259Z,1749676288.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:28.262Z,1749676288.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 86.223442 m,
bearing: 219.694583 deg,
approach rate: -0.698281 m/s,
LOS rate: 0.080989 deg/s,
cmd heading: 227.090717 deg,
new cmd heading: 227.183918 deg.
2025-06-11T21:11:28.263Z,1749676288.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.965107 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:28.437Z,1749676288.437 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.141077
2025-06-11T21:11:28.656Z,1749676288.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:28.659Z,1749676288.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 85.942284 m,
bearing: 219.726906 deg,
approach rate: -0.707832 m/s,
LOS rate: 0.081641 deg/s,
cmd heading: 227.183922 deg,
new cmd heading: 227.281207 deg.
2025-06-11T21:11:28.661Z,1749676288.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.966805 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:28.689Z,1749676288.689 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.393127
2025-06-11T21:11:28.941Z,1749676288.941 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.645031
2025-06-11T21:11:29.077Z,1749676289.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:29.079Z,1749676289.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 85.656601 m,
bearing: 219.765572 deg,
approach rate: -0.679118 m/s,
LOS rate: 0.092223 deg/s,
cmd heading: 227.281211 deg,
new cmd heading: 227.397597 deg.
2025-06-11T21:11:29.081Z,1749676289.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.968837 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:29.194Z,1749676289.194 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.897915
2025-06-11T21:11:29.445Z,1749676289.445 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=18.149115
2025-06-11T21:11:29.459Z,1749676289.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:29.462Z,1749676289.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:29.465Z,1749676289.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 85.396393 m,
bearing: 219.800721 deg,
approach rate: -0.675853 m/s,
LOS rate: 0.091571 deg/s,
cmd heading: 227.397597 deg,
new cmd heading: 227.503364 deg.
2025-06-11T21:11:29.466Z,1749676289.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.970683 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:29.698Z,1749676289.698 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=18.402269
2025-06-11T21:11:29.923Z,1749676289.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:29.927Z,1749676289.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 85.104683 m,
bearing: 219.842586 deg,
approach rate: -0.632656 m/s,
LOS rate: 0.091109 deg/s,
cmd heading: 227.503370 deg,
new cmd heading: 227.629397 deg.
2025-06-11T21:11:29.945Z,1749676289.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.972883 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:29.949Z,1749676289.949 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=18.653280
2025-06-11T21:11:30.201Z,1749676290.201 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=18.905121
2025-06-11T21:11:30.295Z,1749676290.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:30.303Z,1749676290.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 84.866882 m,
bearing: 219.876586 deg,
approach rate: -0.638291 m/s,
LOS rate: 0.091516 deg/s,
cmd heading: 227.629400 deg,
new cmd heading: 227.731685 deg.
2025-06-11T21:11:30.308Z,1749676290.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.974668 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:30.453Z,1749676290.453 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=19.157032
2025-06-11T21:11:30.680Z,1749676290.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:30.682Z,1749676290.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 84.607521 m,
bearing: 219.913480 deg,
approach rate: -0.674884 m/s,
LOS rate: 0.096297 deg/s,
cmd heading: 227.731689 deg,
new cmd heading: 227.842711 deg.
2025-06-11T21:11:30.683Z,1749676290.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.976605 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:30.705Z,1749676290.705 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=19.409184
2025-06-11T21:11:30.961Z,1749676290.961 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=19.665594
2025-06-11T21:11:31.100Z,1749676291.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:31.102Z,1749676291.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 84.345192 m,
bearing: 219.952308 deg,
approach rate: -0.624663 m/s,
LOS rate: 0.092744 deg/s,
cmd heading: 227.842707 deg,
new cmd heading: 227.959552 deg.
2025-06-11T21:11:31.103Z,1749676291.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.978645 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:31.213Z,1749676291.213 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=19.917648
2025-06-11T21:11:31.465Z,1749676291.465 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.169029
2025-06-11T21:11:31.482Z,1749676291.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:31.485Z,1749676291.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:31.487Z,1749676291.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 84.104919 m,
bearing: 219.987650 deg,
approach rate: -0.624172 m/s,
LOS rate: 0.092072 deg/s,
cmd heading: 227.959558 deg,
new cmd heading: 228.065886 deg.
2025-06-11T21:11:31.488Z,1749676291.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.980501 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:31.717Z,1749676291.717 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.421164
2025-06-11T21:11:31.915Z,1749676291.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:31.919Z,1749676291.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 83.848518 m,
bearing: 220.025563 deg,
approach rate: -0.596660 m/s,
LOS rate: 0.088496 deg/s,
cmd heading: 228.065890 deg,
new cmd heading: 228.179977 deg.
2025-06-11T21:11:31.937Z,1749676291.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.982492 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:31.970Z,1749676291.970 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.674099
2025-06-11T21:11:32.221Z,1749676292.221 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.925117
2025-06-11T21:11:32.317Z,1749676292.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:32.319Z,1749676292.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 83.605484 m,
bearing: 220.061326 deg,
approach rate: -0.604195 m/s,
LOS rate: 0.089168 deg/s,
cmd heading: 228.179982 deg,
new cmd heading: 228.287584 deg.
2025-06-11T21:11:32.324Z,1749676292.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.984370 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:32.473Z,1749676292.473 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.177065
2025-06-11T21:11:32.693Z,1749676292.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:32.695Z,1749676292.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 83.376190 m,
bearing: 220.094861 deg,
approach rate: -0.609641 m/s,
LOS rate: 0.089406 deg/s,
cmd heading: 228.287585 deg,
new cmd heading: 228.388465 deg.
2025-06-11T21:11:32.697Z,1749676292.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.986131 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:32.725Z,1749676292.725 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.429237
2025-06-11T21:11:32.977Z,1749676292.977 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.681074
2025-06-11T21:11:33.130Z,1749676293.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:33.133Z,1749676293.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 83.112427 m,
bearing: 220.133671 deg,
approach rate: -0.602673 m/s,
LOS rate: 0.088960 deg/s,
cmd heading: 228.388467 deg,
new cmd heading: 228.505268 deg.
2025-06-11T21:11:33.134Z,1749676293.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.988169 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:33.229Z,1749676293.229 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.933327
2025-06-11T21:11:33.481Z,1749676293.481 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.184971
2025-06-11T21:11:33.562Z,1749676293.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:33.564Z,1749676293.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:33.567Z,1749676293.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 82.850906 m,
bearing: 220.171368 deg,
approach rate: -0.603032 m/s,
LOS rate: 0.087197 deg/s,
cmd heading: 228.505263 deg,
new cmd heading: 228.618709 deg.
2025-06-11T21:11:33.568Z,1749676293.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.990149 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:33.733Z,1749676293.733 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.437078
2025-06-11T21:11:33.985Z,1749676293.985 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.689154
2025-06-11T21:11:33.994Z,1749676293.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:34.001Z,1749676294.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 82.602371 m,
bearing: 220.203793 deg,
approach rate: -0.577924 m/s,
LOS rate: 0.075626 deg/s,
cmd heading: 228.618712 deg,
new cmd heading: 228.716281 deg.
2025-06-11T21:11:34.002Z,1749676294.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.991852 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:34.237Z,1749676294.237 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.941645
2025-06-11T21:11:34.345Z,1749676294.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:34.348Z,1749676294.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 82.384514 m,
bearing: 220.232020 deg,
approach rate: -0.620731 m/s,
LOS rate: 0.080639 deg/s,
cmd heading: 228.716275 deg,
new cmd heading: 228.801180 deg.
2025-06-11T21:11:34.349Z,1749676294.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.993334 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:34.490Z,1749676294.490 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.193827
2025-06-11T21:11:34.741Z,1749676294.741 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.445057
2025-06-11T21:11:34.786Z,1749676294.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:34.789Z,1749676294.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 82.121147 m,
bearing: 220.265952 deg,
approach rate: -0.596967 m/s,
LOS rate: 0.077158 deg/s,
cmd heading: 228.801174 deg,
new cmd heading: 228.903295 deg.
2025-06-11T21:11:34.790Z,1749676294.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.995116 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:34.993Z,1749676294.993 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.697079
2025-06-11T21:11:35.167Z,1749676295.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:35.174Z,1749676295.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 81.891403 m,
bearing: 220.295916 deg,
approach rate: -0.603213 m/s,
LOS rate: 0.078895 deg/s,
cmd heading: 228.903299 deg,
new cmd heading: 228.993445 deg.
2025-06-11T21:11:35.175Z,1749676295.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.996690 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:35.246Z,1749676295.246 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.950090
2025-06-11T21:11:35.497Z,1749676295.497 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.201118
2025-06-11T21:11:35.541Z,1749676295.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:35.544Z,1749676295.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 81.655502 m,
bearing: 220.326532 deg,
approach rate: -0.630552 m/s,
LOS rate: 0.082072 deg/s,
cmd heading: 228.993444 deg,
new cmd heading: 229.085558 deg.
2025-06-11T21:11:35.545Z,1749676295.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.998297 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:35.750Z,1749676295.750 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.454681
2025-06-11T21:11:36.001Z,1749676296.001 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.705233
2025-06-11T21:11:36.029Z,1749676296.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:36.031Z,1749676296.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:36.034Z,1749676296.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 81.341560 m,
bearing: 220.362255 deg,
approach rate: -0.641291 m/s,
LOS rate: 0.073251 deg/s,
cmd heading: 229.085556 deg,
new cmd heading: 229.193135 deg.
2025-06-11T21:11:36.035Z,1749676296.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.000175 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:36.254Z,1749676296.253 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.957754
2025-06-11T21:11:36.319Z,1749676296.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:36.322Z,1749676296.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 81.155151 m,
bearing: 220.383317 deg,
approach rate: -0.645557 m/s,
LOS rate: 0.073108 deg/s,
cmd heading: 229.193145 deg,
new cmd heading: 229.256476 deg.
2025-06-11T21:11:36.323Z,1749676296.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.001280 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:36.505Z,1749676296.505 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=25.209026
2025-06-11T21:11:36.744Z,1749676296.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:36.746Z,1749676296.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 80.882431 m,
bearing: 220.414308 deg,
approach rate: -0.642973 m/s,
LOS rate: 0.073313 deg/s,
cmd heading: 229.256474 deg,
new cmd heading: 229.349763 deg.
2025-06-11T21:11:36.747Z,1749676296.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.002909 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:36.757Z,1749676296.757 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=25.461229
2025-06-11T21:11:37.009Z,1749676297.009 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=25.713051
2025-06-11T21:11:37.163Z,1749676297.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:37.171Z,1749676297.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 80.609154 m,
bearing: 220.449312 deg,
approach rate: -0.652107 m/s,
LOS rate: 0.083811 deg/s,
cmd heading: 229.349775 deg,
new cmd heading: 229.455142 deg.
2025-06-11T21:11:37.172Z,1749676297.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.004748 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:37.261Z,1749676297.261 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=25.965731
2025-06-11T21:11:37.513Z,1749676297.513 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=26.217215
2025-06-11T21:11:37.539Z,1749676297.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:37.542Z,1749676297.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 80.363312 m,
bearing: 220.480701 deg,
approach rate: -0.652727 m/s,
LOS rate: 0.083594 deg/s,
cmd heading: 229.455151 deg,
new cmd heading: 229.549605 deg.
2025-06-11T21:11:37.543Z,1749676297.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.006396 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:37.765Z,1749676297.765 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=26.469357
2025-06-11T21:11:38.008Z,1749676298.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:38.011Z,1749676298.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 80.063393 m,
bearing: 220.516915 deg,
approach rate: -0.639523 m/s,
LOS rate: 0.077509 deg/s,
cmd heading: 229.549599 deg,
new cmd heading: 229.658647 deg.
2025-06-11T21:11:38.017Z,1749676298.017 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=26.721516
2025-06-11T21:11:38.020Z,1749676298.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.008299 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:38.269Z,1749676298.269 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=26.973070
2025-06-11T21:11:38.345Z,1749676298.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:38.347Z,1749676298.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:38.354Z,1749676298.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 79.818153 m,
bearing: 220.546411 deg,
approach rate: -0.724998 m/s,
LOS rate: 0.087467 deg/s,
cmd heading: 229.658636 deg,
new cmd heading: 229.747396 deg.
2025-06-11T21:11:38.355Z,1749676298.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.009849 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:38.521Z,1749676298.521 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=27.225073
2025-06-11T21:11:38.773Z,1749676298.773 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=27.477194
2025-06-11T21:11:38.780Z,1749676298.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:38.783Z,1749676298.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 79.526299 m,
bearing: 220.581754 deg,
approach rate: -0.673849 m/s,
LOS rate: 0.081901 deg/s,
cmd heading: 229.747401 deg,
new cmd heading: 229.853819 deg.
2025-06-11T21:11:38.783Z,1749676298.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.011706 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:39.025Z,1749676299.025 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=27.729164
2025-06-11T21:11:39.182Z,1749676299.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:39.185Z,1749676299.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 79.251297 m,
bearing: 220.613986 deg,
approach rate: -0.684177 m/s,
LOS rate: 0.080469 deg/s,
cmd heading: 229.853815 deg,
new cmd heading: 229.950848 deg.
2025-06-11T21:11:39.185Z,1749676299.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.013400 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:39.277Z,1749676299.277 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=27.981108
2025-06-11T21:11:39.529Z,1749676299.529 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=28.233183
2025-06-11T21:11:39.615Z,1749676299.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:39.618Z,1749676299.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 78.955322 m,
bearing: 220.648242 deg,
approach rate: -0.682503 m/s,
LOS rate: 0.079288 deg/s,
cmd heading: 229.950859 deg,
new cmd heading: 230.054011 deg.
2025-06-11T21:11:39.619Z,1749676299.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.015200 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:39.781Z,1749676299.781 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=28.485136
2025-06-11T21:11:40.033Z,1749676300.033 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=28.737125
2025-06-11T21:11:40.051Z,1749676300.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:40.054Z,1749676300.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 78.657295 m,
bearing: 220.684530 deg,
approach rate: -0.683771 m/s,
LOS rate: 0.083571 deg/s,
cmd heading: 230.054022 deg,
new cmd heading: 230.163297 deg.
2025-06-11T21:11:40.055Z,1749676300.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.017107 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:40.285Z,1749676300.285 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=28.989031
2025-06-11T21:11:40.512Z,1749676300.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:40.514Z,1749676300.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:40.521Z,1749676300.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 78.354721 m,
bearing: 220.720829 deg,
approach rate: -0.653749 m/s,
LOS rate: 0.078733 deg/s,
cmd heading: 230.163305 deg,
new cmd heading: 230.272624 deg.
2025-06-11T21:11:40.522Z,1749676300.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.019015 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:40.537Z,1749676300.537 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=29.241240
2025-06-11T21:11:40.789Z,1749676300.789 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=29.493053
2025-06-11T21:11:41.021Z,1749676301.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:41.028Z,1749676301.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 78.006851 m,
bearing: 220.762570 deg,
approach rate: -0.685752 m/s,
LOS rate: 0.082649 deg/s,
cmd heading: 230.272615 deg,
new cmd heading: 230.398394 deg.
2025-06-11T21:11:41.029Z,1749676301.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.021211 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:41.041Z,1749676301.041 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=29.745195
2025-06-11T21:11:41.293Z,1749676301.293 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=29.997080
2025-06-11T21:11:41.339Z,1749676301.339 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,2506111313031+10.2, 0.0,1490.7, 0
2025-06-11T21:11:41.370Z,1749676301.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:41.377Z,1749676301.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 77.760208 m,
bearing: 220.792066 deg,
approach rate: -0.706787 m/s,
LOS rate: 0.084793 deg/s,
cmd heading: 230.398400 deg,
new cmd heading: 230.487169 deg.
2025-06-11T21:11:41.378Z,1749676301.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.022760 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:41.545Z,1749676301.545 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=30.249025
2025-06-11T21:11:41.733Z,1749676301.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:41.736Z,1749676301.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 77.506065 m,
bearing: 220.822245 deg,
approach rate: -0.700060 m/s,
LOS rate: 0.083404 deg/s,
cmd heading: 230.487165 deg,
new cmd heading: 230.577999 deg.
2025-06-11T21:11:41.737Z,1749676301.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.024345 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:41.797Z,1749676301.797 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=30.501310
2025-06-11T21:11:42.049Z,1749676302.049 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=30.753111
2025-06-11T21:11:42.193Z,1749676302.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:42.195Z,1749676302.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 77.203194 m,
bearing: 220.852294 deg,
approach rate: -0.658971 m/s,
LOS rate: 0.065635 deg/s,
cmd heading: 230.578007 deg,
new cmd heading: 230.668507 deg.
2025-06-11T21:11:42.201Z,1749676302.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.025925 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:42.313Z,1749676302.313 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=31.011969
2025-06-11T21:11:42.547Z,1749676302.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:42.549Z,1749676302.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:42.552Z,1749676302.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 76.957893 m,
bearing: 220.876442 deg,
approach rate: -0.687913 m/s,
LOS rate: 0.067936 deg/s,
cmd heading: 230.668520 deg,
new cmd heading: 230.741195 deg.
2025-06-11T21:11:42.553Z,1749676302.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.027194 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:42.557Z,1749676302.557 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=31.261209
2025-06-11T21:11:42.809Z,1749676302.809 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=31.513159
2025-06-11T21:11:42.977Z,1749676302.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:42.995Z,1749676302.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 76.684593 m,
bearing: 220.903166 deg,
approach rate: -0.666513 m/s,
LOS rate: 0.065405 deg/s,
cmd heading: 230.741193 deg,
new cmd heading: 230.821651 deg.
2025-06-11T21:11:43.009Z,1749676303.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.028598 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:43.062Z,1749676303.062 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=31.766439
2025-06-11T21:11:43.313Z,1749676303.313 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=32.017056
2025-06-11T21:11:43.398Z,1749676303.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:43.405Z,1749676303.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 76.397842 m,
bearing: 220.928352 deg,
approach rate: -0.653423 m/s,
LOS rate: 0.057608 deg/s,
cmd heading: 230.821653 deg,
new cmd heading: 230.897495 deg.
2025-06-11T21:11:43.406Z,1749676303.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.029922 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:43.565Z,1749676303.565 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=32.269169
2025-06-11T21:11:43.753Z,1749676303.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:43.756Z,1749676303.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 76.153641 m,
bearing: 220.949697 deg,
approach rate: -0.688786 m/s,
LOS rate: 0.060400 deg/s,
cmd heading: 230.897496 deg,
new cmd heading: 230.961738 deg.
2025-06-11T21:11:43.757Z,1749676303.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.031043 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:43.818Z,1749676303.818 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=32.522079
2025-06-11T21:11:44.069Z,1749676304.069 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=32.773067
2025-06-11T21:11:44.185Z,1749676304.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:44.189Z,1749676304.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 75.874031 m,
bearing: 220.970312 deg,
approach rate: -0.646489 m/s,
LOS rate: 0.047839 deg/s,
cmd heading: 230.961727 deg,
new cmd heading: 231.023799 deg.
2025-06-11T21:11:44.189Z,1749676304.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.032126 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:44.321Z,1749676304.321 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=33.025219
2025-06-11T21:11:44.564Z,1749676304.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:44.566Z,1749676304.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:44.569Z,1749676304.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 75.628181 m,
bearing: 220.988238 deg,
approach rate: -0.646253 m/s,
LOS rate: 0.047274 deg/s,
cmd heading: 231.023799 deg,
new cmd heading: 231.077752 deg.
2025-06-11T21:11:44.570Z,1749676304.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.033068 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:44.573Z,1749676304.573 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=33.277184
2025-06-11T21:11:44.825Z,1749676304.825 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=33.529072
2025-06-11T21:11:44.977Z,1749676304.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:44.980Z,1749676304.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 75.364784 m,
bearing: 221.007257 deg,
approach rate: -0.640542 m/s,
LOS rate: 0.046413 deg/s,
cmd heading: 231.077758 deg,
new cmd heading: 231.135014 deg.
2025-06-11T21:11:44.981Z,1749676304.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034067 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:45.078Z,1749676305.078 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=33.781822
2025-06-11T21:11:45.329Z,1749676305.329 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=34.032955
2025-06-11T21:11:45.411Z,1749676305.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:45.418Z,1749676305.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 75.090492 m,
bearing: 221.030225 deg,
approach rate: -0.632073 m/s,
LOS rate: 0.053121 deg/s,
cmd heading: 231.135022 deg,
new cmd heading: 231.204178 deg.
2025-06-11T21:11:45.419Z,1749676305.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.035274 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:45.581Z,1749676305.581 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=34.285084
2025-06-11T21:11:45.833Z,1749676305.833 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=34.537243
2025-06-11T21:11:45.859Z,1749676305.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:45.866Z,1749676305.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 74.811798 m,
bearing: 221.053377 deg,
approach rate: -0.622407 m/s,
LOS rate: 0.051898 deg/s,
cmd heading: 231.204171 deg,
new cmd heading: 231.273885 deg.
2025-06-11T21:11:45.867Z,1749676305.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.036491 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:46.085Z,1749676306.085 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=34.789062
2025-06-11T21:11:46.241Z,1749676306.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:46.250Z,1749676306.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 74.569305 m,
bearing: 221.073344 deg,
approach rate: -0.634085 m/s,
LOS rate: 0.052382 deg/s,
cmd heading: 231.273894 deg,
new cmd heading: 231.333990 deg.
2025-06-11T21:11:46.251Z,1749676306.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.037540 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:46.337Z,1749676306.337 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=35.041214
2025-06-11T21:11:46.589Z,1749676306.589 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=35.293140
2025-06-11T21:11:46.683Z,1749676306.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:46.685Z,1749676306.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:46.687Z,1749676306.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 74.290558 m,
bearing: 221.096099 deg,
approach rate: -0.628178 m/s,
LOS rate: 0.051472 deg/s,
cmd heading: 231.333999 deg,
new cmd heading: 231.402519 deg.
2025-06-11T21:11:46.689Z,1749676306.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.038736 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:46.841Z,1749676306.841 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=35.545029
2025-06-11T21:11:47.093Z,1749676307.093 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=35.797188
2025-06-11T21:11:47.096Z,1749676307.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:47.099Z,1749676307.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 74.044945 m,
bearing: 221.116061 deg,
approach rate: -0.603571 m/s,
LOS rate: 0.049218 deg/s,
cmd heading: 231.402520 deg,
new cmd heading: 231.462605 deg.
2025-06-11T21:11:47.104Z,1749676307.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.039784 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:47.345Z,1749676307.345 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=36.049133
2025-06-11T21:11:47.458Z,1749676307.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:47.461Z,1749676307.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 73.796196 m,
bearing: 221.138920 deg,
approach rate: -0.679029 m/s,
LOS rate: 0.062609 deg/s,
cmd heading: 231.462598 deg,
new cmd heading: 231.531405 deg.
2025-06-11T21:11:47.462Z,1749676307.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.040985 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:47.597Z,1749676307.597 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=36.301205
2025-06-11T21:11:47.846Z,1749676307.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:47.849Z,1749676307.849 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=36.553215
2025-06-11T21:11:47.850Z,1749676307.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 73.555717 m,
bearing: 221.160672 deg,
approach rate: -0.620660 m/s,
LOS rate: 0.056325 deg/s,
cmd heading: 231.531392 deg,
new cmd heading: 231.596862 deg.
2025-06-11T21:11:47.851Z,1749676307.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.042128 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:48.101Z,1749676308.101 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=36.805260
2025-06-11T21:11:48.241Z,1749676308.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:48.243Z,1749676308.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 73.307899 m,
bearing: 221.190827 deg,
approach rate: -0.627686 m/s,
LOS rate: 0.076636 deg/s,
cmd heading: 231.596852 deg,
new cmd heading: 231.687623 deg.
2025-06-11T21:11:48.244Z,1749676308.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.043712 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:48.353Z,1749676308.353 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=37.057182
2025-06-11T21:11:48.605Z,1749676308.605 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=37.309185
2025-06-11T21:11:48.630Z,1749676308.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:48.641Z,1749676308.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 73.074539 m,
bearing: 221.219176 deg,
approach rate: -0.598760 m/s,
LOS rate: 0.072971 deg/s,
cmd heading: 231.687612 deg,
new cmd heading: 231.772931 deg.
2025-06-11T21:11:48.642Z,1749676308.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.045201 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:48.858Z,1749676308.858 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=37.562321
2025-06-11T21:11:49.019Z,1749676309.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:49.021Z,1749676309.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:49.040Z,1749676309.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 72.817238 m,
bearing: 221.250247 deg,
approach rate: -0.657706 m/s,
LOS rate: 0.079705 deg/s,
cmd heading: 231.772935 deg,
new cmd heading: 231.866478 deg.
2025-06-11T21:11:49.048Z,1749676309.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.046834 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:49.113Z,1749676309.113 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=37.816509
2025-06-11T21:11:49.361Z,1749676309.361 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=38.065090
2025-06-11T21:11:49.461Z,1749676309.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:49.463Z,1749676309.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 72.538300 m,
bearing: 221.284190 deg,
approach rate: -0.634689 m/s,
LOS rate: 0.077530 deg/s,
cmd heading: 231.866481 deg,
new cmd heading: 231.968701 deg.
2025-06-11T21:11:49.465Z,1749676309.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.048617 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:49.613Z,1749676309.613 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=38.317085
2025-06-11T21:11:49.842Z,1749676309.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:49.845Z,1749676309.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 72.296722 m,
bearing: 221.313508 deg,
approach rate: -0.634132 m/s,
LOS rate: 0.077215 deg/s,
cmd heading: 231.968688 deg,
new cmd heading: 232.056935 deg.
2025-06-11T21:11:49.846Z,1749676309.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.050158 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:49.886Z,1749676309.886 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=38.589779
2025-06-11T21:11:50.137Z,1749676310.137 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=38.841099
2025-06-11T21:11:50.248Z,1749676310.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:50.251Z,1749676310.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 72.034966 m,
bearing: 221.346796 deg,
approach rate: -0.644852 m/s,
LOS rate: 0.082303 deg/s,
cmd heading: 232.056934 deg,
new cmd heading: 232.157159 deg.
2025-06-11T21:11:50.252Z,1749676310.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.051907 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:50.389Z,1749676310.389 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=39.093128
2025-06-11T21:11:50.641Z,1749676310.641 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=39.345139
2025-06-11T21:11:50.672Z,1749676310.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:50.675Z,1749676310.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 71.773369 m,
bearing: 221.380309 deg,
approach rate: -0.620513 m/s,
LOS rate: 0.079785 deg/s,
cmd heading: 232.157146 deg,
new cmd heading: 232.258054 deg.
2025-06-11T21:11:50.676Z,1749676310.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.053668 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:50.893Z,1749676310.893 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=39.597626
2025-06-11T21:11:51.046Z,1749676311.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:51.048Z,1749676311.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:51.051Z,1749676311.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 71.519272 m,
bearing: 221.412366 deg,
approach rate: -0.671138 m/s,
LOS rate: 0.084971 deg/s,
cmd heading: 232.258042 deg,
new cmd heading: 232.354553 deg.
2025-06-11T21:11:51.052Z,1749676311.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.055352 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:51.147Z,1749676311.147 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=39.850910
2025-06-11T21:11:51.397Z,1749676311.397 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=40.101006
2025-06-11T21:11:51.474Z,1749676311.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:51.477Z,1749676311.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 71.240822 m,
bearing: 221.445933 deg,
approach rate: -0.653562 m/s,
LOS rate: 0.079094 deg/s,
cmd heading: 232.354566 deg,
new cmd heading: 232.455660 deg.
2025-06-11T21:11:51.478Z,1749676311.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.057117 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:51.508Z,1749676311.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:11:51.649Z,1749676311.649 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=40.353424
2025-06-11T21:11:51.850Z,1749676311.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:51.853Z,1749676311.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 70.995483 m,
bearing: 221.475395 deg,
approach rate: -0.652723 m/s,
LOS rate: 0.078655 deg/s,
cmd heading: 232.455653 deg,
new cmd heading: 232.544345 deg.
2025-06-11T21:11:51.854Z,1749676311.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.058664 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:51.902Z,1749676311.902 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=40.605927
2025-06-11T21:11:52.153Z,1749676312.153 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=40.857082
2025-06-11T21:11:52.305Z,1749676312.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:52.308Z,1749676312.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 70.698021 m,
bearing: 221.507742 deg,
approach rate: -0.653154 m/s,
LOS rate: 0.071324 deg/s,
cmd heading: 232.544336 deg,
new cmd heading: 232.641784 deg.
2025-06-11T21:11:52.309Z,1749676312.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.060365 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:52.405Z,1749676312.405 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=41.109215
2025-06-11T21:11:52.512Z,1749676312.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:11:52.651Z,1749676312.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:52.654Z,1749676312.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 70.471794 m,
bearing: 221.532187 deg,
approach rate: -0.653950 m/s,
LOS rate: 0.070890 deg/s,
cmd heading: 232.641789 deg,
new cmd heading: 232.715360 deg.
2025-06-11T21:11:52.655Z,1749676312.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.061649 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:52.657Z,1749676312.657 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=41.361259
2025-06-11T21:11:52.909Z,1749676312.909 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=41.613548
2025-06-11T21:11:53.070Z,1749676313.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:53.072Z,1749676313.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:53.075Z,1749676313.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 70.197174 m,
bearing: 221.561653 deg,
approach rate: -0.652909 m/s,
LOS rate: 0.070331 deg/s,
cmd heading: 232.715364 deg,
new cmd heading: 232.804110 deg.
2025-06-11T21:11:53.076Z,1749676313.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.063198 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:53.163Z,1749676313.163 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=41.867241
2025-06-11T21:11:53.413Z,1749676313.413 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=42.117489
2025-06-11T21:11:53.502Z,1749676313.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:53.505Z,1749676313.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 69.914513 m,
bearing: 221.586108 deg,
approach rate: -0.657005 m/s,
LOS rate: 0.057072 deg/s,
cmd heading: 232.804102 deg,
new cmd heading: 232.877763 deg.
2025-06-11T21:11:53.506Z,1749676313.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.064484 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:53.665Z,1749676313.665 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=42.369064
2025-06-11T21:11:53.896Z,1749676313.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:53.899Z,1749676313.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 69.663750 m,
bearing: 221.607722 deg,
approach rate: -0.643548 m/s,
LOS rate: 0.055668 deg/s,
cmd heading: 232.877759 deg,
new cmd heading: 232.942833 deg.
2025-06-11T21:11:53.905Z,1749676313.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.065619 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:53.918Z,1749676313.918 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=42.621590
2025-06-11T21:11:54.172Z,1749676314.172 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=42.875443
2025-06-11T21:11:54.289Z,1749676314.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:54.291Z,1749676314.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 69.393257 m,
bearing: 221.622479 deg,
approach rate: -0.681501 m/s,
LOS rate: 0.037326 deg/s,
cmd heading: 232.942837 deg,
new cmd heading: 232.987281 deg.
2025-06-11T21:11:54.292Z,1749676314.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066395 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:54.421Z,1749676314.421 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=43.125523
2025-06-11T21:11:54.673Z,1749676314.673 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=43.377186
2025-06-11T21:11:54.675Z,1749676314.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:54.679Z,1749676314.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 69.135674 m,
bearing: 221.636460 deg,
approach rate: -0.666247 m/s,
LOS rate: 0.036297 deg/s,
cmd heading: 232.987288 deg,
new cmd heading: 233.029387 deg.
2025-06-11T21:11:54.680Z,1749676314.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.067130 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:54.928Z,1749676314.928 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=43.630821
2025-06-11T21:11:55.079Z,1749676315.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:55.082Z,1749676315.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:55.104Z,1749676315.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 68.863274 m,
bearing: 221.651135 deg,
approach rate: -0.670454 m/s,
LOS rate: 0.036262 deg/s,
cmd heading: 233.029389 deg,
new cmd heading: 233.073587 deg.
2025-06-11T21:11:55.105Z,1749676315.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.067902 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:55.181Z,1749676315.181 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=43.884258
2025-06-11T21:11:55.429Z,1749676315.429 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=44.133152
2025-06-11T21:11:55.514Z,1749676315.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:55.517Z,1749676315.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 68.574921 m,
bearing: 221.661717 deg,
approach rate: -0.667539 m/s,
LOS rate: 0.024600 deg/s,
cmd heading: 233.073594 deg,
new cmd heading: 233.105473 deg.
2025-06-11T21:11:55.518Z,1749676315.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.068458 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:55.681Z,1749676315.681 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=44.385155
2025-06-11T21:11:55.888Z,1749676315.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:55.891Z,1749676315.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 68.324211 m,
bearing: 221.670949 deg,
approach rate: -0.669712 m/s,
LOS rate: 0.024751 deg/s,
cmd heading: 233.105477 deg,
new cmd heading: 233.133274 deg.
2025-06-11T21:11:55.892Z,1749676315.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.068943 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:55.934Z,1749676315.934 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=44.638145
2025-06-11T21:11:56.187Z,1749676316.187 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=44.891052
2025-06-11T21:11:56.315Z,1749676316.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:56.318Z,1749676316.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 68.041618 m,
bearing: 221.679271 deg,
approach rate: -0.660972 m/s,
LOS rate: 0.019547 deg/s,
cmd heading: 233.133262 deg,
new cmd heading: 233.158333 deg.
2025-06-11T21:11:56.319Z,1749676316.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.069381 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:56.441Z,1749676316.441 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=45.145500
2025-06-11T21:11:56.693Z,1749676316.693 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=45.397015
2025-06-11T21:11:56.717Z,1749676316.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:56.720Z,1749676316.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 67.775963 m,
bearing: 221.687158 deg,
approach rate: -0.661434 m/s,
LOS rate: 0.019714 deg/s,
cmd heading: 233.158343 deg,
new cmd heading: 233.182097 deg.
2025-06-11T21:11:56.721Z,1749676316.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.069795 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:56.945Z,1749676316.945 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=45.649109
2025-06-11T21:11:57.097Z,1749676317.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:57.099Z,1749676317.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:57.102Z,1749676317.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 67.523613 m,
bearing: 221.694566 deg,
approach rate: -0.660249 m/s,
LOS rate: 0.019454 deg/s,
cmd heading: 233.182085 deg,
new cmd heading: 233.204390 deg.
2025-06-11T21:11:57.103Z,1749676317.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070184 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:57.199Z,1749676317.199 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=45.902962
2025-06-11T21:11:57.449Z,1749676317.449 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=46.153053
2025-06-11T21:11:57.538Z,1749676317.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:57.541Z,1749676317.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 67.240311 m,
bearing: 221.706764 deg,
approach rate: -0.645350 m/s,
LOS rate: 0.027905 deg/s,
cmd heading: 233.204378 deg,
new cmd heading: 233.241128 deg.
2025-06-11T21:11:57.542Z,1749676317.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070826 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:57.701Z,1749676317.701 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=46.405067
2025-06-11T21:11:57.954Z,1749676317.954 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=46.657757
2025-06-11T21:11:57.957Z,1749676317.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:57.965Z,1749676317.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 66.985779 m,
bearing: 221.717812 deg,
approach rate: -0.608308 m/s,
LOS rate: 0.026504 deg/s,
cmd heading: 233.241125 deg,
new cmd heading: 233.274394 deg.
2025-06-11T21:11:57.966Z,1749676317.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.071406 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:58.208Z,1749676318.208 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=46.911385
2025-06-11T21:11:58.387Z,1749676318.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:58.418Z,1749676318.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 66.698647 m,
bearing: 221.739331 deg,
approach rate: -0.666697 m/s,
LOS rate: 0.050180 deg/s,
cmd heading: 233.274401 deg,
new cmd heading: 233.339235 deg.
2025-06-11T21:11:58.419Z,1749676318.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.072538 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:58.457Z,1749676318.457 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=47.161285
2025-06-11T21:11:58.709Z,1749676318.709 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=47.413315
2025-06-11T21:11:58.745Z,1749676318.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:58.747Z,1749676318.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 66.484222 m,
bearing: 221.755304 deg,
approach rate: -0.600024 m/s,
LOS rate: 0.044842 deg/s,
cmd heading: 233.339234 deg,
new cmd heading: 233.387308 deg.
2025-06-11T21:11:58.757Z,1749676318.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.073377 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:58.961Z,1749676318.961 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=47.665154
2025-06-11T21:11:59.187Z,1749676319.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:11:59.189Z,1749676319.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:59.191Z,1749676319.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 66.189873 m,
bearing: 221.777072 deg,
approach rate: -0.662621 m/s,
LOS rate: 0.049222 deg/s,
cmd heading: 233.387318 deg,
new cmd heading: 233.452914 deg.
2025-06-11T21:11:59.193Z,1749676319.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.074522 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:59.215Z,1749676319.215 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=47.918835
2025-06-11T21:11:59.465Z,1749676319.465 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=48.169170
2025-06-11T21:11:59.617Z,1749676319.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:11:59.622Z,1749676319.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 65.917274 m,
bearing: 221.800553 deg,
approach rate: -0.636495 m/s,
LOS rate: 0.055053 deg/s,
cmd heading: 233.452915 deg,
new cmd heading: 233.523649 deg.
2025-06-11T21:11:59.623Z,1749676319.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075757 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:11:59.717Z,1749676319.717 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=48.421165
2025-06-11T21:11:59.969Z,1749676319.969 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=48.673199
2025-06-11T21:11:59.977Z,1749676319.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:00.000Z,1749676320.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 65.691750 m,
bearing: 221.819811 deg,
approach rate: -0.626415 m/s,
LOS rate: 0.053673 deg/s,
cmd heading: 233.523649 deg,
new cmd heading: 233.581619 deg.
2025-06-11T21:12:00.001Z,1749676320.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076768 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:00.225Z,1749676320.225 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=48.928570
2025-06-11T21:12:00.422Z,1749676320.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:00.431Z,1749676320.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 65.412842 m,
bearing: 221.847307 deg,
approach rate: -0.626430 m/s,
LOS rate: 0.062020 deg/s,
cmd heading: 233.581623 deg,
new cmd heading: 233.664464 deg.
2025-06-11T21:12:00.436Z,1749676320.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078214 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:00.475Z,1749676320.475 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=49.179012
2025-06-11T21:12:00.725Z,1749676320.725 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=49.429043
2025-06-11T21:12:00.759Z,1749676320.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:00.761Z,1749676320.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 65.193253 m,
bearing: 221.868781 deg,
approach rate: -0.653156 m/s,
LOS rate: 0.064089 deg/s,
cmd heading: 233.664460 deg,
new cmd heading: 233.729099 deg.
2025-06-11T21:12:00.762Z,1749676320.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079342 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:00.977Z,1749676320.977 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=49.681236
2025-06-11T21:12:01.172Z,1749676321.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:01.175Z,1749676321.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 64.930183 m,
bearing: 221.894268 deg,
approach rate: -0.636669 m/s,
LOS rate: 0.061931 deg/s,
cmd heading: 233.729101 deg,
new cmd heading: 233.805870 deg.
2025-06-11T21:12:01.176Z,1749676321.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080682 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:01.232Z,1749676321.232 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=49.935509
2025-06-11T21:12:01.481Z,1749676321.481 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=50.185059
2025-06-11T21:12:01.595Z,1749676321.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:01.598Z,1749676321.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:01.600Z,1749676321.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 64.661407 m,
bearing: 221.924205 deg,
approach rate: -0.631429 m/s,
LOS rate: 0.070624 deg/s,
cmd heading: 233.805872 deg,
new cmd heading: 233.896058 deg.
2025-06-11T21:12:01.601Z,1749676321.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082256 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:01.733Z,1749676321.733 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=50.437298
2025-06-11T21:12:01.976Z,1749676321.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:01.978Z,1749676321.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 64.422195 m,
bearing: 221.950152 deg,
approach rate: -0.632598 m/s,
LOS rate: 0.068870 deg/s,
cmd heading: 233.896058 deg,
new cmd heading: 233.974186 deg.
2025-06-11T21:12:01.979Z,1749676321.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083620 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:01.985Z,1749676321.985 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=50.689186
2025-06-11T21:12:02.240Z,1749676322.240 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=50.944313
2025-06-11T21:12:02.443Z,1749676322.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:02.456Z,1749676322.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 64.157608 m,
bearing: 221.975600 deg,
approach rate: -0.575096 m/s,
LOS rate: 0.055542 deg/s,
cmd heading: 233.974195 deg,
new cmd heading: 234.050856 deg.
2025-06-11T21:12:02.457Z,1749676322.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084958 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:02.489Z,1749676322.489 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=51.193424
2025-06-11T21:12:02.741Z,1749676322.741 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=51.445030
2025-06-11T21:12:02.878Z,1749676322.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:02.881Z,1749676322.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 63.851871 m,
bearing: 222.004190 deg,
approach rate: -0.691346 m/s,
LOS rate: 0.064958 deg/s,
cmd heading: 234.050857 deg,
new cmd heading: 234.137038 deg.
2025-06-11T21:12:02.882Z,1749676322.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086462 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:02.994Z,1749676322.994 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=51.697590
2025-06-11T21:12:03.245Z,1749676323.245 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=51.949257
2025-06-11T21:12:03.342Z,1749676323.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:03.349Z,1749676323.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 63.567982 m,
bearing: 222.030725 deg,
approach rate: -0.611909 m/s,
LOS rate: 0.057450 deg/s,
cmd heading: 234.137027 deg,
new cmd heading: 234.216988 deg.
2025-06-11T21:12:03.350Z,1749676323.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087858 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:03.500Z,1749676323.500 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=52.203930
2025-06-11T21:12:03.749Z,1749676323.749 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=52.452999
2025-06-11T21:12:03.801Z,1749676323.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:03.803Z,1749676323.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:03.806Z,1749676323.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 63.264957 m,
bearing: 222.055984 deg,
approach rate: -0.657053 m/s,
LOS rate: 0.055031 deg/s,
cmd heading: 234.216995 deg,
new cmd heading: 234.293134 deg.
2025-06-11T21:12:03.807Z,1749676323.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089187 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:04.001Z,1749676324.001 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=52.705589
2025-06-11T21:12:04.220Z,1749676324.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:04.223Z,1749676324.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 62.998772 m,
bearing: 222.078223 deg,
approach rate: -0.637911 m/s,
LOS rate: 0.053520 deg/s,
cmd heading: 234.293138 deg,
new cmd heading: 234.360136 deg.
2025-06-11T21:12:04.224Z,1749676324.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090356 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:04.253Z,1749676324.253 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=52.957134
2025-06-11T21:12:04.505Z,1749676324.505 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=53.209072
2025-06-11T21:12:04.649Z,1749676324.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:04.656Z,1749676324.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 62.734550 m,
bearing: 222.092444 deg,
approach rate: -0.615982 m/s,
LOS rate: 0.033293 deg/s,
cmd heading: 234.360128 deg,
new cmd heading: 234.402971 deg.
2025-06-11T21:12:04.657Z,1749676324.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091104 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:04.758Z,1749676324.758 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=53.462532
2025-06-11T21:12:05.009Z,1749676325.009 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=53.713093
2025-06-11T21:12:05.036Z,1749676325.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:05.038Z,1749676325.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 62.472076 m,
bearing: 222.106691 deg,
approach rate: -0.679548 m/s,
LOS rate: 0.037039 deg/s,
cmd heading: 234.402967 deg,
new cmd heading: 234.445886 deg.
2025-06-11T21:12:05.039Z,1749676325.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091853 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:05.261Z,1749676325.261 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=53.965130
2025-06-11T21:12:05.455Z,1749676325.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:05.458Z,1749676325.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 62.198261 m,
bearing: 222.117362 deg,
approach rate: -0.652548 m/s,
LOS rate: 0.025542 deg/s,
cmd heading: 234.445888 deg,
new cmd heading: 234.478042 deg.
2025-06-11T21:12:05.459Z,1749676325.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092414 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:05.514Z,1749676325.514 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=54.218060
2025-06-11T21:12:05.765Z,1749676325.765 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=54.469074
2025-06-11T21:12:05.839Z,1749676325.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:05.841Z,1749676325.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:05.844Z,1749676325.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 61.946419 m,
bearing: 222.127419 deg,
approach rate: -0.652819 m/s,
LOS rate: 0.026177 deg/s,
cmd heading: 234.478045 deg,
new cmd heading: 234.508340 deg.
2025-06-11T21:12:05.845Z,1749676325.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092943 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:06.017Z,1749676326.017 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=54.721073
2025-06-11T21:12:06.226Z,1749676326.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:06.229Z,1749676326.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 61.693855 m,
bearing: 222.137838 deg,
approach rate: -0.656018 m/s,
LOS rate: 0.027172 deg/s,
cmd heading: 234.508343 deg,
new cmd heading: 234.539727 deg.
2025-06-11T21:12:06.230Z,1749676326.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093491 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:06.273Z,1749676326.273 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=54.976002
2025-06-11T21:12:06.521Z,1749676326.521 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=55.225082
2025-06-11T21:12:06.660Z,1749676326.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:06.663Z,1749676326.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 61.411873 m,
bearing: 222.145580 deg,
approach rate: -0.649612 m/s,
LOS rate: 0.017919 deg/s,
cmd heading: 234.539735 deg,
new cmd heading: 234.563069 deg.
2025-06-11T21:12:06.664Z,1749676326.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093898 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:06.773Z,1749676326.773 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=55.477451
2025-06-11T21:12:07.025Z,1749676327.025 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=55.729153
2025-06-11T21:12:07.055Z,1749676327.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:07.058Z,1749676327.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 61.154896 m,
bearing: 222.152698 deg,
approach rate: -0.650140 m/s,
LOS rate: 0.018085 deg/s,
cmd heading: 234.563067 deg,
new cmd heading: 234.584511 deg.
2025-06-11T21:12:07.059Z,1749676327.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094272 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:07.277Z,1749676327.277 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=55.981064
2025-06-11T21:12:07.473Z,1749676327.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:07.476Z,1749676327.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 60.884808 m,
bearing: 222.161675 deg,
approach rate: -0.646232 m/s,
LOS rate: 0.021573 deg/s,
cmd heading: 234.584514 deg,
new cmd heading: 234.611563 deg.
2025-06-11T21:12:07.477Z,1749676327.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094744 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:07.530Z,1749676327.530 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=56.234043
2025-06-11T21:12:07.781Z,1749676327.781 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=56.485123
2025-06-11T21:12:07.850Z,1749676327.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:07.852Z,1749676327.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:07.854Z,1749676327.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 60.640514 m,
bearing: 222.169863 deg,
approach rate: -0.645757 m/s,
LOS rate: 0.021732 deg/s,
cmd heading: 234.611561 deg,
new cmd heading: 234.636225 deg.
2025-06-11T21:12:07.855Z,1749676327.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095175 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:08.033Z,1749676328.033 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=56.737083
2025-06-11T21:12:08.246Z,1749676328.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:08.249Z,1749676328.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 60.385468 m,
bearing: 222.178685 deg,
approach rate: -0.645965 m/s,
LOS rate: 0.022438 deg/s,
cmd heading: 234.636232 deg,
new cmd heading: 234.662810 deg.
2025-06-11T21:12:08.250Z,1749676328.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095639 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:08.285Z,1749676328.285 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=56.989586
2025-06-11T21:12:08.537Z,1749676328.537 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=57.241112
2025-06-11T21:12:08.681Z,1749676328.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:08.684Z,1749676328.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 60.111908 m,
bearing: 222.189892 deg,
approach rate: -0.629569 m/s,
LOS rate: 0.025909 deg/s,
cmd heading: 234.662815 deg,
new cmd heading: 234.696588 deg.
2025-06-11T21:12:08.685Z,1749676328.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096228 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:08.789Z,1749676328.789 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=57.493275
2025-06-11T21:12:09.041Z,1749676329.041 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=57.744976
2025-06-11T21:12:09.066Z,1749676329.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:09.069Z,1749676329.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 59.869625 m,
bearing: 222.199858 deg,
approach rate: -0.628886 m/s,
LOS rate: 0.025973 deg/s,
cmd heading: 234.696583 deg,
new cmd heading: 234.726602 deg.
2025-06-11T21:12:09.070Z,1749676329.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096752 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:09.293Z,1749676329.293 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=57.997234
2025-06-11T21:12:09.506Z,1749676329.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:09.513Z,1749676329.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 59.611763 m,
bearing: 222.218354 deg,
approach rate: -0.586225 m/s,
LOS rate: 0.042230 deg/s,
cmd heading: 234.726609 deg,
new cmd heading: 234.782336 deg.
2025-06-11T21:12:09.514Z,1749676329.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097725 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:09.545Z,1749676329.545 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=58.249046
2025-06-11T21:12:09.797Z,1749676329.797 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=58.501495
2025-06-11T21:12:09.935Z,1749676329.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:09.937Z,1749676329.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:09.940Z,1749676329.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 59.329475 m,
bearing: 222.238653 deg,
approach rate: -0.654742 m/s,
LOS rate: 0.047307 deg/s,
cmd heading: 234.782343 deg,
new cmd heading: 234.843531 deg.
2025-06-11T21:12:09.941Z,1749676329.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098793 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:10.050Z,1749676330.050 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=58.753597
2025-06-11T21:12:10.271Z,1749676330.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:10.274Z,1749676330.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 59.115765 m,
bearing: 222.253986 deg,
approach rate: -0.640637 m/s,
LOS rate: 0.046128 deg/s,
cmd heading: 234.843542 deg,
new cmd heading: 234.889705 deg.
2025-06-11T21:12:10.275Z,1749676330.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099599 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:10.303Z,1749676330.303 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=59.006584
2025-06-11T21:12:10.553Z,1749676330.553 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=59.257133
2025-06-11T21:12:10.760Z,1749676330.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:10.762Z,1749676330.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 58.814228 m,
bearing: 222.278416 deg,
approach rate: -0.616744 m/s,
LOS rate: 0.050224 deg/s,
cmd heading: 234.889714 deg,
new cmd heading: 234.963380 deg.
2025-06-11T21:12:10.763Z,1749676330.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.100884 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:10.805Z,1749676330.805 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=59.509300
2025-06-11T21:12:11.057Z,1749676331.057 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=59.761143
2025-06-11T21:12:11.144Z,1749676331.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:11.146Z,1749676331.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 58.582409 m,
bearing: 222.297110 deg,
approach rate: -0.610534 m/s,
LOS rate: 0.049430 deg/s,
cmd heading: 234.963371 deg,
new cmd heading: 235.019676 deg.
2025-06-11T21:12:11.147Z,1749676331.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101867 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:11.309Z,1749676331.309 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=60.013065
2025-06-11T21:12:11.546Z,1749676331.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:11.549Z,1749676331.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 58.324223 m,
bearing: 222.321145 deg,
approach rate: -0.635121 m/s,
LOS rate: 0.059385 deg/s,
cmd heading: 235.019679 deg,
new cmd heading: 235.092102 deg.
2025-06-11T21:12:11.550Z,1749676331.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103131 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:11.561Z,1749676331.561 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=60.265221
2025-06-11T21:12:11.813Z,1749676331.813 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=60.517113
2025-06-11T21:12:11.934Z,1749676331.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:11.937Z,1749676331.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 58.082745 m,
bearing: 222.343627 deg,
approach rate: -0.622016 m/s,
LOS rate: 0.058151 deg/s,
cmd heading: 235.092106 deg,
new cmd heading: 235.159832 deg.
2025-06-11T21:12:11.938Z,1749676331.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.104313 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:12.065Z,1749676332.065 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=60.769016
2025-06-11T21:12:12.288Z,1749676332.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:12.290Z,1749676332.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:12.297Z,1749676332.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 57.856499 m,
bearing: 222.364634 deg,
approach rate: -0.636081 m/s,
LOS rate: 0.059292 deg/s,
cmd heading: 235.159834 deg,
new cmd heading: 235.223102 deg.
2025-06-11T21:12:12.298Z,1749676332.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105418 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:12.317Z,1749676332.317 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=61.021557
2025-06-11T21:12:12.570Z,1749676332.570 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=61.274097
2025-06-11T21:12:12.725Z,1749676332.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:12.728Z,1749676332.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 57.580757 m,
bearing: 222.389844 deg,
approach rate: -0.633446 m/s,
LOS rate: 0.058192 deg/s,
cmd heading: 235.223109 deg,
new cmd heading: 235.299103 deg.
2025-06-11T21:12:12.729Z,1749676332.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106744 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:12.822Z,1749676332.822 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=61.526020
2025-06-11T21:12:13.073Z,1749676333.073 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=61.777031
2025-06-11T21:12:13.121Z,1749676333.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:13.128Z,1749676333.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 57.335083 m,
bearing: 222.412104 deg,
approach rate: -0.620508 m/s,
LOS rate: 0.056462 deg/s,
cmd heading: 235.299115 deg,
new cmd heading: 235.366179 deg.
2025-06-11T21:12:13.129Z,1749676333.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107915 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:13.328Z,1749676333.328 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=62.032101
2025-06-11T21:12:13.537Z,1749676333.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:13.539Z,1749676333.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 57.060524 m,
bearing: 222.433542 deg,
approach rate: -0.660537 m/s,
LOS rate: 0.051825 deg/s,
cmd heading: 235.366188 deg,
new cmd heading: 235.430813 deg.
2025-06-11T21:12:13.541Z,1749676333.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109043 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:13.578Z,1749676333.578 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=62.281864
2025-06-11T21:12:13.829Z,1749676333.829 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=62.533115
2025-06-11T21:12:13.923Z,1749676333.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:13.927Z,1749676333.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 56.812447 m,
bearing: 222.452875 deg,
approach rate: -0.642603 m/s,
LOS rate: 0.050296 deg/s,
cmd heading: 235.430801 deg,
new cmd heading: 235.489052 deg.
2025-06-11T21:12:13.929Z,1749676333.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110059 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:14.081Z,1749676334.081 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=62.785114
2025-06-11T21:12:14.306Z,1749676334.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:14.308Z,1749676334.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:14.311Z,1749676334.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 56.559113 m,
bearing: 222.472531 deg,
approach rate: -0.656716 m/s,
LOS rate: 0.051182 deg/s,
cmd heading: 235.489049 deg,
new cmd heading: 235.548281 deg.
2025-06-11T21:12:14.328Z,1749676334.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111093 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:14.333Z,1749676334.333 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=63.037189
2025-06-11T21:12:14.585Z,1749676334.585 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:12:14.585Z,1749676334.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:12:14.741Z,1749676334.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:14.744Z,1749676334.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 56.269268 m,
bearing: 222.490680 deg,
approach rate: -0.669729 m/s,
LOS rate: 0.042154 deg/s,
cmd heading: 235.548281 deg,
new cmd heading: 235.603011 deg.
2025-06-11T21:12:14.745Z,1749676334.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112048 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:14.838Z,1749676334.838 [DAT](INFO): DAT read: user:812>
2025-06-11T21:12:14.839Z,1749676334.839 [DAT](INFO): DAT read: Tx time:21:12:16.5652
2025-06-11T21:12:14.840Z,1749676334.840 [DAT](INFO): Ping request sent.
2025-06-11T21:12:14.840Z,1749676334.840 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:12:14.841Z,1749676334.841 [DAT](INFO): DAT read: TxSync time:21:12:16.5644
2025-06-11T21:12:14.842Z,1749676334.842 [DAT](INFO): publishing transmit ping time
2025-06-11T21:12:14.843Z,1749676334.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002816
2025-06-11T21:12:15.089Z,1749676335.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248510
2025-06-11T21:12:15.138Z,1749676335.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:15.145Z,1749676335.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 56.012348 m,
bearing: 222.506909 deg,
approach rate: -0.648393 m/s,
LOS rate: 0.041144 deg/s,
cmd heading: 235.603004 deg,
new cmd heading: 235.651912 deg.
2025-06-11T21:12:15.145Z,1749676335.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112902 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:15.341Z,1749676335.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500518
2025-06-11T21:12:15.564Z,1749676335.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:15.567Z,1749676335.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 55.719460 m,
bearing: 222.525814 deg,
approach rate: -0.686163 m/s,
LOS rate: 0.044523 deg/s,
cmd heading: 235.651908 deg,
new cmd heading: 235.708922 deg.
2025-06-11T21:12:15.568Z,1749676335.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113897 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:15.607Z,1749676335.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766228
2025-06-11T21:12:15.857Z,1749676335.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016414
2025-06-11T21:12:16.005Z,1749676336.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:16.012Z,1749676336.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 55.468884 m,
bearing: 222.542112 deg,
approach rate: -0.568058 m/s,
LOS rate: 0.037114 deg/s,
cmd heading: 235.708927 deg,
new cmd heading: 235.758040 deg.
2025-06-11T21:12:16.013Z,1749676336.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114754 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:16.109Z,1749676336.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.268520
2025-06-11T21:12:16.340Z,1749676336.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:16.342Z,1749676336.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:16.345Z,1749676336.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 55.209770 m,
bearing: 222.559381 deg,
approach rate: -0.769954 m/s,
LOS rate: 0.051556 deg/s,
cmd heading: 235.758049 deg,
new cmd heading: 235.810100 deg.
2025-06-11T21:12:16.346Z,1749676336.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115663 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:16.364Z,1749676336.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523326
2025-06-11T21:12:16.613Z,1749676336.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772505
2025-06-11T21:12:16.754Z,1749676336.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:16.757Z,1749676336.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 54.927074 m,
bearing: 222.574454 deg,
approach rate: -0.686093 m/s,
LOS rate: 0.036769 deg/s,
cmd heading: 235.810095 deg,
new cmd heading: 235.855546 deg.
2025-06-11T21:12:16.758Z,1749676336.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116456 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:16.866Z,1749676336.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025194
2025-06-11T21:12:17.117Z,1749676337.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276310
2025-06-11T21:12:17.175Z,1749676337.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:17.178Z,1749676337.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 54.660480 m,
bearing: 222.588811 deg,
approach rate: -0.633447 m/s,
LOS rate: 0.034280 deg/s,
cmd heading: 235.855557 deg,
new cmd heading: 235.898839 deg.
2025-06-11T21:12:17.179Z,1749676337.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117211 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:17.369Z,1749676337.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528552
2025-06-11T21:12:17.621Z,1749676337.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780598
2025-06-11T21:12:17.660Z,1749676337.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:17.662Z,1749676337.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 54.343117 m,
bearing: 222.605377 deg,
approach rate: -0.668365 m/s,
LOS rate: 0.035092 deg/s,
cmd heading: 235.898833 deg,
new cmd heading: 235.948823 deg.
2025-06-11T21:12:17.663Z,1749676337.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118084 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:17.873Z,1749676337.873 [DAT](INFO): DAT read: Rx Time:21:12:19.0270
2025-06-11T21:12:17.874Z,1749676337.874 [DAT](INFO): Rx dataTimestamp_ set to:1749676337.873791
2025-06-11T21:12:17.875Z,1749676337.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034690
2025-06-11T21:12:17.975Z,1749676337.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:17.978Z,1749676337.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 54.120590 m,
bearing: 222.616789 deg,
approach rate: -0.683521 m/s,
LOS rate: 0.035196 deg/s,
cmd heading: 235.948830 deg,
new cmd heading: 235.983206 deg.
2025-06-11T21:12:17.979Z,1749676337.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118684 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:18.125Z,1749676338.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284453
2025-06-11T21:12:18.366Z,1749676338.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:18.368Z,1749676338.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.03 m.
2025-06-11T21:12:18.370Z,1749676338.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.032585 m,
nav range: 53.865295 m,
bearing: 222.629407 deg,
approach rate: -0.650658 m/s,
LOS rate: 0.032313 deg/s,
cmd heading: 235.983200 deg,
new cmd heading: 236.021235 deg.
2025-06-11T21:12:18.371Z,1749676338.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119348 target range: 89.032585 and range: 89.80 m.
2025-06-11T21:12:18.382Z,1749676338.382 [DAT](INFO): DAT read: 21:12:19.0270 LVL= 24928, 32753, 25458, 32755, AGC= 68, IDX= 315, 0.17, 1.633, 0.094, 1.061, 1.125, PHS= 0.596,-0.984,-0.067, RAW= 125.3, 6.7, CAL= 133.1, 1.7, ROT= 16.9, -1.7
2025-06-11T21:12:18.384Z,1749676338.384 [DAT](INFO): got valid direction response:
21:12:19.0270 LVL= 24928, 32753, 25458, 32755, AGC= 68, IDX= 315, 0.17, 1.633, 0.094, 1.061, 1.125, PHS= 0.596,-0.984,-0.067, RAW= 125.3, 6.7, CAL= 133.1, 1.7, ROT= 16.9, -1.7
2025-06-11T21:12:18.385Z,1749676338.385 [DAT](INFO): DAT read: Bearing 16.9, -1.7 (Local)
2025-06-11T21:12:18.385Z,1749676338.385 [DAT](INFO): Local bearing/azimuth received:
Bearing 16.9, -1.7 (Local)
2025-06-11T21:12:18.386Z,1749676338.386 [DAT](INFO): DAT read: Range 10 to 50 : 43.2 m (Round-trip 57.7 ms) speed 0.6 m/s
2025-06-11T21:12:18.387Z,1749676338.387 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:12:18.412Z,1749676338.412 [DAT](INFO): direction in FSK: [0.956392,0.290574,0.029666]
2025-06-11T21:12:18.413Z,1749676338.413 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:18.417Z,1749676338.417 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:12:18.417Z,1749676338.417 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:12:18.417Z,1749676338.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:12:18.629Z,1749676338.629 [DAT](INFO): DAT read: user:813>
2025-06-11T21:12:18.630Z,1749676338.630 [DAT](INFO): DAT read: Tx time:21:12:20.4152
2025-06-11T21:12:18.630Z,1749676338.630 [DAT](INFO): Ping request sent.
2025-06-11T21:12:18.630Z,1749676338.630 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:12:18.630Z,1749676338.630 [DAT](INFO): publishing transmit ping time
2025-06-11T21:12:18.631Z,1749676338.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-06-11T21:12:18.790Z,1749676338.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.200001 m,
deltaT: 77.919712 s,
deltaX: -46.600002 m,
approachRate: -0.598052 m/s,
rangeRepo size: 4
2025-06-11T21:12:18.792Z,1749676338.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.833569 m,
bearing: 251.660472 deg,
lat: 36.906660 deg,
lon: -122.115676 deg,
deltaT: 77.919712 s,
deltaX: -46.199017 m,
approachRate: -0.592905 m/s,
posRepo size: 4
2025-06-11T21:12:18.793Z,1749676338.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:12:18.793Z,1749676338.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.20 m.
2025-06-11T21:12:18.796Z,1749676338.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.833569 m,
nav range: 39.937466 m,
bearing: 245.381760 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.032313 deg/s,
cmd heading: 236.021230 deg,
new cmd heading: 236.062107 deg.
2025-06-11T21:12:18.797Z,1749676338.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120061 target range: 42.833569 and range: 43.20 m.
2025-06-11T21:12:18.827Z,1749676338.827 [DockingStepper](INFO): Changing to mode: 2
2025-06-11T21:12:18.827Z,1749676338.827 [DockingStepper](INFO): Armed mode.
2025-06-11T21:12:18.881Z,1749676338.881 [DAT](INFO): DAT read: TxSync time:21:12:20.4144
2025-06-11T21:12:18.882Z,1749676338.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251712
2025-06-11T21:12:18.896Z,1749676338.896 [DockingStepper](INFO): Commanding negative:54494
2025-06-11T21:12:19.133Z,1749676339.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502801
2025-06-11T21:12:19.169Z,1749676339.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:12:19.170Z,1749676339.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.20 m.
2025-06-11T21:12:19.173Z,1749676339.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.833569 m,
nav range: 39.714561 m,
bearing: 245.538637 deg,
approach rate: -0.586931 m/s,
LOS rate: 0.415392 deg/s,
cmd heading: 236.062102 deg,
new cmd heading: 236.535363 deg.
2025-06-11T21:12:19.174Z,1749676339.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128321 target range: 42.833569 and range: 43.20 m.
2025-06-11T21:12:19.385Z,1749676339.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755247
2025-06-11T21:12:19.616Z,1749676339.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:12:19.616Z,1749676339.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.20 m.
2025-06-11T21:12:19.619Z,1749676339.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.833569 m,
nav range: 39.467644 m,
bearing: 245.725215 deg,
approach rate: -0.553077 m/s,
LOS rate: 0.420533 deg/s,
cmd heading: 236.535352 deg,
new cmd heading: 237.098568 deg.
2025-06-11T21:12:19.621Z,1749676339.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138151 target range: 42.833569 and range: 43.20 m.
2025-06-11T21:12:19.637Z,1749676339.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006756
2025-06-11T21:12:19.892Z,1749676339.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261503
2025-06-11T21:12:19.974Z,1749676339.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:12:19.975Z,1749676339.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.20 m.
2025-06-11T21:12:19.978Z,1749676339.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.833569 m,
nav range: 39.269505 m,
bearing: 245.876425 deg,
approach rate: -0.552060 m/s,
LOS rate: 0.423431 deg/s,
cmd heading: 237.098570 deg,
new cmd heading: 237.554480 deg.
2025-06-11T21:12:19.979Z,1749676339.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146108 target range: 42.833569 and range: 43.20 m.
2025-06-11T21:12:20.145Z,1749676340.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514659
2025-06-11T21:12:20.370Z,1749676340.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:20.373Z,1749676340.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:12:20.373Z,1749676340.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.20 m.
2025-06-11T21:12:20.376Z,1749676340.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.833569 m,
nav range: 39.050079 m,
bearing: 246.044711 deg,
approach rate: -0.551171 m/s,
LOS rate: 0.425089 deg/s,
cmd heading: 237.554471 deg,
new cmd heading: 238.062150 deg.
2025-06-11T21:12:20.377Z,1749676340.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154968 target range: 42.833569 and range: 43.20 m.
2025-06-11T21:12:20.397Z,1749676340.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766781
2025-06-11T21:12:20.649Z,1749676340.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018777
2025-06-11T21:12:20.809Z,1749676340.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:12:20.809Z,1749676340.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.20 m.
2025-06-11T21:12:20.812Z,1749676340.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.833569 m,
nav range: 38.812962 m,
bearing: 246.226572 deg,
approach rate: -0.543886 m/s,
LOS rate: 0.419688 deg/s,
cmd heading: 238.062145 deg,
new cmd heading: 238.611043 deg.
2025-06-11T21:12:20.813Z,1749676340.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164548 target range: 42.833569 and range: 43.20 m.
2025-06-11T21:12:20.904Z,1749676340.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274249
2025-06-11T21:12:21.157Z,1749676341.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526612
2025-06-11T21:12:21.213Z,1749676341.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:12:21.214Z,1749676341.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.20 m.
2025-06-11T21:12:21.217Z,1749676341.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.833569 m,
nav range: 38.599957 m,
bearing: 246.392109 deg,
approach rate: -0.526124 m/s,
LOS rate: 0.411135 deg/s,
cmd heading: 238.611047 deg,
new cmd heading: 239.110386 deg.
2025-06-11T21:12:21.218Z,1749676341.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173264 target range: 42.833569 and range: 43.20 m.
2025-06-11T21:12:21.409Z,1749676341.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778904
2025-06-11T21:12:21.659Z,1749676341.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:12:21.659Z,1749676341.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.20 m.
2025-06-11T21:12:21.661Z,1749676341.661 [DAT](INFO): DAT read: Rx Time:21:12:22.8739
2025-06-11T21:12:21.661Z,1749676341.661 [DAT](INFO): Rx dataTimestamp_ set to:1749676341.661143
2025-06-11T21:12:21.662Z,1749676341.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031909
2025-06-11T21:12:21.665Z,1749676341.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.833569 m,
nav range: 38.355782 m,
bearing: 246.575124 deg,
approach rate: -0.548194 m/s,
LOS rate: 0.413499 deg/s,
cmd heading: 239.110388 deg,
new cmd heading: 239.662909 deg.
2025-06-11T21:12:21.666Z,1749676341.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182907 target range: 42.833569 and range: 43.20 m.
2025-06-11T21:12:21.913Z,1749676341.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283399
2025-06-11T21:12:22.090Z,1749676342.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:12:22.091Z,1749676342.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.20 m.
2025-06-11T21:12:22.094Z,1749676342.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.833569 m,
nav range: 38.125935 m,
bearing: 246.747115 deg,
approach rate: -0.532535 m/s,
LOS rate: 0.400889 deg/s,
cmd heading: 239.662896 deg,
new cmd heading: 240.181964 deg.
2025-06-11T21:12:22.095Z,1749676342.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191966 target range: 42.833569 and range: 43.20 m.
2025-06-11T21:12:22.174Z,1749676342.174 [DAT](INFO): DAT read: 21:12:22.8739 LVL= 20304, 25921, 20722, 27619, AGC= 58, IDX= 412,-0.29, 1.385,-0.100, 0.852, 0.975, PHS= 0.498,-1.028,-0.127, RAW= 126.0, 9.9, CAL= 133.0, 5.1, ROT= 17.0, -5.1
2025-06-11T21:12:22.176Z,1749676342.176 [DAT](INFO): got valid direction response:
21:12:22.8739 LVL= 20304, 25921, 20722, 27619, AGC= 58, IDX= 412,-0.29, 1.385,-0.100, 0.852, 0.975, PHS= 0.498,-1.028,-0.127, RAW= 126.0, 9.9, CAL= 133.0, 5.1, ROT= 17.0, -5.1
2025-06-11T21:12:22.177Z,1749676342.177 [DAT](INFO): DAT read: Bearing 17.0, -5.1 (Local)
2025-06-11T21:12:22.178Z,1749676342.178 [DAT](INFO): Local bearing/azimuth received:
Bearing 17.0, -5.1 (Local)
2025-06-11T21:12:22.193Z,1749676342.193 [DAT](INFO): DAT read: Range 10 to 50 : 40.8 m (Round-trip 54.5 ms) speed 0.4 m/s
2025-06-11T21:12:22.194Z,1749676342.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:12:22.195Z,1749676342.195 [DAT](INFO): direction in FSK: [0.952519,0.291214,0.088894]
2025-06-11T21:12:22.196Z,1749676342.196 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:22.206Z,1749676342.206 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:12:22.206Z,1749676342.206 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:12:22.207Z,1749676342.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:12:22.403Z,1749676342.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.799999 m,
deltaT: 3.789133 s,
deltaX: -2.400002 m,
approachRate: -0.633391 m/s,
rangeRepo size: 4
2025-06-11T21:12:22.417Z,1749676342.417 [DAT](INFO): DAT read: user:814>
2025-06-11T21:12:22.418Z,1749676342.418 [DAT](INFO): DAT read: Tx time:21:12:24.2152
2025-06-11T21:12:22.418Z,1749676342.418 [DAT](INFO): Ping request sent.
2025-06-11T21:12:22.418Z,1749676342.418 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:12:22.418Z,1749676342.418 [DAT](INFO): publishing transmit ping time
2025-06-11T21:12:22.419Z,1749676342.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000798
2025-06-11T21:12:22.426Z,1749676342.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.453938 m,
bearing: 253.254315 deg,
lat: 36.906689 deg,
lon: -122.115715 deg,
deltaT: 3.789133 s,
deltaX: -2.379631 m,
approachRate: -0.628015 m/s,
posRepo size: 4
2025-06-11T21:12:22.426Z,1749676342.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:12:22.427Z,1749676342.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 40.80 m.
2025-06-11T21:12:22.434Z,1749676342.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.453938 m,
nav range: 40.180744 m,
bearing: 253.028516 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.400889 deg/s,
cmd heading: 240.181963 deg,
new cmd heading: 240.557637 deg.
2025-06-11T21:12:22.435Z,1749676342.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198523 target range: 40.453938 and range: 40.80 m.
2025-06-11T21:12:22.635Z,1749676342.635 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:12:22.669Z,1749676342.669 [DAT](INFO): DAT read: TxSync time:21:12:24.2144
2025-06-11T21:12:22.670Z,1749676342.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251901
2025-06-11T21:12:22.838Z,1749676342.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:22.840Z,1749676342.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:12:22.841Z,1749676342.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 40.80 m.
2025-06-11T21:12:22.844Z,1749676342.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.453938 m,
nav range: 39.958229 m,
bearing: 253.213456 deg,
approach rate: -0.509264 m/s,
LOS rate: 0.425623 deg/s,
cmd heading: 240.557651 deg,
new cmd heading: 241.115541 deg.
2025-06-11T21:12:22.845Z,1749676342.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208260 target range: 40.453938 and range: 40.80 m.
2025-06-11T21:12:22.922Z,1749676342.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503886
2025-06-11T21:12:23.173Z,1749676343.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754831
2025-06-11T21:12:23.287Z,1749676343.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:12:23.288Z,1749676343.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 40.80 m.
2025-06-11T21:12:23.291Z,1749676343.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.453938 m,
nav range: 39.738770 m,
bearing: 253.396276 deg,
approach rate: -0.490579 m/s,
LOS rate: 0.410932 deg/s,
cmd heading: 241.115540 deg,
new cmd heading: 241.667012 deg.
2025-06-11T21:12:23.291Z,1749676343.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217885 target range: 40.453938 and range: 40.80 m.
2025-06-11T21:12:23.425Z,1749676343.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006781
2025-06-11T21:12:23.636Z,1749676343.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:12:23.677Z,1749676343.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258931
2025-06-11T21:12:23.707Z,1749676343.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:12:23.707Z,1749676343.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 40.80 m.
2025-06-11T21:12:23.714Z,1749676343.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.453938 m,
nav range: 39.519409 m,
bearing: 253.573812 deg,
approach rate: -0.522822 m/s,
LOS rate: 0.425486 deg/s,
cmd heading: 241.667010 deg,
new cmd heading: 242.202558 deg.
2025-06-11T21:12:23.715Z,1749676343.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227232 target range: 40.453938 and range: 40.80 m.
2025-06-11T21:12:23.930Z,1749676343.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511376
2025-06-11T21:12:24.055Z,1749676344.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:12:24.056Z,1749676344.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 40.80 m.
2025-06-11T21:12:24.059Z,1749676344.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.453938 m,
nav range: 39.331150 m,
bearing: 253.726059 deg,
approach rate: -0.539819 m/s,
LOS rate: 0.438646 deg/s,
cmd heading: 242.202551 deg,
new cmd heading: 242.661469 deg.
2025-06-11T21:12:24.060Z,1749676344.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.235241 target range: 40.453938 and range: 40.80 m.
2025-06-11T21:12:24.181Z,1749676344.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762855
2025-06-11T21:12:24.433Z,1749676344.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014834
2025-06-11T21:12:24.459Z,1749676344.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:12:24.480Z,1749676344.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 40.80 m.
2025-06-11T21:12:24.483Z,1749676344.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.453938 m,
nav range: 39.119717 m,
bearing: 253.895554 deg,
approach rate: -0.523245 m/s,
LOS rate: 0.421724 deg/s,
cmd heading: 242.661458 deg,
new cmd heading: 243.172676 deg.
2025-06-11T21:12:24.488Z,1749676344.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244164 target range: 40.453938 and range: 40.80 m.
2025-06-11T21:12:24.685Z,1749676344.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266816
2025-06-11T21:12:24.866Z,1749676344.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:24.868Z,1749676344.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:12:24.869Z,1749676344.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 40.80 m.
2025-06-11T21:12:24.869Z,1749676344.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 40.80 m.
2025-06-11T21:12:24.869Z,1749676344.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-11T21:12:24.872Z,1749676344.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.453938 m,
nav range: 38.901188 m,
bearing: 254.064470 deg,
approach rate: -0.535044 m/s,
LOS rate: 0.415895 deg/s,
cmd heading: 243.172684 deg,
new cmd heading: 243.682264 deg.
2025-06-11T21:12:24.873Z,1749676344.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253058 target range: 40.453938 and range: 40.80 m.
2025-06-11T21:12:24.938Z,1749676344.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519900
2025-06-11T21:12:25.189Z,1749676345.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770820
2025-06-11T21:12:25.249Z,1749676345.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:12:25.251Z,1749676345.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.453938 m,
nav range: 38.696640 m,
bearing: 254.221693 deg,
approach rate: -0.537394 m/s,
LOS rate: 0.415245 deg/s,
cmd heading: 243.682271 deg,
new cmd heading: 244.156423 deg.
2025-06-11T21:12:25.252Z,1749676345.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261333 target range: 40.453938 and range: 40.80 m.
2025-06-11T21:12:25.441Z,1749676345.441 [DAT](INFO): DAT read: Rx Time:21:12:26.6716
2025-06-11T21:12:25.441Z,1749676345.441 [DAT](INFO): Rx dataTimestamp_ set to:1749676345.441006
2025-06-11T21:12:25.442Z,1749676345.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023889
2025-06-11T21:12:25.693Z,1749676345.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275238
2025-06-11T21:12:25.735Z,1749676345.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-06-11T21:12:25.738Z,1749676345.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.453938 m,
nav range: 38.431080 m,
bearing: 254.427060 deg,
approach rate: -0.545766 m/s,
LOS rate: 0.424977 deg/s,
cmd heading: 244.156423 deg,
new cmd heading: 244.776757 deg.
2025-06-11T21:12:25.739Z,1749676345.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272161 target range: 40.453938 and range: 40.80 m.
2025-06-11T21:12:25.951Z,1749676345.951 [DAT](INFO): DAT read: 21:12:26.6716 LVL= 23024, 32753, 23298, 32755, AGC= 63, IDX= 419,-0.21, 0.952,-0.555, 0.511, 0.421, PHS= 0.619,-0.928, 0.087, RAW= 130.2, 3.3, CAL= 136.5, -3.8, ROT= 13.5, 3.8
2025-06-11T21:12:25.970Z,1749676345.970 [DAT](INFO): got valid direction response:
21:12:26.6716 LVL= 23024, 32753, 23298, 32755, AGC= 63, IDX= 419,-0.21, 0.952,-0.555, 0.511, 0.421, PHS= 0.619,-0.928, 0.087, RAW= 130.2, 3.3, CAL= 136.5, -3.8, ROT= 13.5, 3.8
2025-06-11T21:12:25.979Z,1749676345.979 [DAT](INFO): DAT read: Bearing 13.5, 3.8 (Local)
2025-06-11T21:12:25.987Z,1749676345.987 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.5, 3.8 (Local)
2025-06-11T21:12:25.997Z,1749676345.997 [DAT](INFO): DAT read: Range 10 to 50 : 39.1 m (Round-trip 52.2 ms) speed 0.4 m/s
2025-06-11T21:12:25.998Z,1749676345.998 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:12:26.004Z,1749676346.004 [DAT](INFO): direction in FSK: [0.970232,0.232932,-0.066274]
2025-06-11T21:12:26.005Z,1749676346.005 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:26.021Z,1749676346.021 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:12:26.021Z,1749676346.021 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:12:26.022Z,1749676346.022 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:12:26.127Z,1749676346.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.099998 m,
deltaT: 3.778909 s,
deltaX: -1.700001 m,
approachRate: -0.449865 m/s,
rangeRepo size: 4
2025-06-11T21:12:26.141Z,1749676346.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.768570 m,
bearing: 254.121742 deg,
lat: 36.906689 deg,
lon: -122.115720 deg,
deltaT: 3.778909 s,
deltaX: -1.685368 m,
approachRate: -0.445993 m/s,
posRepo size: 4
2025-06-11T21:12:26.141Z,1749676346.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.77 m.
2025-06-11T21:12:26.148Z,1749676346.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.768570 m,
nav range: 38.645359 m,
bearing: 254.739569 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.424977 deg/s,
cmd heading: 244.776768 deg,
new cmd heading: 245.275628 deg.
2025-06-11T21:12:26.149Z,1749676346.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280867 target range: 38.768570 and range: 39.10 m.
2025-06-11T21:12:26.197Z,1749676346.197 [DAT](INFO): DAT read: user:815>
2025-06-11T21:12:26.199Z,1749676346.199 [DAT](INFO): DAT read: Tx time:21:12:28.0153
2025-06-11T21:12:26.199Z,1749676346.199 [DAT](INFO): Ping request sent.
2025-06-11T21:12:26.199Z,1749676346.199 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:12:26.199Z,1749676346.199 [DAT](INFO): publishing transmit ping time
2025-06-11T21:12:26.201Z,1749676346.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001207
2025-06-11T21:12:26.449Z,1749676346.449 [DAT](INFO): DAT read: TxSync time:21:12:28.0145
2025-06-11T21:12:26.450Z,1749676346.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250448
2025-06-11T21:12:26.496Z,1749676346.496 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-11T21:12:26.496Z,1749676346.496 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:12:26.496Z,1749676346.496 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-11T21:12:26.498Z,1749676346.498 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.099998 m (mode 2.000000 count ).
2025-06-11T21:12:26.498Z,1749676346.498 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-11T21:12:26.498Z,1749676346.498 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-11T21:12:26.506Z,1749676346.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.77 m.
2025-06-11T21:12:26.513Z,1749676346.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.768570 m,
nav range: 38.423809 m,
bearing: 254.904881 deg,
approach rate: -0.592944 m/s,
LOS rate: 0.444983 deg/s,
cmd heading: 245.275617 deg,
new cmd heading: 245.774401 deg.
2025-06-11T21:12:26.514Z,1749676346.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289573 target range: 38.768570 and range: 39.10 m.
2025-06-11T21:12:26.701Z,1749676346.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501802
2025-06-11T21:12:26.881Z,1749676346.881 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-11T21:12:26.881Z,1749676346.881 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-11T21:12:26.882Z,1749676346.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:26.885Z,1749676346.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.77 m.
2025-06-11T21:12:26.887Z,1749676346.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.768570 m,
nav range: 38.204372 m,
bearing: 255.069779 deg,
approach rate: -0.571710 m/s,
LOS rate: 0.432085 deg/s,
cmd heading: 245.774413 deg,
new cmd heading: 246.271935 deg.
2025-06-11T21:12:26.889Z,1749676346.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298256 target range: 38.768570 and range: 39.10 m.
2025-06-11T21:12:26.954Z,1749676346.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754624
2025-06-11T21:12:27.205Z,1749676347.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005656
2025-06-11T21:12:27.273Z,1749676347.273 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-11T21:12:27.273Z,1749676347.273 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-11T21:12:27.275Z,1749676347.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.77 m.
2025-06-11T21:12:27.291Z,1749676347.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.768570 m,
nav range: 37.985500 m,
bearing: 255.233489 deg,
approach rate: -0.559376 m/s,
LOS rate: 0.420807 deg/s,
cmd heading: 246.271924 deg,
new cmd heading: 246.765870 deg.
2025-06-11T21:12:27.297Z,1749676347.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306877 target range: 38.768570 and range: 39.10 m.
2025-06-11T21:12:27.457Z,1749676347.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257831
2025-06-11T21:12:27.709Z,1749676347.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509713
2025-06-11T21:12:27.743Z,1749676347.743 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-11T21:12:27.743Z,1749676347.743 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:12:27.743Z,1749676347.743 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-11T21:12:27.743Z,1749676347.743 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:12:27.766Z,1749676347.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.77 m.
2025-06-11T21:12:27.773Z,1749676347.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.768570 m,
nav range: 37.723320 m,
bearing: 255.430496 deg,
approach rate: -0.534323 m/s,
LOS rate: 0.404290 deg/s,
cmd heading: 246.765883 deg,
new cmd heading: 247.360991 deg.
2025-06-11T21:12:27.774Z,1749676347.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317264 target range: 38.768570 and range: 39.10 m.
2025-06-11T21:12:27.961Z,1749676347.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761809
2025-06-11T21:12:28.133Z,1749676348.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.77 m.
2025-06-11T21:12:28.136Z,1749676348.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.768570 m,
nav range: 37.506721 m,
bearing: 255.591110 deg,
approach rate: -0.591520 m/s,
LOS rate: 0.441161 deg/s,
cmd heading: 247.360984 deg,
new cmd heading: 247.845595 deg.
2025-06-11T21:12:28.137Z,1749676348.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325722 target range: 38.768570 and range: 39.10 m.
2025-06-11T21:12:28.214Z,1749676348.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014724
2025-06-11T21:12:28.465Z,1749676348.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265652
2025-06-11T21:12:28.520Z,1749676348.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.77 m.
2025-06-11T21:12:28.523Z,1749676348.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.768570 m,
nav range: 37.303207 m,
bearing: 255.743926 deg,
approach rate: -0.524203 m/s,
LOS rate: 0.395764 deg/s,
cmd heading: 247.845599 deg,
new cmd heading: 248.306537 deg.
2025-06-11T21:12:28.528Z,1749676348.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333766 target range: 38.768570 and range: 39.10 m.
2025-06-11T21:12:28.717Z,1749676348.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517605
2025-06-11T21:12:28.928Z,1749676348.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:28.931Z,1749676348.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.77 m.
2025-06-11T21:12:28.935Z,1749676348.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.768570 m,
nav range: 37.065498 m,
bearing: 255.927721 deg,
approach rate: -0.579169 m/s,
LOS rate: 0.450681 deg/s,
cmd heading: 248.306528 deg,
new cmd heading: 248.861431 deg.
2025-06-11T21:12:28.936Z,1749676348.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343451 target range: 38.768570 and range: 39.10 m.
2025-06-11T21:12:28.969Z,1749676348.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769793
2025-06-11T21:12:29.221Z,1749676349.221 [DAT](INFO): DAT read: Rx Time:21:12:30.4689
2025-06-11T21:12:29.221Z,1749676349.221 [DAT](INFO): Rx dataTimestamp_ set to:1749676349.221011
2025-06-11T21:12:29.222Z,1749676349.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022747
2025-06-11T21:12:29.312Z,1749676349.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.77 m.
2025-06-11T21:12:29.315Z,1749676349.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.768570 m,
nav range: 36.861122 m,
bearing: 256.083970 deg,
approach rate: -0.536249 m/s,
LOS rate: 0.412244 deg/s,
cmd heading: 248.861439 deg,
new cmd heading: 249.332774 deg.
2025-06-11T21:12:29.316Z,1749676349.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351678 target range: 38.768570 and range: 39.10 m.
2025-06-11T21:12:29.473Z,1749676349.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273654
2025-06-11T21:12:29.730Z,1749676349.730 [DAT](INFO): DAT read: 21:12:30.4689 LVL= 25024, 32753, 28914, 32755, AGC= 65, IDX= 407,-0.42,-1.548,-3.138,-1.996,-2.165, PHS= 0.705,-0.926, 0.166, RAW= 131.1, 0.8, CAL= 137.0, -7.5, ROT= 13.0, 7.5
2025-06-11T21:12:29.731Z,1749676349.731 [DAT](INFO): got valid direction response:
21:12:30.4689 LVL= 25024, 32753, 28914, 32755, AGC= 65, IDX= 407,-0.42,-1.548,-3.138,-1.996,-2.165, PHS= 0.705,-0.926, 0.166, RAW= 131.1, 0.8, CAL= 137.0, -7.5, ROT= 13.0, 7.5
2025-06-11T21:12:29.733Z,1749676349.733 [DAT](INFO): DAT read: Bearing 13.0, 7.5 (Local)
2025-06-11T21:12:29.733Z,1749676349.733 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.0, 7.5 (Local)
2025-06-11T21:12:29.734Z,1749676349.734 [DAT](INFO): DAT read: Range 10 to 50 : 37.1 m (Round-trip 49.5 ms) speed 0.5 m/s
2025-06-11T21:12:29.735Z,1749676349.735 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:12:29.736Z,1749676349.736 [DAT](INFO): direction in FSK: [0.966034,0.223027,-0.130526]
2025-06-11T21:12:29.736Z,1749676349.736 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:29.748Z,1749676349.748 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:12:29.748Z,1749676349.748 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:12:29.748Z,1749676349.748 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:12:29.865Z,1749676349.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.099998 m,
deltaT: 3.779882 s,
deltaX: -2.000000 m,
approachRate: -0.529117 m/s,
rangeRepo size: 4
2025-06-11T21:12:29.867Z,1749676349.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.785782 m,
bearing: 259.400182 deg,
lat: 36.906690 deg,
lon: -122.115724 deg,
deltaT: 3.779882 s,
deltaX: -1.982788 m,
approachRate: -0.524563 m/s,
posRepo size: 4
2025-06-11T21:12:29.876Z,1749676349.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.79 m.
2025-06-11T21:12:29.879Z,1749676349.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.785782 m,
nav range: 36.849079 m,
bearing: 256.695965 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.412244 deg/s,
cmd heading: 249.332777 deg,
new cmd heading: 250.016400 deg.
2025-06-11T21:12:29.884Z,1749676349.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363609 target range: 36.785782 and range: 37.10 m.
2025-06-11T21:12:29.977Z,1749676349.977 [DAT](INFO): DAT read: user:816>
2025-06-11T21:12:29.978Z,1749676349.978 [DAT](INFO): DAT read: Tx time:21:12:31.7653
2025-06-11T21:12:29.978Z,1749676349.978 [DAT](INFO): Ping request sent.
2025-06-11T21:12:29.978Z,1749676349.978 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:12:29.978Z,1749676349.978 [DAT](INFO): publishing transmit ping time
2025-06-11T21:12:29.979Z,1749676349.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001165
2025-06-11T21:12:30.187Z,1749676350.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.79 m.
2025-06-11T21:12:30.195Z,1749676350.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.785782 m,
nav range: 36.667973 m,
bearing: 256.840676 deg,
approach rate: -0.561428 m/s,
LOS rate: 0.450817 deg/s,
cmd heading: 250.016397 deg,
new cmd heading: 250.452665 deg.
2025-06-11T21:12:30.195Z,1749676350.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371223 target range: 36.785782 and range: 37.10 m.
2025-06-11T21:12:30.229Z,1749676350.229 [DAT](INFO): DAT read: TxSync time:21:12:31.7645
2025-06-11T21:12:30.230Z,1749676350.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251825
2025-06-11T21:12:30.481Z,1749676350.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502776
2025-06-11T21:12:30.564Z,1749676350.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.79 m.
2025-06-11T21:12:30.567Z,1749676350.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.785782 m,
nav range: 36.458523 m,
bearing: 257.006594 deg,
approach rate: -0.556297 m/s,
LOS rate: 0.443207 deg/s,
cmd heading: 250.452655 deg,
new cmd heading: 250.953254 deg.
2025-06-11T21:12:30.568Z,1749676350.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379961 target range: 36.785782 and range: 37.10 m.
2025-06-11T21:12:30.733Z,1749676350.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754775
2025-06-11T21:12:30.986Z,1749676350.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007676
2025-06-11T21:12:31.041Z,1749676351.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:31.043Z,1749676351.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.79 m.
2025-06-11T21:12:31.050Z,1749676351.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.785782 m,
nav range: 36.216980 m,
bearing: 257.208844 deg,
approach rate: -0.503847 m/s,
LOS rate: 0.424698 deg/s,
cmd heading: 250.953253 deg,
new cmd heading: 251.564027 deg.
2025-06-11T21:12:31.051Z,1749676351.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390621 target range: 36.785782 and range: 37.10 m.
2025-06-11T21:12:31.237Z,1749676351.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258768
2025-06-11T21:12:31.396Z,1749676351.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.79 m.
2025-06-11T21:12:31.399Z,1749676351.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.785782 m,
nav range: 36.021374 m,
bearing: 257.374903 deg,
approach rate: -0.554590 m/s,
LOS rate: 0.473372 deg/s,
cmd heading: 251.564036 deg,
new cmd heading: 252.064904 deg.
2025-06-11T21:12:31.400Z,1749676351.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399363 target range: 36.785782 and range: 37.10 m.
2025-06-11T21:12:31.489Z,1749676351.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510861
2025-06-11T21:12:31.752Z,1749676351.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765330
2025-06-11T21:12:31.831Z,1749676351.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.79 m.
2025-06-11T21:12:31.838Z,1749676351.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.785782 m,
nav range: 35.801472 m,
bearing: 257.558774 deg,
approach rate: -0.505083 m/s,
LOS rate: 0.424917 deg/s,
cmd heading: 252.064907 deg,
new cmd heading: 252.619888 deg.
2025-06-11T21:12:31.839Z,1749676351.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409049 target range: 36.785782 and range: 37.10 m.
2025-06-11T21:12:31.993Z,1749676351.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766
2025-06-11T21:12:32.187Z,1749676352.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.79 m.
2025-06-11T21:12:32.191Z,1749676352.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.785782 m,
nav range: 35.605186 m,
bearing: 257.720536 deg,
approach rate: -0.551253 m/s,
LOS rate: 0.456802 deg/s,
cmd heading: 252.619901 deg,
new cmd heading: 253.107851 deg.
2025-06-11T21:12:32.196Z,1749676352.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417565 target range: 36.785782 and range: 37.10 m.
2025-06-11T21:12:32.246Z,1749676352.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267568
2025-06-11T21:12:32.497Z,1749676352.497 [DAT](INFO): DAT read: Rx Time:21:12:33.9412
2025-06-11T21:12:32.498Z,1749676352.498 [DAT](INFO): Rx dataTimestamp_ set to:1749676352.497629
2025-06-11T21:12:32.499Z,1749676352.499 [DAT](INFO): DAT read: Bearing 14.8, 9.9 (Local)
2025-06-11T21:12:32.500Z,1749676352.500 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.8, 9.9 (Local)
2025-06-11T21:12:32.502Z,1749676352.502 [DAT](INFO): DAT read: Range 10 to 50 : 35.1 m (trip time 23.4 ms) speed 0.4
2025-06-11T21:12:32.507Z,1749676352.507 [DAT](INFO): DAT read: 21:12:33.9412 LVL= 24560, 20433, 20466, 31187, AGC= 63, IDX= 155,-0.43, 2.135, 0.593, 1.656, 1.484, PHS= 0.739,-0.844, 0.169, RAW= 129.2, -0.9, CAL= 135.2, -9.9, ROT= 14.8, 9.9
2025-06-11T21:12:32.509Z,1749676352.509 [DAT](INFO): got valid direction response:
21:12:33.9412 LVL= 24560, 20433, 20466, 31187, AGC= 63, IDX= 155,-0.43, 2.135, 0.593, 1.656, 1.484, PHS= 0.739,-0.844, 0.169, RAW= 129.2, -0.9, CAL= 135.2, -9.9, ROT= 14.8, 9.9
2025-06-11T21:12:32.509Z,1749676352.509 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:12:32.510Z,1749676352.510 [DAT](INFO): direction in FSK: [0.952427,0.251642,-0.171929]
2025-06-11T21:12:32.510Z,1749676352.510 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:32.514Z,1749676352.514 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.536051
2025-06-11T21:12:32.659Z,1749676352.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.099998 m,
deltaT: 2.773314 s,
deltaX: -2.000000 m,
approachRate: -0.721159 m/s,
rangeRepo size: 4
2025-06-11T21:12:32.670Z,1749676352.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.802795 m,
bearing: 265.503526 deg,
lat: 36.906690 deg,
lon: -122.115723 deg,
deltaT: 2.773314 s,
deltaX: -1.982986 m,
approachRate: -0.715024 m/s,
posRepo size: 4
2025-06-11T21:12:32.671Z,1749676352.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-06-11T21:12:32.686Z,1749676352.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.802795 m,
nav range: 35.314930 m,
bearing: 257.889551 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.456802 deg/s,
cmd heading: 253.107850 deg,
new cmd heading: 253.744299 deg.
2025-06-11T21:12:32.694Z,1749676352.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428673 target range: 34.802795 and range: 35.10 m.
2025-06-11T21:12:32.749Z,1749676352.749 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770965
2025-06-11T21:12:33.001Z,1749676353.001 [DAT](INFO): DAT read: Rx Time:21:12:34.4409
2025-06-11T21:12:33.002Z,1749676353.002 [DAT](INFO): Rx dataTimestamp_ set to:1749676353.001652
2025-06-11T21:12:33.003Z,1749676353.003 [DAT](INFO): DAT read: Bearing 14.6, 10.0 (Local)
2025-06-11T21:12:33.004Z,1749676353.004 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.6, 10.0 (Local)
2025-06-11T21:12:33.006Z,1749676353.006 [DAT](INFO): DAT read: Range 10 to 50 : 34.7 m (trip time 23.1 ms) speed 0.4
2025-06-11T21:12:33.011Z,1749676353.011 [DAT](INFO): DAT read: 21:12:34.4409 LVL= 22576, 27569, 19442, 32755, AGC= 61, IDX= 504,-0.03, 1.051,-0.451, 0.593, 0.419, PHS= 0.720,-0.824, 0.171, RAW= 129.5, -1.0, CAL= 135.4, -10.0, ROT= 14.6, 10.0
2025-06-11T21:12:33.012Z,1749676353.012 [DAT](INFO): got valid direction response:
21:12:34.4409 LVL= 22576, 27569, 19442, 32755, AGC= 61, IDX= 504,-0.03, 1.051,-0.451, 0.593, 0.419, PHS= 0.720,-0.824, 0.171, RAW= 129.5, -1.0, CAL= 135.4, -10.0, ROT= 14.6, 10.0
2025-06-11T21:12:33.012Z,1749676353.012 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-11T21:12:33.013Z,1749676353.013 [DAT](INFO): direction in FSK: [0.953007,0.248240,-0.173648]
2025-06-11T21:12:33.014Z,1749676353.014 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:33.021Z,1749676353.021 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.043296
2025-06-11T21:12:33.101Z,1749676353.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.700001 m,
deltaT: 0.504023 s,
deltaX: -0.399998 m,
approachRate: -0.793610 m/s,
rangeRepo size: 4
2025-06-11T21:12:33.103Z,1749676353.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.406185 m,
bearing: 265.321568 deg,
lat: 36.906706 deg,
lon: -122.115721 deg,
deltaT: 0.504023 s,
deltaX: -0.396610 m,
approachRate: -0.786889 m/s,
posRepo size: 4
2025-06-11T21:12:33.108Z,1749676353.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.41 m.
2025-06-11T21:12:33.111Z,1749676353.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.406185 m,
nav range: 34.565975 m,
bearing: 260.778964 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.456802 deg/s,
cmd heading: 253.744287 deg,
new cmd heading: 254.359239 deg.
2025-06-11T21:12:33.124Z,1749676353.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439406 target range: 34.406185 and range: 34.70 m.
2025-06-11T21:12:33.253Z,1749676353.253 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274872
2025-06-11T21:12:33.479Z,1749676353.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:33.486Z,1749676353.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.41 m.
2025-06-11T21:12:33.493Z,1749676353.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.406185 m,
nav range: 34.348194 m,
bearing: 260.968553 deg,
approach rate: -0.565481 m/s,
LOS rate: 0.495401 deg/s,
cmd heading: 254.359250 deg,
new cmd heading: 254.931605 deg.
2025-06-11T21:12:33.493Z,1749676353.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449396 target range: 34.406185 and range: 34.70 m.
2025-06-11T21:12:33.506Z,1749676353.506 [DAT](INFO): DAT read: Rx Time:21:12:34.9409
2025-06-11T21:12:33.506Z,1749676353.506 [DAT](INFO): Rx dataTimestamp_ set to:1749676353.505748
2025-06-11T21:12:33.507Z,1749676353.507 [DAT](INFO): DAT read: Bearing 13.7, 11.7 (Local)
2025-06-11T21:12:33.508Z,1749676353.508 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.7, 11.7 (Local)
2025-06-11T21:12:33.510Z,1749676353.510 [DAT](INFO): DAT read: Range 10 to 50 : 34.7 m (trip time 23.1 ms) speed 0.4
2025-06-11T21:12:33.515Z,1749676353.515 [DAT](INFO): DAT read: 21:12:34.9409 LVL= 22000, 26289, 20306, 32755, AGC= 62, IDX= 503, 0.30,-2.248, 2.514,-2.684,-2.905, PHS= 0.744,-0.818, 0.218, RAW= 130.7, -2.1, CAL= 136.3, -11.7, ROT= 13.7, 11.7
2025-06-11T21:12:33.516Z,1749676353.516 [DAT](INFO): got valid direction response:
21:12:34.9409 LVL= 22000, 26289, 20306, 32755, AGC= 62, IDX= 503, 0.30,-2.248, 2.514,-2.684,-2.905, PHS= 0.744,-0.818, 0.218, RAW= 130.7, -2.1, CAL= 136.3, -11.7, ROT= 13.7, 11.7
2025-06-11T21:12:33.516Z,1749676353.516 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-11T21:12:33.517Z,1749676353.517 [DAT](INFO): direction in FSK: [0.951363,0.231917,-0.202787]
2025-06-11T21:12:33.518Z,1749676353.518 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:33.525Z,1749676353.525 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.547428
2025-06-11T21:12:33.760Z,1749676353.760 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.781094
2025-06-11T21:12:33.959Z,1749676353.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.700001 m,
deltaT: 0.504096 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:33.962Z,1749676353.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.406132 m,
bearing: 266.435151 deg,
lat: 36.906730 deg,
lon: -122.115723 deg,
deltaT: 0.504096 s,
deltaX: -0.000053 m,
approachRate: -0.000106 m/s,
posRepo size: 4
2025-06-11T21:12:33.963Z,1749676353.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.41 m.
2025-06-11T21:12:33.965Z,1749676353.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.406132 m,
nav range: 34.026844 m,
bearing: 265.787045 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.495401 deg/s,
cmd heading: 254.931593 deg,
new cmd heading: 255.634261 deg.
2025-06-11T21:12:33.966Z,1749676353.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461659 target range: 34.406132 and range: 34.70 m.
2025-06-11T21:12:34.011Z,1749676354.011 [DAT](INFO): DAT read: Rx Time:21:12:35.4406
2025-06-11T21:12:34.012Z,1749676354.012 [DAT](INFO): Rx dataTimestamp_ set to:1749676354.011162
2025-06-11T21:12:34.014Z,1749676354.014 [DAT](INFO): DAT read: Bearing 14.4, 11.0 (Local)
2025-06-11T21:12:34.015Z,1749676354.015 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.4, 11.0 (Local)
2025-06-11T21:12:34.019Z,1749676354.019 [DAT](INFO): DAT read: Range 10 to 50 : 34.2 m (trip time 22.8 ms) speed 0.4
2025-06-11T21:12:34.023Z,1749676354.023 [DAT](INFO): DAT read: 21:12:35.4406 LVL= 22096, 25681, 20930, 31427, AGC= 61, IDX= 501,-0.19, 1.200,-0.309, 0.747, 0.552, PHS= 0.736,-0.814, 0.192, RAW= 129.8, -1.7, CAL= 135.6, -11.0, ROT= 14.4, 11.0
2025-06-11T21:12:34.029Z,1749676354.029 [DAT](INFO): got valid direction response:
21:12:35.4406 LVL= 22096, 25681, 20930, 31427, AGC= 61, IDX= 501,-0.19, 1.200,-0.309, 0.747, 0.552, PHS= 0.736,-0.814, 0.192, RAW= 129.8, -1.7, CAL= 135.6, -11.0, ROT= 14.4, 11.0
2025-06-11T21:12:34.029Z,1749676354.029 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-11T21:12:34.030Z,1749676354.030 [DAT](INFO): direction in FSK: [0.950788,0.244121,-0.190809]
2025-06-11T21:12:34.030Z,1749676354.030 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:34.052Z,1749676354.052 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.069511
2025-06-11T21:12:34.261Z,1749676354.261 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282782
2025-06-11T21:12:34.350Z,1749676354.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.200001 m,
deltaT: 0.505414 s,
deltaX: -0.500000 m,
approachRate: -0.989288 m/s,
rangeRepo size: 4
2025-06-11T21:12:34.356Z,1749676354.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.910366 m,
bearing: 267.567669 deg,
lat: 36.906732 deg,
lon: -122.115723 deg,
deltaT: 0.505414 s,
deltaX: -0.495766 m,
approachRate: -0.980910 m/s,
posRepo size: 4
2025-06-11T21:12:34.357Z,1749676354.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:12:34.364Z,1749676354.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.910366 m,
nav range: 33.833797 m,
bearing: 266.329071 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.495401 deg/s,
cmd heading: 255.634255 deg,
new cmd heading: 256.215407 deg.
2025-06-11T21:12:34.389Z,1749676354.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471802 target range: 33.910366 and range: 34.20 m.
2025-06-11T21:12:34.514Z,1749676354.514 [DAT](INFO): DAT read: Rx Time:21:12:35.9404
2025-06-11T21:12:34.515Z,1749676354.515 [DAT](INFO): Rx dataTimestamp_ set to:1749676354.514629
2025-06-11T21:12:34.517Z,1749676354.517 [DAT](INFO): DAT read: Bearing 13.4, 11.8 (Local)
2025-06-11T21:12:34.518Z,1749676354.518 [DAT](INFO): Local bearing/azimuth received:
Bearing 13.4, 11.8 (Local)
2025-06-11T21:12:34.521Z,1749676354.521 [DAT](INFO): DAT read: Range 10 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4
2025-06-11T21:12:34.530Z,1749676354.530 [DAT](INFO): DAT read: 21:12:35.9404 LVL= 23600, 24353, 17906, 28659, AGC= 61, IDX= 499, 0.08, 2.998, 1.476, 2.571, 2.342, PHS= 0.744,-0.819, 0.225, RAW= 131.0, -2.2, CAL= 136.6, -11.8, ROT= 13.4, 11.8
2025-06-11T21:12:34.531Z,1749676354.531 [DAT](INFO): got valid direction response:
21:12:35.9404 LVL= 23600, 24353, 17906, 28659, AGC= 61, IDX= 499, 0.08, 2.998, 1.476, 2.571, 2.342, PHS= 0.744,-0.819, 0.225, RAW= 131.0, -2.2, CAL= 136.6, -11.8, ROT= 13.4, 11.8
2025-06-11T21:12:34.531Z,1749676354.531 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-11T21:12:34.532Z,1749676354.532 [DAT](INFO): direction in FSK: [0.952219,0.226850,-0.204496]
2025-06-11T21:12:34.533Z,1749676354.533 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:34.542Z,1749676354.542 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.563970
2025-06-11T21:12:34.768Z,1749676354.768 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.789448
2025-06-11T21:12:34.798Z,1749676354.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.900002 m,
deltaT: 0.503467 s,
deltaX: -0.299999 m,
approachRate: -0.595867 m/s,
rangeRepo size: 4
2025-06-11T21:12:34.805Z,1749676354.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.612976 m,
bearing: 266.703837 deg,
lat: 36.906733 deg,
lon: -122.115722 deg,
deltaT: 0.503467 s,
deltaX: -0.297390 m,
approachRate: -0.590684 m/s,
posRepo size: 4
2025-06-11T21:12:34.805Z,1749676354.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.61 m.
2025-06-11T21:12:34.813Z,1749676354.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.612976 m,
nav range: 33.516079 m,
bearing: 266.723818 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.495401 deg/s,
cmd heading: 256.215395 deg,
new cmd heading: 256.881704 deg.
2025-06-11T21:12:34.814Z,1749676354.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483431 target range: 33.612976 and range: 33.90 m.
2025-06-11T21:12:35.018Z,1749676355.018 [DAT](INFO): DAT read: Rx Time:21:12:36.4403
2025-06-11T21:12:35.018Z,1749676355.018 [DAT](INFO): Rx dataTimestamp_ set to:1749676355.017925
2025-06-11T21:12:35.020Z,1749676355.020 [DAT](INFO): DAT read: Bearing 12.4, 12.4 (Local)
2025-06-11T21:12:35.020Z,1749676355.020 [DAT](INFO): Local bearing/azimuth received:
Bearing 12.4, 12.4 (Local)
2025-06-11T21:12:35.022Z,1749676355.022 [DAT](INFO): DAT read: Range 10 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4
2025-06-11T21:12:35.027Z,1749676355.027 [DAT](INFO): DAT read: 21:12:36.4403 LVL= 23280, 25377, 20610, 31891, AGC= 61, IDX= 496, 0.49, 2.228, 0.732, 1.834, 1.583, PHS= 0.733,-0.805, 0.248, RAW= 132.0, -2.6, CAL= 137.6, -12.4, ROT= 12.4, 12.4
2025-06-11T21:12:35.028Z,1749676355.028 [DAT](INFO): got valid direction response:
21:12:36.4403 LVL= 23280, 25377, 20610, 31891, AGC= 61, IDX= 496, 0.49, 2.228, 0.732, 1.834, 1.583, PHS= 0.733,-0.805, 0.248, RAW= 132.0, -2.6, CAL= 137.6, -12.4, ROT= 12.4, 12.4
2025-06-11T21:12:35.029Z,1749676355.029 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-11T21:12:35.030Z,1749676355.030 [DAT](INFO): direction in FSK: [0.953889,0.209726,-0.214735]
2025-06-11T21:12:35.030Z,1749676355.030 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:35.034Z,1749676355.034 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.055939
2025-06-11T21:12:35.259Z,1749676355.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.799999 m,
deltaT: 0.503296 s,
deltaX: -0.100002 m,
approachRate: -0.198695 m/s,
rangeRepo size: 4
2025-06-11T21:12:35.266Z,1749676355.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.513821 m,
bearing: 266.937651 deg,
lat: 36.906734 deg,
lon: -122.115721 deg,
deltaT: 0.503296 s,
deltaX: -0.099155 m,
approachRate: -0.197012 m/s,
posRepo size: 4
2025-06-11T21:12:35.267Z,1749676355.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.51 m.
2025-06-11T21:12:35.269Z,1749676355.269 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290870
2025-06-11T21:12:35.271Z,1749676355.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.513821 m,
nav range: 33.172596 m,
bearing: 266.939014 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.495401 deg/s,
cmd heading: 256.881693 deg,
new cmd heading: 257.566399 deg.
2025-06-11T21:12:35.276Z,1749676355.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495382 target range: 33.513821 and range: 33.80 m.
2025-06-11T21:12:35.521Z,1749676355.521 [DAT](INFO): DAT read: Rx Time:21:12:36.9402
2025-06-11T21:12:35.522Z,1749676355.522 [DAT](INFO): Rx dataTimestamp_ set to:1749676355.521566
2025-06-11T21:12:35.523Z,1749676355.523 [DAT](INFO): DAT read: Bearing 15.6, 16.6 (Local)
2025-06-11T21:12:35.523Z,1749676355.523 [DAT](INFO): Local bearing/azimuth received:
Bearing 15.6, 16.6 (Local)
2025-06-11T21:12:35.526Z,1749676355.526 [DAT](INFO): DAT read: Range 10 to 50 : 33.6 m (trip time 22.4 ms) speed 0.4
2025-06-11T21:12:35.535Z,1749676355.535 [DAT](INFO): DAT read: 21:12:36.9402 LVL= 23216, 25457, 19618, 32035, AGC= 62, IDX= 512,-0.09,-3.082, 0.993, 2.489, 2.101, PHS= 1.188,-1.061, 0.385, RAW= 129.4, -5.2, CAL= 134.4, -16.6, ROT= 15.6, 16.6
2025-06-11T21:12:35.536Z,1749676355.536 [DAT](INFO): got valid direction response:
21:12:36.9402 LVL= 23216, 25457, 19618, 32035, AGC= 62, IDX= 512,-0.09,-3.082, 0.993, 2.489, 2.101, PHS= 1.188,-1.061, 0.385, RAW= 129.4, -5.2, CAL= 134.4, -16.6, ROT= 15.6, 16.6
2025-06-11T21:12:35.537Z,1749676355.537 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-11T21:12:35.538Z,1749676355.538 [DAT](INFO): direction in FSK: [0.923020,0.257712,-0.285688]
2025-06-11T21:12:35.538Z,1749676355.538 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:35.542Z,1749676355.542 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.563591
2025-06-11T21:12:35.725Z,1749676355.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.599998 m,
deltaT: 0.503641 s,
deltaX: -0.200001 m,
approachRate: -0.397110 m/s,
rangeRepo size: 4
2025-06-11T21:12:35.727Z,1749676355.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.315475 m,
bearing: 271.226366 deg,
lat: 36.906734 deg,
lon: -122.115721 deg,
deltaT: 0.503641 s,
deltaX: -0.198345 m,
approachRate: -0.393823 m/s,
posRepo size: 4
2025-06-11T21:12:35.728Z,1749676355.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.32 m.
2025-06-11T21:12:35.731Z,1749676355.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.315475 m,
nav range: 32.943592 m,
bearing: 267.153110 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.495401 deg/s,
cmd heading: 257.566406 deg,
new cmd heading: 258.248421 deg.
2025-06-11T21:12:35.732Z,1749676355.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507285 target range: 33.315475 and range: 33.60 m.
2025-06-11T21:12:35.776Z,1749676355.776 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.797260
2025-06-11T21:12:36.026Z,1749676356.026 [DAT](INFO): DAT read: Rx Time:21:12:37.4400
2025-06-11T21:12:36.027Z,1749676356.027 [DAT](INFO): Rx dataTimestamp_ set to:1749676356.026659
2025-06-11T21:12:36.029Z,1749676356.029 [DAT](INFO): DAT read: Bearing 10.9, 13.2 (Local)
2025-06-11T21:12:36.029Z,1749676356.029 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.9, 13.2 (Local)
2025-06-11T21:12:36.031Z,1749676356.031 [DAT](INFO): DAT read: Range 10 to 50 : 33.3 m (trip time 22.2 ms) speed 0.4
2025-06-11T21:12:36.037Z,1749676356.037 [DAT](INFO): DAT read: 21:12:37.4400 LVL= 21184, 25825, 20882, 28915, AGC= 59, IDX= 509, 0.17,-2.938, 1.855, 2.993, 2.703, PHS= 0.731,-0.801, 0.287, RAW= 133.6, -3.2, CAL= 139.1, -13.2, ROT= 10.9, 13.2
2025-06-11T21:12:36.038Z,1749676356.038 [DAT](INFO): got valid direction response:
21:12:37.4400 LVL= 21184, 25825, 20882, 28915, AGC= 59, IDX= 509, 0.17,-2.938, 1.855, 2.993, 2.703, PHS= 0.731,-0.801, 0.287, RAW= 133.6, -3.2, CAL= 139.1, -13.2, ROT= 10.9, 13.2
2025-06-11T21:12:36.038Z,1749676356.038 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-11T21:12:36.039Z,1749676356.039 [DAT](INFO): direction in FSK: [0.956014,0.184099,-0.228351]
2025-06-11T21:12:36.039Z,1749676356.039 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:36.043Z,1749676356.043 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.064955
2025-06-11T21:12:36.207Z,1749676356.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.299999 m,
deltaT: 0.505093 s,
deltaX: -0.299999 m,
approachRate: -0.593949 m/s,
rangeRepo size: 4
2025-06-11T21:12:36.214Z,1749676356.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.018017 m,
bearing: 266.151546 deg,
lat: 36.906734 deg,
lon: -122.115720 deg,
deltaT: 0.505093 s,
deltaX: -0.297459 m,
approachRate: -0.588919 m/s,
posRepo size: 4
2025-06-11T21:12:36.214Z,1749676356.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.02 m.
2025-06-11T21:12:36.221Z,1749676356.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.018017 m,
nav range: 32.630043 m,
bearing: 267.308835 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.495401 deg/s,
cmd heading: 258.248414 deg,
new cmd heading: 258.975289 deg.
2025-06-11T21:12:36.222Z,1749676356.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519971 target range: 33.018017 and range: 33.30 m.
2025-06-11T21:12:36.278Z,1749676356.278 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299122
2025-06-11T21:12:36.530Z,1749676356.530 [DAT](INFO): DAT read: Rx Time:21:12:37.9399
2025-06-11T21:12:36.530Z,1749676356.530 [DAT](INFO): Rx dataTimestamp_ set to:1749676356.529758
2025-06-11T21:12:36.531Z,1749676356.531 [DAT](INFO): DAT read: Bearing 9.6, 12.8 (Local)
2025-06-11T21:12:36.535Z,1749676356.535 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.6, 12.8 (Local)
2025-06-11T21:12:36.538Z,1749676356.538 [DAT](INFO): DAT read: Range 10 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4
2025-06-11T21:12:36.543Z,1749676356.543 [DAT](INFO): DAT read: 21:12:37.9399 LVL= 20864, 22801, 20978, 29331, AGC= 60, IDX= 509,-0.45,-2.588, 2.235,-2.901, 3.082, PHS= 0.701,-0.801, 0.297, RAW= 135.0, -3.0, CAL= 140.4, -12.8, ROT= 9.6, 12.8
2025-06-11T21:12:36.544Z,1749676356.544 [DAT](INFO): got valid direction response:
21:12:37.9399 LVL= 20864, 22801, 20978, 29331, AGC= 60, IDX= 509,-0.45,-2.588, 2.235,-2.901, 3.082, PHS= 0.701,-0.801, 0.297, RAW= 135.0, -3.0, CAL= 140.4, -12.8, ROT= 9.6, 12.8
2025-06-11T21:12:36.544Z,1749676356.544 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-11T21:12:36.545Z,1749676356.545 [DAT](INFO): direction in FSK: [0.961493,0.162624,-0.221548]
2025-06-11T21:12:36.545Z,1749676356.545 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:36.562Z,1749676356.562 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.584414
2025-06-11T21:12:36.576Z,1749676356.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.200001 m,
deltaT: 0.503099 s,
deltaX: -0.099998 m,
approachRate: -0.198765 m/s,
rangeRepo size: 4
2025-06-11T21:12:36.578Z,1749676356.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.918869 m,
bearing: 266.424732 deg,
lat: 36.906733 deg,
lon: -122.115720 deg,
deltaT: 0.503099 s,
deltaX: -0.099148 m,
approachRate: -0.197074 m/s,
posRepo size: 4
2025-06-11T21:12:36.579Z,1749676356.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.92 m.
2025-06-11T21:12:36.586Z,1749676356.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.918869 m,
nav range: 32.462353 m,
bearing: 267.414782 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.495401 deg/s,
cmd heading: 258.975283 deg,
new cmd heading: 259.517396 deg.
2025-06-11T21:12:36.587Z,1749676356.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529433 target range: 32.918869 and range: 33.20 m.
2025-06-11T21:12:36.784Z,1749676356.784 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.805339
2025-06-11T21:12:37.033Z,1749676357.033 [DAT](INFO): DAT read: Rx Time:21:12:38.4396
2025-06-11T21:12:37.034Z,1749676357.034 [DAT](INFO): Rx dataTimestamp_ set to:1749676357.033675
2025-06-11T21:12:37.035Z,1749676357.035 [DAT](INFO): DAT read: Bearing 8.8, 12.8 (Local)
2025-06-11T21:12:37.036Z,1749676357.036 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.8, 12.8 (Local)
2025-06-11T21:12:37.038Z,1749676357.038 [DAT](INFO): DAT read: Range 10 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4
2025-06-11T21:12:37.043Z,1749676357.043 [DAT](INFO): DAT read: 21:12:38.4396 LVL= 19120, 25825, 17554, 29171, AGC= 59, IDX= 506,-0.06, 1.800, 0.361, 1.512, 1.200, PHS= 0.688,-0.792, 0.309, RAW= 135.7, -3.1, CAL= 141.2, -12.8, ROT= 8.8, 12.8
2025-06-11T21:12:37.044Z,1749676357.044 [DAT](INFO): got valid direction response:
21:12:38.4396 LVL= 19120, 25825, 17554, 29171, AGC= 59, IDX= 506,-0.06, 1.800, 0.361, 1.512, 1.200, PHS= 0.688,-0.792, 0.309, RAW= 135.7, -3.1, CAL= 141.2, -12.8, ROT= 8.8, 12.8
2025-06-11T21:12:37.044Z,1749676357.044 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-11T21:12:37.045Z,1749676357.045 [DAT](INFO): direction in FSK: [0.963670,0.149184,-0.221548]
2025-06-11T21:12:37.045Z,1749676357.045 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:37.049Z,1749676357.049 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.071223
2025-06-11T21:12:37.074Z,1749676357.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.700001 m,
deltaT: 0.503917 s,
deltaX: -0.500000 m,
approachRate: -0.992227 m/s,
rangeRepo size: 4
2025-06-11T21:12:37.080Z,1749676357.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.423103 m,
bearing: 265.643339 deg,
lat: 36.906728 deg,
lon: -122.115719 deg,
deltaT: 0.503917 s,
deltaX: -0.495766 m,
approachRate: -0.983824 m/s,
posRepo size: 4
2025-06-11T21:12:37.081Z,1749676357.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.42 m.
2025-06-11T21:12:37.083Z,1749676357.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.423103 m,
nav range: 32.162533 m,
bearing: 266.580829 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.495401 deg/s,
cmd heading: 259.517409 deg,
new cmd heading: 260.263121 deg.
2025-06-11T21:12:37.101Z,1749676357.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542449 target range: 32.423103 and range: 32.70 m.
2025-06-11T21:12:37.285Z,1749676357.285 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.306846
2025-06-11T21:12:37.447Z,1749676357.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:37.449Z,1749676357.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.42 m.
2025-06-11T21:12:37.452Z,1749676357.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.423103 m,
nav range: 31.960934 m,
bearing: 266.713878 deg,
approach rate: -0.535709 m/s,
LOS rate: 0.355779 deg/s,
cmd heading: 260.263129 deg,
new cmd heading: 260.664785 deg.
2025-06-11T21:12:37.453Z,1749676357.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549459 target range: 32.423103 and range: 32.70 m.
2025-06-11T21:12:37.538Z,1749676357.538 [DAT](INFO): DAT read: Rx Time:21:12:38.9396
2025-06-11T21:12:37.539Z,1749676357.539 [DAT](INFO): Rx dataTimestamp_ set to:1749676357.538663
2025-06-11T21:12:37.541Z,1749676357.541 [DAT](INFO): DAT read: Bearing 5.8, 13.3 (Local)
2025-06-11T21:12:37.542Z,1749676357.542 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.8, 13.3 (Local)
2025-06-11T21:12:37.544Z,1749676357.544 [DAT](INFO): DAT read: Range 10 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4
2025-06-11T21:12:37.549Z,1749676357.549 [DAT](INFO): DAT read: 21:12:38.9396 LVL= 20384, 26193, 18930, 30195, AGC= 60, IDX= 505, 0.20,-1.361,-2.781,-1.570,-1.943, PHS= 0.670,-0.791, 0.370, RAW= 138.8, -3.8, CAL= 144.2, -13.3, ROT= 5.8, 13.3
2025-06-11T21:12:37.550Z,1749676357.550 [DAT](INFO): got valid direction response:
21:12:38.9396 LVL= 20384, 26193, 18930, 30195, AGC= 60, IDX= 505, 0.20,-1.361,-2.781,-1.570,-1.943, PHS= 0.670,-0.791, 0.370, RAW= 138.8, -3.8, CAL= 144.2, -13.3, ROT= 5.8, 13.3
2025-06-11T21:12:37.550Z,1749676357.550 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-11T21:12:37.551Z,1749676357.551 [DAT](INFO): direction in FSK: [0.968197,0.098346,-0.230050]
2025-06-11T21:12:37.551Z,1749676357.551 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:37.565Z,1749676357.565 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.586532
2025-06-11T21:12:37.792Z,1749676357.792 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813282
2025-06-11T21:12:37.964Z,1749676357.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.700001 m,
deltaT: 0.504988 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:37.966Z,1749676357.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.423149 m,
bearing: 264.453317 deg,
lat: 36.906728 deg,
lon: -122.115719 deg,
deltaT: 0.504988 s,
deltaX: 0.000046 m,
approachRate: 0.000091 m/s,
posRepo size: 4
2025-06-11T21:12:37.967Z,1749676357.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.42 m.
2025-06-11T21:12:37.974Z,1749676357.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.423149 m,
nav range: 31.738028 m,
bearing: 266.734666 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.355779 deg/s,
cmd heading: 260.664771 deg,
new cmd heading: 261.209007 deg.
2025-06-11T21:12:37.975Z,1749676357.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558957 target range: 32.423149 and range: 32.70 m.
2025-06-11T21:12:38.043Z,1749676358.043 [DAT](INFO): DAT read: Rx Time:21:12:39.4393
2025-06-11T21:12:38.044Z,1749676358.044 [DAT](INFO): Rx dataTimestamp_ set to:1749676358.043344
2025-06-11T21:12:38.046Z,1749676358.046 [DAT](INFO): DAT read: Bearing 5.4, 12.5 (Local)
2025-06-11T21:12:38.046Z,1749676358.046 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.4, 12.5 (Local)
2025-06-11T21:12:38.050Z,1749676358.050 [DAT](INFO): DAT read: Range 10 to 50 : 32.3 m (trip time 21.5 ms) speed 0.4
2025-06-11T21:12:38.077Z,1749676358.077 [DAT](INFO): DAT read: 21:12:39.4393 LVL= 22464, 29921, 20290, 32755, AGC= 59, IDX= 503,-0.31, 1.692, 0.310, 1.504, 1.146, PHS= 0.634,-0.789, 0.355, RAW= 139.3, -3.1, CAL= 144.6, -12.5, ROT= 5.4, 12.5
2025-06-11T21:12:38.079Z,1749676358.079 [DAT](INFO): got valid direction response:
21:12:39.4393 LVL= 22464, 29921, 20290, 32755, AGC= 59, IDX= 503,-0.31, 1.692, 0.310, 1.504, 1.146, PHS= 0.634,-0.789, 0.355, RAW= 139.3, -3.1, CAL= 144.6, -12.5, ROT= 5.4, 12.5
2025-06-11T21:12:38.084Z,1749676358.084 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-11T21:12:38.086Z,1749676358.086 [DAT](INFO): direction in FSK: [0.971963,0.091878,-0.216440]
2025-06-11T21:12:38.086Z,1749676358.086 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:38.094Z,1749676358.094 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.116414
2025-06-11T21:12:38.291Z,1749676358.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.299999 m,
deltaT: 0.504681 s,
deltaX: -0.400002 m,
approachRate: -0.792583 m/s,
rangeRepo size: 4
2025-06-11T21:12:38.293Z,1749676358.293 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314852
2025-06-11T21:12:38.297Z,1749676358.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.026535 m,
bearing: 264.527185 deg,
lat: 36.906724 deg,
lon: -122.115719 deg,
deltaT: 0.504681 s,
deltaX: -0.396614 m,
approachRate: -0.785871 m/s,
posRepo size: 4
2025-06-11T21:12:38.298Z,1749676358.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.03 m.
2025-06-11T21:12:38.305Z,1749676358.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.026535 m,
nav range: 31.604240 m,
bearing: 266.058273 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.355779 deg/s,
cmd heading: 261.209001 deg,
new cmd heading: 261.562379 deg.
2025-06-11T21:12:38.306Z,1749676358.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565125 target range: 32.026535 and range: 32.30 m.
2025-06-11T21:12:38.546Z,1749676358.546 [DAT](INFO): DAT read: Rx Time:21:12:39.9391
2025-06-11T21:12:38.546Z,1749676358.546 [DAT](INFO): Rx dataTimestamp_ set to:1749676358.545837
2025-06-11T21:12:38.547Z,1749676358.547 [DAT](INFO): DAT read: Bearing 2.8, 13.0 (Local)
2025-06-11T21:12:38.548Z,1749676358.548 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.8, 13.0 (Local)
2025-06-11T21:12:38.550Z,1749676358.550 [DAT](INFO): DAT read: Range 10 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4
2025-06-11T21:12:38.555Z,1749676358.555 [DAT](INFO): DAT read: 21:12:39.9391 LVL= 19184, 24049, 18226, 27603, AGC= 60, IDX= 501,-0.00, 3.121, 1.707, 2.991, 2.566, PHS= 0.643,-0.812, 0.423, RAW= 141.9, -3.8, CAL= 147.2, -13.0, ROT= 2.8, 13.0
2025-06-11T21:12:38.561Z,1749676358.561 [DAT](INFO): got valid direction response:
21:12:39.9391 LVL= 19184, 24049, 18226, 27603, AGC= 60, IDX= 501,-0.00, 3.121, 1.707, 2.991, 2.566, PHS= 0.643,-0.812, 0.423, RAW= 141.9, -3.8, CAL= 147.2, -13.0, ROT= 2.8, 13.0
2025-06-11T21:12:38.561Z,1749676358.561 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-11T21:12:38.562Z,1749676358.562 [DAT](INFO): direction in FSK: [0.973207,0.047598,-0.224951]
2025-06-11T21:12:38.562Z,1749676358.562 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:38.566Z,1749676358.566 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.587741
2025-06-11T21:12:38.705Z,1749676358.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.000000 m,
deltaT: 0.502493 s,
deltaX: -0.299999 m,
approachRate: -0.597022 m/s,
rangeRepo size: 4
2025-06-11T21:12:38.707Z,1749676358.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.729055 m,
bearing: 262.643354 deg,
lat: 36.906716 deg,
lon: -122.115718 deg,
deltaT: 0.502493 s,
deltaX: -0.297480 m,
approachRate: -0.592008 m/s,
posRepo size: 4
2025-06-11T21:12:38.712Z,1749676358.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-11T21:12:38.715Z,1749676358.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.729055 m,
nav range: 31.402241 m,
bearing: 264.643106 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.355779 deg/s,
cmd heading: 261.562367 deg,
new cmd heading: 262.004632 deg.
2025-06-11T21:12:38.720Z,1749676358.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572844 target range: 31.729055 and range: 32.00 m.
2025-06-11T21:12:38.800Z,1749676358.800 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821142
2025-06-11T21:12:39.049Z,1749676359.049 [DAT](INFO): DAT read: Rx Time:21:12:40.4389
2025-06-11T21:12:39.050Z,1749676359.050 [DAT](INFO): Rx dataTimestamp_ set to:1749676359.049646
2025-06-11T21:12:39.051Z,1749676359.051 [DAT](INFO): DAT read: Bearing 1.3, 12.9 (Local)
2025-06-11T21:12:39.052Z,1749676359.052 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.3, 12.9 (Local)
2025-06-11T21:12:39.054Z,1749676359.054 [DAT](INFO): DAT read: Range 10 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4
2025-06-11T21:12:39.059Z,1749676359.059 [DAT](INFO): DAT read: 21:12:40.4389 LVL= 20112, 25313, 18514, 28083, AGC= 59, IDX= 498, 0.36, 3.025, 1.582, 2.937, 2.470, PHS= 0.643,-0.841, 0.463, RAW= 143.6, -3.8, CAL= 148.7, -12.9, ROT= 1.3, 12.9
2025-06-11T21:12:39.064Z,1749676359.064 [DAT](INFO): got valid direction response:
21:12:40.4389 LVL= 20112, 25313, 18514, 28083, AGC= 59, IDX= 498, 0.36, 3.025, 1.582, 2.937, 2.470, PHS= 0.643,-0.841, 0.463, RAW= 143.6, -3.8, CAL= 148.7, -12.9, ROT= 1.3, 12.9
2025-06-11T21:12:39.064Z,1749676359.064 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-11T21:12:39.065Z,1749676359.065 [DAT](INFO): direction in FSK: [0.974510,0.022115,-0.223250]
2025-06-11T21:12:39.065Z,1749676359.065 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:39.069Z,1749676359.069 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.090885
2025-06-11T21:12:39.194Z,1749676359.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.700001 m,
deltaT: 0.503809 s,
deltaX: -0.299999 m,
approachRate: -0.595462 m/s,
rangeRepo size: 4
2025-06-11T21:12:39.200Z,1749676359.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.431595 m,
bearing: 261.751456 deg,
lat: 36.906716 deg,
lon: -122.115716 deg,
deltaT: 0.503809 s,
deltaX: -0.297461 m,
approachRate: -0.590423 m/s,
posRepo size: 4
2025-06-11T21:12:39.201Z,1749676359.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.43 m.
2025-06-11T21:12:39.203Z,1749676359.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.431595 m,
nav range: 31.052238 m,
bearing: 264.755387 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.355779 deg/s,
cmd heading: 262.004636 deg,
new cmd heading: 262.525744 deg.
2025-06-11T21:12:39.209Z,1749676359.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581939 target range: 31.431595 and range: 31.70 m.
2025-06-11T21:12:39.302Z,1749676359.302 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323562
2025-06-11T21:12:39.484Z,1749676359.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:39.486Z,1749676359.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.43 m.
2025-06-11T21:12:39.489Z,1749676359.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.431595 m,
nav range: 30.900164 m,
bearing: 264.841119 deg,
approach rate: -0.519465 m/s,
LOS rate: 0.294288 deg/s,
cmd heading: 262.525752 deg,
new cmd heading: 262.784212 deg.
2025-06-11T21:12:39.490Z,1749676359.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586450 target range: 31.431595 and range: 31.70 m.
2025-06-11T21:12:39.554Z,1749676359.554 [DAT](INFO): DAT read: Rx Time:21:12:40.9388
2025-06-11T21:12:39.554Z,1749676359.554 [DAT](INFO): Rx dataTimestamp_ set to:1749676359.553760
2025-06-11T21:12:39.555Z,1749676359.555 [DAT](INFO): DAT read: Bearing 359.8, 12.6 (Local)
2025-06-11T21:12:39.556Z,1749676359.556 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.8, 12.6 (Local)
2025-06-11T21:12:39.558Z,1749676359.558 [DAT](INFO): DAT read: Range 10 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4
2025-06-11T21:12:39.567Z,1749676359.567 [DAT](INFO): DAT read: 21:12:40.9388 LVL= 20976, 24849, 18386, 26419, AGC= 60, IDX= 498,-0.11, 1.990, 0.589, 1.953, 1.472, PHS= 0.606,-0.837, 0.477, RAW= 145.4, -3.6, CAL= 150.2, -12.6, ROT= 359.8, 12.6
2025-06-11T21:12:39.568Z,1749676359.568 [DAT](INFO): got valid direction response:
21:12:40.9388 LVL= 20976, 24849, 18386, 26419, AGC= 60, IDX= 498,-0.11, 1.990, 0.589, 1.953, 1.472, PHS= 0.606,-0.837, 0.477, RAW= 145.4, -3.6, CAL= 150.2, -12.6, ROT= 359.8, 12.6
2025-06-11T21:12:39.568Z,1749676359.568 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-11T21:12:39.569Z,1749676359.569 [DAT](INFO): direction in FSK: [0.975911,-0.003407,-0.218143]
2025-06-11T21:12:39.570Z,1749676359.570 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:39.586Z,1749676359.586 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.607555
2025-06-11T21:12:39.807Z,1749676359.807 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.828783
2025-06-11T21:12:39.985Z,1749676359.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.500000 m,
deltaT: 0.504114 s,
deltaX: -0.200001 m,
approachRate: -0.396737 m/s,
rangeRepo size: 4
2025-06-11T21:12:39.987Z,1749676359.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.233318 m,
bearing: 260.811475 deg,
lat: 36.906707 deg,
lon: -122.115714 deg,
deltaT: 0.504114 s,
deltaX: -0.198277 m,
approachRate: -0.393317 m/s,
posRepo size: 4
2025-06-11T21:12:39.987Z,1749676359.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.23 m.
2025-06-11T21:12:39.990Z,1749676359.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.233318 m,
nav range: 30.593945 m,
bearing: 262.967768 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.294288 deg/s,
cmd heading: 262.784206 deg,
new cmd heading: 263.224043 deg.
2025-06-11T21:12:39.991Z,1749676359.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594126 target range: 31.233318 and range: 31.50 m.
2025-06-11T21:12:40.059Z,1749676360.059 [DAT](INFO): DAT read: Rx Time:21:12:41.4386
2025-06-11T21:12:40.059Z,1749676360.059 [DAT](INFO): Rx dataTimestamp_ set to:1749676360.059210
2025-06-11T21:12:40.062Z,1749676360.062 [DAT](INFO): DAT read: Bearing 358.5, 12.3 (Local)
2025-06-11T21:12:40.062Z,1749676360.062 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.5, 12.3 (Local)
2025-06-11T21:12:40.066Z,1749676360.066 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4
2025-06-11T21:12:40.072Z,1749676360.072 [DAT](INFO): DAT read: 21:12:41.4386 LVL= 19824, 24161, 17074, 26883, AGC= 60, IDX= 495, 0.26, 2.162, 0.740, 2.164, 1.653, PHS= 0.598,-0.866, 0.508, RAW= 146.9, -3.4, CAL= 151.5, -12.3, ROT= 358.5, 12.3
2025-06-11T21:12:40.073Z,1749676360.073 [DAT](INFO): got valid direction response:
21:12:41.4386 LVL= 19824, 24161, 17074, 26883, AGC= 60, IDX= 495, 0.26, 2.162, 0.740, 2.164, 1.653, PHS= 0.598,-0.866, 0.508, RAW= 146.9, -3.4, CAL= 151.5, -12.3, ROT= 358.5, 12.3
2025-06-11T21:12:40.073Z,1749676360.073 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-11T21:12:40.074Z,1749676360.074 [DAT](INFO): direction in FSK: [0.976711,-0.025576,-0.213030]
2025-06-11T21:12:40.074Z,1749676360.074 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:40.090Z,1749676360.090 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.112160
2025-06-11T21:12:40.309Z,1749676360.309 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330947
2025-06-11T21:12:40.331Z,1749676360.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.200001 m,
deltaT: 0.505450 s,
deltaX: -0.299999 m,
approachRate: -0.593529 m/s,
rangeRepo size: 4
2025-06-11T21:12:40.337Z,1749676360.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.935860 m,
bearing: 259.488849 deg,
lat: 36.906702 deg,
lon: -122.115714 deg,
deltaT: 0.505450 s,
deltaX: -0.297459 m,
approachRate: -0.588503 m/s,
posRepo size: 4
2025-06-11T21:12:40.338Z,1749676360.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.94 m.
2025-06-11T21:12:40.345Z,1749676360.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.935860 m,
nav range: 30.475752 m,
bearing: 262.051963 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.294288 deg/s,
cmd heading: 263.224043 deg,
new cmd heading: 263.529542 deg.
2025-06-11T21:12:40.346Z,1749676360.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599458 target range: 30.935860 and range: 31.20 m.
2025-06-11T21:12:40.562Z,1749676360.562 [DAT](INFO): DAT read: Rx Time:21:12:41.9385
2025-06-11T21:12:40.562Z,1749676360.562 [DAT](INFO): Rx dataTimestamp_ set to:1749676360.561723
2025-06-11T21:12:40.563Z,1749676360.563 [DAT](INFO): DAT read: Bearing 357.1, 12.0 (Local)
2025-06-11T21:12:40.567Z,1749676360.567 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.1, 12.0 (Local)
2025-06-11T21:12:40.570Z,1749676360.570 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4
2025-06-11T21:12:40.575Z,1749676360.575 [DAT](INFO): DAT read: 21:12:41.9385 LVL= 17712, 24641, 16562, 29283, AGC= 60, IDX= 511,-0.17, 1.327,-0.060, 1.374, 0.850, PHS= 0.565,-0.863, 0.522, RAW= 148.5, -3.2, CAL= 152.9, -12.0, ROT= 357.1, 12.0
2025-06-11T21:12:40.576Z,1749676360.576 [DAT](INFO): got valid direction response:
21:12:41.9385 LVL= 17712, 24641, 16562, 29283, AGC= 60, IDX= 511,-0.17, 1.327,-0.060, 1.374, 0.850, PHS= 0.565,-0.863, 0.522, RAW= 148.5, -3.2, CAL= 152.9, -12.0, ROT= 357.1, 12.0
2025-06-11T21:12:40.577Z,1749676360.577 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-11T21:12:40.578Z,1749676360.578 [DAT](INFO): direction in FSK: [0.976895,-0.049487,-0.207912]
2025-06-11T21:12:40.578Z,1749676360.578 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:40.587Z,1749676360.587 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.609099
2025-06-11T21:12:40.733Z,1749676360.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.200001 m,
deltaT: 0.502513 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:40.735Z,1749676360.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.935942 m,
bearing: 259.732203 deg,
lat: 36.906696 deg,
lon: -122.115714 deg,
deltaT: 0.502513 s,
deltaX: 0.000082 m,
approachRate: 0.000163 m/s,
posRepo size: 4
2025-06-11T21:12:40.740Z,1749676360.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.94 m.
2025-06-11T21:12:40.743Z,1749676360.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.935942 m,
nav range: 30.335958 m,
bearing: 260.958271 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.294288 deg/s,
cmd heading: 263.529544 deg,
new cmd heading: 263.885097 deg.
2025-06-11T21:12:40.748Z,1749676360.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605664 target range: 30.935942 and range: 31.20 m.
2025-06-11T21:12:40.816Z,1749676360.816 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.836970
2025-06-11T21:12:41.065Z,1749676361.065 [DAT](INFO): DAT read: Rx Time:21:12:42.4383
2025-06-11T21:12:41.066Z,1749676361.066 [DAT](INFO): Rx dataTimestamp_ set to:1749676361.065601
2025-06-11T21:12:41.067Z,1749676361.067 [DAT](INFO): DAT read: Bearing 356.9, 11.7 (Local)
2025-06-11T21:12:41.068Z,1749676361.068 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.9, 11.7 (Local)
2025-06-11T21:12:41.070Z,1749676361.070 [DAT](INFO): DAT read: Range 10 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4
2025-06-11T21:12:41.075Z,1749676361.075 [DAT](INFO): DAT read: 21:12:42.4383 LVL= 20560, 30449, 17906, 32755, AGC= 60, IDX= 508, 0.17, 2.310, 0.910, 2.368, 1.838, PHS= 0.560,-0.880, 0.527, RAW= 148.9, -2.9, CAL= 153.1, -11.7, ROT= 356.9, 11.7
2025-06-11T21:12:41.076Z,1749676361.076 [DAT](INFO): got valid direction response:
21:12:42.4383 LVL= 20560, 30449, 17906, 32755, AGC= 60, IDX= 508, 0.17, 2.310, 0.910, 2.368, 1.838, PHS= 0.560,-0.880, 0.527, RAW= 148.9, -2.9, CAL= 153.1, -11.7, ROT= 356.9, 11.7
2025-06-11T21:12:41.076Z,1749676361.076 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-11T21:12:41.077Z,1749676361.077 [DAT](INFO): direction in FSK: [0.977790,-0.052955,-0.202787]
2025-06-11T21:12:41.077Z,1749676361.077 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:41.081Z,1749676361.081 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.103006
2025-06-11T21:12:41.225Z,1749676361.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.900000 m,
deltaT: 0.503878 s,
deltaX: -0.300001 m,
approachRate: -0.595384 m/s,
rangeRepo size: 4
2025-06-11T21:12:41.227Z,1749676361.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.638479 m,
bearing: 260.004577 deg,
lat: 36.906691 deg,
lon: -122.115714 deg,
deltaT: 0.503878 s,
deltaX: -0.297462 m,
approachRate: -0.590346 m/s,
posRepo size: 4
2025-06-11T21:12:41.227Z,1749676361.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-06-11T21:12:41.234Z,1749676361.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.638479 m,
nav range: 30.178244 m,
bearing: 260.004680 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.294288 deg/s,
cmd heading: 263.885096 deg,
new cmd heading: 264.315009 deg.
2025-06-11T21:12:41.235Z,1749676361.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613167 target range: 30.638479 and range: 30.90 m.
2025-06-11T21:12:41.318Z,1749676361.318 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.339734
2025-06-11T21:12:41.529Z,1749676361.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:41.531Z,1749676361.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m.
2025-06-11T21:12:41.534Z,1749676361.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.638479 m,
nav range: 30.016102 m,
bearing: 260.065455 deg,
approach rate: -0.521427 m/s,
LOS rate: 0.196497 deg/s,
cmd heading: 264.315016 deg,
new cmd heading: 264.498322 deg.
2025-06-11T21:12:41.535Z,1749676361.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616366 target range: 30.638479 and range: 30.90 m.
2025-06-11T21:12:41.570Z,1749676361.570 [DAT](INFO): DAT read: Rx Time:21:12:42.9382
2025-06-11T21:12:41.571Z,1749676361.571 [DAT](INFO): Rx dataTimestamp_ set to:1749676361.570707
2025-06-11T21:12:41.573Z,1749676361.573 [DAT](INFO): DAT read: Bearing 355.7, 11.1 (Local)
2025-06-11T21:12:41.574Z,1749676361.574 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.7, 11.1 (Local)
2025-06-11T21:12:41.577Z,1749676361.577 [DAT](INFO): DAT read: Range 10 to 50 : 30.8 m (trip time 20.5 ms) speed 0.4
2025-06-11T21:12:41.584Z,1749676361.584 [DAT](INFO): DAT read: 21:12:42.9382 LVL= 19232, 23889, 17586, 29299, AGC= 59, IDX= 508,-0.27, 1.111,-0.255, 1.212, 0.679, PHS= 0.520,-0.887, 0.531, RAW= 150.4, -2.4, CAL= 154.3, -11.1, ROT= 355.7, 11.1
2025-06-11T21:12:41.586Z,1749676361.586 [DAT](INFO): got valid direction response:
21:12:42.9382 LVL= 19232, 23889, 17586, 29299, AGC= 59, IDX= 508,-0.27, 1.111,-0.255, 1.212, 0.679, PHS= 0.520,-0.887, 0.531, RAW= 150.4, -2.4, CAL= 154.3, -11.1, ROT= 355.7, 11.1
2025-06-11T21:12:41.586Z,1749676361.586 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-11T21:12:41.589Z,1749676361.589 [DAT](INFO): direction in FSK: [0.978530,-0.073576,-0.192522]
2025-06-11T21:12:41.590Z,1749676361.590 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:41.598Z,1749676361.598 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.620026
2025-06-11T21:12:41.821Z,1749676361.821 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.842832
2025-06-11T21:12:42.008Z,1749676362.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.799999 m,
deltaT: 0.505106 s,
deltaX: -0.100000 m,
approachRate: -0.197979 m/s,
rangeRepo size: 4
2025-06-11T21:12:42.010Z,1749676362.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.539347 m,
bearing: 259.240598 deg,
lat: 36.906690 deg,
lon: -122.115714 deg,
deltaT: 0.505106 s,
deltaX: -0.099133 m,
approachRate: -0.196261 m/s,
posRepo size: 4
2025-06-11T21:12:42.011Z,1749676362.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.54 m.
2025-06-11T21:12:42.014Z,1749676362.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.539347 m,
nav range: 29.800224 m,
bearing: 259.986230 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.196497 deg/s,
cmd heading: 264.498311 deg,
new cmd heading: 264.779177 deg.
2025-06-11T21:12:42.015Z,1749676362.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621268 target range: 30.539347 and range: 30.80 m.
2025-06-11T21:12:42.073Z,1749676362.073 [DAT](INFO): DAT read: Rx Time:21:12:43.4379
2025-06-11T21:12:42.074Z,1749676362.074 [DAT](INFO): Rx dataTimestamp_ set to:1749676362.073693
2025-06-11T21:12:42.075Z,1749676362.075 [DAT](INFO): DAT read: Bearing 354.3, 11.5 (Local)
2025-06-11T21:12:42.076Z,1749676362.076 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.3, 11.5 (Local)
2025-06-11T21:12:42.078Z,1749676362.078 [DAT](INFO): DAT read: Range 10 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4
2025-06-11T21:12:42.083Z,1749676362.083 [DAT](INFO): DAT read: 21:12:43.4379 LVL= 18880, 25489, 18210, 29795, AGC= 61, IDX= 505, 0.03, 1.306,-0.091, 1.447, 0.862, PHS= 0.532,-0.907, 0.582, RAW= 151.7, -2.9, CAL= 155.7, -11.5, ROT= 354.3, 11.5
2025-06-11T21:12:42.084Z,1749676362.084 [DAT](INFO): got valid direction response:
21:12:43.4379 LVL= 18880, 25489, 18210, 29795, AGC= 61, IDX= 505, 0.03, 1.306,-0.091, 1.447, 0.862, PHS= 0.532,-0.907, 0.582, RAW= 151.7, -2.9, CAL= 155.7, -11.5, ROT= 354.3, 11.5
2025-06-11T21:12:42.084Z,1749676362.084 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-11T21:12:42.085Z,1749676362.085 [DAT](INFO): direction in FSK: [0.975080,-0.097326,-0.199368]
2025-06-11T21:12:42.086Z,1749676362.086 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:42.090Z,1749676362.090 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.111457
2025-06-11T21:12:42.325Z,1749676362.325 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.346826
2025-06-11T21:12:42.361Z,1749676362.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.299999 m,
deltaT: 0.502986 s,
deltaX: -0.500000 m,
approachRate: -0.994063 m/s,
rangeRepo size: 4
2025-06-11T21:12:42.363Z,1749676362.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.043579 m,
bearing: 259.367236 deg,
lat: 36.906690 deg,
lon: -122.115714 deg,
deltaT: 0.502986 s,
deltaX: -0.495768 m,
approachRate: -0.985649 m/s,
posRepo size: 4
2025-06-11T21:12:42.363Z,1749676362.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.04 m.
2025-06-11T21:12:42.392Z,1749676362.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.043579 m,
nav range: 29.627350 m,
bearing: 259.951306 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.196497 deg/s,
cmd heading: 264.779168 deg,
new cmd heading: 264.984716 deg.
2025-06-11T21:12:42.401Z,1749676362.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624856 target range: 30.043579 and range: 30.30 m.
2025-06-11T21:12:42.577Z,1749676362.577 [DAT](INFO): DAT read: Rx Time:21:12:43.9378
2025-06-11T21:12:42.578Z,1749676362.578 [DAT](INFO): Rx dataTimestamp_ set to:1749676362.577672
2025-06-11T21:12:42.579Z,1749676362.579 [DAT](INFO): DAT read: Bearing 353.8, 11.0 (Local)
2025-06-11T21:12:42.580Z,1749676362.580 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.8, 11.0 (Local)
2025-06-11T21:12:42.582Z,1749676362.582 [DAT](INFO): DAT read: Range 10 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4
2025-06-11T21:12:42.587Z,1749676362.587 [DAT](INFO): DAT read: 21:12:43.9378 LVL= 19040, 24817, 17138, 27379, AGC= 60, IDX= 503, 0.32, 1.745, 0.360, 1.907, 1.323, PHS= 0.509,-0.916, 0.581, RAW= 152.4, -2.4, CAL= 156.2, -11.0, ROT= 353.8, 11.0
2025-06-11T21:12:42.588Z,1749676362.588 [DAT](INFO): got valid direction response:
21:12:43.9378 LVL= 19040, 24817, 17138, 27379, AGC= 60, IDX= 503, 0.32, 1.745, 0.360, 1.907, 1.323, PHS= 0.509,-0.916, 0.581, RAW= 152.4, -2.4, CAL= 156.2, -11.0, ROT= 353.8, 11.0
2025-06-11T21:12:42.588Z,1749676362.588 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-11T21:12:42.589Z,1749676362.589 [DAT](INFO): direction in FSK: [0.975886,-0.106015,-0.190809]
2025-06-11T21:12:42.589Z,1749676362.589 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:42.593Z,1749676362.593 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.615284
2025-06-11T21:12:42.754Z,1749676362.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.200001 m,
deltaT: 0.503979 s,
deltaX: -0.099998 m,
approachRate: -0.198418 m/s,
rangeRepo size: 4
2025-06-11T21:12:42.760Z,1749676362.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.944391 m,
bearing: 259.175801 deg,
lat: 36.906687 deg,
lon: -122.115714 deg,
deltaT: 0.503979 s,
deltaX: -0.099188 m,
approachRate: -0.196809 m/s,
posRepo size: 4
2025-06-11T21:12:42.761Z,1749676362.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.94 m.
2025-06-11T21:12:42.768Z,1749676362.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.944391 m,
nav range: 29.475824 m,
bearing: 259.479452 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.196497 deg/s,
cmd heading: 264.984729 deg,
new cmd heading: 265.219098 deg.
2025-06-11T21:12:42.769Z,1749676362.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628946 target range: 29.944391 and range: 30.20 m.
2025-06-11T21:12:42.832Z,1749676362.832 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.853475
2025-06-11T21:12:43.085Z,1749676363.085 [DAT](INFO): DAT read: Rx Time:21:12:44.4376
2025-06-11T21:12:43.085Z,1749676363.085 [DAT](INFO): Rx dataTimestamp_ set to:1749676363.085192
2025-06-11T21:12:43.087Z,1749676363.087 [DAT](INFO): DAT read: Bearing 352.7, 10.9 (Local)
2025-06-11T21:12:43.087Z,1749676363.087 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.7, 10.9 (Local)
2025-06-11T21:12:43.090Z,1749676363.090 [DAT](INFO): DAT read: Range 10 to 50 : 29.9 m (trip time 19.9 ms) speed 0.4
2025-06-11T21:12:43.094Z,1749676363.094 [DAT](INFO): DAT read: 21:12:44.4376 LVL= 19744, 24401, 16178, 29123, AGC= 61, IDX= 501,-0.26,-0.844,-2.212,-0.641,-1.244, PHS= 0.488,-0.921, 0.600, RAW= 153.8, -2.3, CAL= 157.3, -10.9, ROT= 352.7, 10.9
2025-06-11T21:12:43.095Z,1749676363.095 [DAT](INFO): got valid direction response:
21:12:44.4376 LVL= 19744, 24401, 16178, 29123, AGC= 61, IDX= 501,-0.26,-0.844,-2.212,-0.641,-1.244, PHS= 0.488,-0.921, 0.600, RAW= 153.8, -2.3, CAL= 157.3, -10.9, ROT= 352.7, 10.9
2025-06-11T21:12:43.096Z,1749676363.096 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-11T21:12:43.097Z,1749676363.097 [DAT](INFO): direction in FSK: [0.973999,-0.124772,-0.189095]
2025-06-11T21:12:43.098Z,1749676363.098 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:43.139Z,1749676363.139 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.160592
2025-06-11T21:12:43.273Z,1749676363.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.900000 m,
deltaT: 0.507520 s,
deltaX: -0.300001 m,
approachRate: -0.591112 m/s,
rangeRepo size: 4
2025-06-11T21:12:43.275Z,1749676363.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.646931 m,
bearing: 258.423091 deg,
lat: 36.906686 deg,
lon: -122.115714 deg,
deltaT: 0.507520 s,
deltaX: -0.297461 m,
approachRate: -0.586106 m/s,
posRepo size: 4
2025-06-11T21:12:43.280Z,1749676363.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.65 m.
2025-06-11T21:12:43.283Z,1749676363.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.646931 m,
nav range: 29.225039 m,
bearing: 259.360309 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.196497 deg/s,
cmd heading: 265.219087 deg,
new cmd heading: 265.525249 deg.
2025-06-11T21:12:43.288Z,1749676363.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634290 target range: 29.646931 and range: 29.90 m.
2025-06-11T21:12:43.335Z,1749676363.335 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.357264
2025-06-11T21:12:43.544Z,1749676363.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:43.546Z,1749676363.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.65 m.
2025-06-11T21:12:43.549Z,1749676363.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.646931 m,
nav range: 29.076241 m,
bearing: 259.403013 deg,
approach rate: -0.544970 m/s,
LOS rate: 0.157205 deg/s,
cmd heading: 265.525243 deg,
new cmd heading: 265.654013 deg.
2025-06-11T21:12:43.550Z,1749676363.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636537 target range: 29.646931 and range: 29.90 m.
2025-06-11T21:12:43.591Z,1749676363.591 [DAT](INFO): DAT read: Rx Time:21:12:44.9375
2025-06-11T21:12:43.591Z,1749676363.591 [DAT](INFO): Rx dataTimestamp_ set to:1749676363.590707
2025-06-11T21:12:43.593Z,1749676363.593 [DAT](INFO): DAT read: Bearing 352.4, 10.2 (Local)
2025-06-11T21:12:43.594Z,1749676363.594 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.4, 10.2 (Local)
2025-06-11T21:12:43.597Z,1749676363.597 [DAT](INFO): DAT read: Range 10 to 50 : 29.7 m (trip time 19.8 ms) speed 0.5
2025-06-11T21:12:43.615Z,1749676363.615 [DAT](INFO): DAT read: 21:12:44.9375 LVL= 18880, 22881, 17138, 26771, AGC= 60, IDX= 500,-0.06, 0.345,-1.028, 0.566,-0.034, PHS= 0.467,-0.947, 0.598, RAW= 154.4, -1.6, CAL= 157.6, -10.2, ROT= 352.4, 10.2
2025-06-11T21:12:43.620Z,1749676363.620 [DAT](INFO): got valid direction response:
21:12:44.9375 LVL= 18880, 22881, 17138, 26771, AGC= 60, IDX= 500,-0.06, 0.345,-1.028, 0.566,-0.034, PHS= 0.467,-0.947, 0.598, RAW= 154.4, -1.6, CAL= 157.6, -10.2, ROT= 352.4, 10.2
2025-06-11T21:12:43.621Z,1749676363.621 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-11T21:12:43.622Z,1749676363.622 [DAT](INFO): direction in FSK: [0.975550,-0.130166,-0.177085]
2025-06-11T21:12:43.622Z,1749676363.622 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:43.637Z,1749676363.637 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.658470
2025-06-11T21:12:43.842Z,1749676363.842 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.864019
2025-06-11T21:12:44.017Z,1749676364.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.700001 m,
deltaT: 0.505515 s,
deltaX: -0.199999 m,
approachRate: -0.395634 m/s,
rangeRepo size: 4
2025-06-11T21:12:44.019Z,1749676364.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.448460 m,
bearing: 258.408073 deg,
lat: 36.906686 deg,
lon: -122.115714 deg,
deltaT: 0.505515 s,
deltaX: -0.198471 m,
approachRate: -0.392612 m/s,
posRepo size: 4
2025-06-11T21:12:44.019Z,1749676364.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-11T21:12:44.022Z,1749676364.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.448460 m,
nav range: 28.837542 m,
bearing: 259.361354 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.157205 deg/s,
cmd heading: 265.654006 deg,
new cmd heading: 265.875678 deg.
2025-06-11T21:12:44.023Z,1749676364.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640406 target range: 29.448460 and range: 29.70 m.
2025-06-11T21:12:44.094Z,1749676364.094 [DAT](INFO): DAT read: Rx Time:21:12:45.4373
2025-06-11T21:12:44.094Z,1749676364.094 [DAT](INFO): Rx dataTimestamp_ set to:1749676364.093811
2025-06-11T21:12:44.095Z,1749676364.095 [DAT](INFO): DAT read: Bearing 352.6, 10.1 (Local)
2025-06-11T21:12:44.096Z,1749676364.096 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.6, 10.1 (Local)
2025-06-11T21:12:44.098Z,1749676364.098 [DAT](INFO): DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4
2025-06-11T21:12:44.104Z,1749676364.104 [DAT](INFO): DAT read: 21:12:45.4373 LVL= 19904, 25585, 17250, 28595, AGC= 60, IDX= 497, 0.10, 0.865,-0.497, 1.080, 0.491, PHS= 0.462,-0.942, 0.586, RAW= 154.2, -1.5, CAL= 157.4, -10.1, ROT= 352.6, 10.1
2025-06-11T21:12:44.105Z,1749676364.105 [DAT](INFO): got valid direction response:
21:12:45.4373 LVL= 19904, 25585, 17250, 28595, AGC= 60, IDX= 497, 0.10, 0.865,-0.497, 1.080, 0.491, PHS= 0.462,-0.942, 0.586, RAW= 154.2, -1.5, CAL= 157.4, -10.1, ROT= 352.6, 10.1
2025-06-11T21:12:44.105Z,1749676364.105 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-11T21:12:44.106Z,1749676364.106 [DAT](INFO): direction in FSK: [0.976303,-0.126799,-0.175367]
2025-06-11T21:12:44.107Z,1749676364.107 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:44.130Z,1749676364.130 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.152390
2025-06-11T21:12:44.346Z,1749676364.346 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.367603
2025-06-11T21:12:44.477Z,1749676364.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.299999 m,
deltaT: 0.503104 s,
deltaX: -0.400002 m,
approachRate: -0.795067 m/s,
rangeRepo size: 4
2025-06-11T21:12:44.479Z,1749676364.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.051846 m,
bearing: 259.167608 deg,
lat: 36.906685 deg,
lon: -122.115714 deg,
deltaT: 0.503104 s,
deltaX: -0.396614 m,
approachRate: -0.788334 m/s,
posRepo size: 4
2025-06-11T21:12:44.480Z,1749676364.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.05 m.
2025-06-11T21:12:44.483Z,1749676364.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.051846 m,
nav range: 28.618273 m,
bearing: 259.142287 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.157205 deg/s,
cmd heading: 265.875687 deg,
new cmd heading: 266.090586 deg.
2025-06-11T21:12:44.484Z,1749676364.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644157 target range: 29.051846 and range: 29.30 m.
2025-06-11T21:12:44.599Z,1749676364.599 [DAT](INFO): DAT read: Rx Time:21:12:45.9373
2025-06-11T21:12:44.599Z,1749676364.599 [DAT](INFO): Rx dataTimestamp_ set to:1749676364.598965
2025-06-11T21:12:44.601Z,1749676364.601 [DAT](INFO): DAT read: Bearing 350.5, 12.7 (Local)
2025-06-11T21:12:44.601Z,1749676364.601 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.5, 12.7 (Local)
2025-06-11T21:12:44.603Z,1749676364.603 [DAT](INFO): DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4
2025-06-11T21:12:44.615Z,1749676364.615 [DAT](INFO): DAT read: 21:12:45.9373 LVL= 20752, 24545, 15858, 30515, AGC= 60, IDX= 512, 0.26, 2.867, 1.733, 3.094, 2.513, PHS= 0.442,-0.733, 0.578, RAW= 155.4, -4.6, CAL= 159.5, -12.7, ROT= 350.5, 12.7
2025-06-11T21:12:44.628Z,1749676364.628 [DAT](INFO): got valid direction response:
21:12:45.9373 LVL= 20752, 24545, 15858, 30515, AGC= 60, IDX= 512, 0.26, 2.867, 1.733, 3.094, 2.513, PHS= 0.442,-0.733, 0.578, RAW= 155.4, -4.6, CAL= 159.5, -12.7, ROT= 350.5, 12.7
2025-06-11T21:12:44.629Z,1749676364.629 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-11T21:12:44.630Z,1749676364.630 [DAT](INFO): direction in FSK: [0.962156,-0.161009,-0.219846]
2025-06-11T21:12:44.630Z,1749676364.630 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:44.666Z,1749676364.666 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.687989
2025-06-11T21:12:44.849Z,1749676364.849 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.870913
2025-06-11T21:12:44.860Z,1749676364.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.299999 m,
deltaT: 0.505154 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:44.917Z,1749676364.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.051828 m,
bearing: 257.660806 deg,
lat: 36.906682 deg,
lon: -122.115714 deg,
deltaT: 0.505154 s,
deltaX: -0.000017 m,
approachRate: -0.000034 m/s,
posRepo size: 4
2025-06-11T21:12:44.925Z,1749676364.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.05 m.
2025-06-11T21:12:44.937Z,1749676364.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.051828 m,
nav range: 28.466129 m,
bearing: 258.657356 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.157205 deg/s,
cmd heading: 266.090592 deg,
new cmd heading: 266.271877 deg.
2025-06-11T21:12:44.938Z,1749676364.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647321 target range: 29.051828 and range: 29.30 m.
2025-06-11T21:12:45.103Z,1749676365.103 [DAT](INFO): DAT read: Rx Time:21:12:46.4370
2025-06-11T21:12:45.103Z,1749676365.103 [DAT](INFO): Rx dataTimestamp_ set to:1749676365.103171
2025-06-11T21:12:45.105Z,1749676365.105 [DAT](INFO): DAT read: Bearing 351.2, 10.0 (Local)
2025-06-11T21:12:45.105Z,1749676365.105 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.2, 10.0 (Local)
2025-06-11T21:12:45.107Z,1749676365.107 [DAT](INFO): DAT read: Range 10 to 50 : 28.8 m (trip time 19.2 ms) speed 0.6
2025-06-11T21:12:45.113Z,1749676365.113 [DAT](INFO): DAT read: 21:12:46.4370 LVL= 20576, 25425, 16498, 29731, AGC= 61, IDX= 509, 0.46, 0.509,-0.844, 0.773, 0.156, PHS= 0.442,-0.952, 0.615, RAW= 155.8, -1.4, CAL= 158.8, -10.0, ROT= 351.2, 10.0
2025-06-11T21:12:45.114Z,1749676365.114 [DAT](INFO): got valid direction response:
21:12:46.4370 LVL= 20576, 25425, 16498, 29731, AGC= 61, IDX= 509, 0.46, 0.509,-0.844, 0.773, 0.156, PHS= 0.442,-0.952, 0.615, RAW= 155.8, -1.4, CAL= 158.8, -10.0, ROT= 351.2, 10.0
2025-06-11T21:12:45.115Z,1749676365.115 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-11T21:12:45.117Z,1749676365.117 [DAT](INFO): direction in FSK: [0.973215,-0.150661,-0.173648]
2025-06-11T21:12:45.118Z,1749676365.118 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:45.123Z,1749676365.123 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.145074
2025-06-11T21:12:45.353Z,1749676365.353 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.374751
2025-06-11T21:12:45.465Z,1749676365.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.799999 m,
deltaT: 0.504206 s,
deltaX: -0.500000 m,
approachRate: -0.991658 m/s,
rangeRepo size: 4
2025-06-11T21:12:45.467Z,1749676365.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.556065 m,
bearing: 258.154014 deg,
lat: 36.906681 deg,
lon: -122.115713 deg,
deltaT: 0.504206 s,
deltaX: -0.495764 m,
approachRate: -0.983256 m/s,
posRepo size: 4
2025-06-11T21:12:45.472Z,1749676365.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.56 m.
2025-06-11T21:12:45.475Z,1749676365.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.556065 m,
nav range: 28.154652 m,
bearing: 258.505496 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.157205 deg/s,
cmd heading: 266.271865 deg,
new cmd heading: 266.558880 deg.
2025-06-11T21:12:45.480Z,1749676365.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652330 target range: 28.556065 and range: 28.80 m.
2025-06-11T21:12:45.614Z,1749676365.614 [DAT](INFO): DAT read: Rx Time:21:12:46.9369
2025-06-11T21:12:45.615Z,1749676365.615 [DAT](INFO): Rx dataTimestamp_ set to:1749676365.614430
2025-06-11T21:12:45.616Z,1749676365.616 [DAT](INFO): DAT read: Bearing 350.9, 9.6 (Local)
2025-06-11T21:12:45.617Z,1749676365.617 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.9, 9.6 (Local)
2025-06-11T21:12:45.619Z,1749676365.619 [DAT](INFO): DAT read: Range 10 to 50 : 28.7 m (trip time 19.1 ms) speed 0.5
2025-06-11T21:12:45.623Z,1749676365.623 [DAT](INFO): DAT read: 21:12:46.9369 LVL= 20464, 25649, 16754, 28435, AGC= 60, IDX= 509,-0.33, 0.280,-1.034, 0.553,-0.045, PHS= 0.413,-0.942, 0.595, RAW= 156.2, -0.9, CAL= 159.1, -9.6, ROT= 350.9, 9.6
2025-06-11T21:12:45.625Z,1749676365.625 [DAT](INFO): got valid direction response:
21:12:46.9369 LVL= 20464, 25649, 16754, 28435, AGC= 60, IDX= 509,-0.33, 0.280,-1.034, 0.553,-0.045, PHS= 0.413,-0.942, 0.595, RAW= 156.2, -0.9, CAL= 159.1, -9.6, ROT= 350.9, 9.6
2025-06-11T21:12:45.625Z,1749676365.625 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-11T21:12:45.626Z,1749676365.626 [DAT](INFO): direction in FSK: [0.973586,-0.155943,-0.166769]
2025-06-11T21:12:45.626Z,1749676365.626 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:45.632Z,1749676365.632 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.653540
2025-06-11T21:12:45.791Z,1749676365.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.700001 m,
deltaT: 0.511259 s,
deltaX: -0.099998 m,
approachRate: -0.195593 m/s,
rangeRepo size: 4
2025-06-11T21:12:45.802Z,1749676365.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.456974 m,
bearing: 258.005570 deg,
lat: 36.906680 deg,
lon: -122.115714 deg,
deltaT: 0.511259 s,
deltaX: -0.099091 m,
approachRate: -0.193817 m/s,
posRepo size: 4
2025-06-11T21:12:45.802Z,1749676365.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.46 m.
2025-06-11T21:12:45.809Z,1749676365.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.456974 m,
nav range: 28.090302 m,
bearing: 258.216963 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.157205 deg/s,
cmd heading: 266.558869 deg,
new cmd heading: 266.712700 deg.
2025-06-11T21:12:45.810Z,1749676365.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655015 target range: 28.456974 and range: 28.70 m.
2025-06-11T21:12:45.873Z,1749676365.873 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.893552
2025-06-11T21:12:46.117Z,1749676366.117 [DAT](INFO): DAT read: Rx Time:21:12:47.4366
2025-06-11T21:12:46.118Z,1749676366.118 [DAT](INFO): Rx dataTimestamp_ set to:1749676366.117578
2025-06-11T21:12:46.119Z,1749676366.119 [DAT](INFO): DAT read: Bearing 350.7, 9.5 (Local)
2025-06-11T21:12:46.119Z,1749676366.119 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.7, 9.5 (Local)
2025-06-11T21:12:46.122Z,1749676366.122 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4
2025-06-11T21:12:46.129Z,1749676366.129 [DAT](INFO): DAT read: 21:12:47.4366 LVL= 23440, 27009, 17218, 31619, AGC= 59, IDX= 506,-0.16,-1.325,-2.635,-1.044,-1.645, PHS= 0.408,-0.943, 0.598, RAW= 156.5, -0.9, CAL= 159.3, -9.5, ROT= 350.7, 9.5
2025-06-11T21:12:46.131Z,1749676366.131 [DAT](INFO): got valid direction response:
21:12:47.4366 LVL= 23440, 27009, 17218, 31619, AGC= 59, IDX= 506,-0.16,-1.325,-2.635,-1.044,-1.645, PHS= 0.408,-0.943, 0.598, RAW= 156.5, -0.9, CAL= 159.3, -9.5, ROT= 350.7, 9.5
2025-06-11T21:12:46.131Z,1749676366.131 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-11T21:12:46.156Z,1749676366.156 [DAT](INFO): direction in FSK: [0.973322,-0.159387,-0.165048]
2025-06-11T21:12:46.156Z,1749676366.156 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:46.173Z,1749676366.173 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.194838
2025-06-11T21:12:46.331Z,1749676366.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.200001 m,
deltaT: 0.503148 s,
deltaX: -0.500000 m,
approachRate: -0.993743 m/s,
rangeRepo size: 4
2025-06-11T21:12:46.333Z,1749676366.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.961206 m,
bearing: 257.992069 deg,
lat: 36.906679 deg,
lon: -122.115713 deg,
deltaT: 0.503148 s,
deltaX: -0.495768 m,
approachRate: -0.985332 m/s,
posRepo size: 4
2025-06-11T21:12:46.334Z,1749676366.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m.
2025-06-11T21:12:46.337Z,1749676366.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.961206 m,
nav range: 27.736563 m,
bearing: 258.034034 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.157205 deg/s,
cmd heading: 266.712713 deg,
new cmd heading: 266.967179 deg.
2025-06-11T21:12:46.338Z,1749676366.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659456 target range: 27.961206 and range: 28.20 m.
2025-06-11T21:12:46.373Z,1749676366.373 [DAT](INFO): DAT read: Rx Time:21:12:47.9364
2025-06-11T21:12:46.375Z,1749676366.375 [DAT](INFO): Rx dataTimestamp_ set to:1749676366.373742
2025-06-11T21:12:46.380Z,1749676366.380 [DAT](INFO): DAT read: Bearing 350.2, 9.3 (Local)
2025-06-11T21:12:46.381Z,1749676366.381 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.2, 9.3 (Local)
2025-06-11T21:12:46.384Z,1749676366.384 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.404919
2025-06-11T21:12:46.624Z,1749676366.624 [DAT](INFO): DAT read: Range 10 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4
2025-06-11T21:12:46.637Z,1749676366.637 [DAT](INFO): DAT read: 21:12:47.9364 LVL= 20704, 24817, 15906, 27347, AGC= 61, IDX= 504,-0.07,-0.447,-1.807,-0.138,-0.772, PHS= 0.413,-0.989, 0.631, RAW= 157.1, -0.7, CAL= 159.8, -9.3, ROT= 350.2, 9.3
2025-06-11T21:12:46.638Z,1749676366.638 [DAT](INFO): got valid direction response:
21:12:47.9364 LVL= 20704, 24817, 15906, 27347, AGC= 61, IDX= 504,-0.07,-0.447,-1.807,-0.138,-0.772, PHS= 0.413,-0.989, 0.631, RAW= 157.1, -0.7, CAL= 159.8, -9.3, ROT= 350.2, 9.3
2025-06-11T21:12:46.639Z,1749676366.639 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-11T21:12:46.676Z,1749676366.676 [DAT](INFO): direction in FSK: [0.972455,-0.167972,-0.161604]
2025-06-11T21:12:46.677Z,1749676366.677 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:46.689Z,1749676366.689 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.710531
2025-06-11T21:12:46.765Z,1749676366.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.900000 m,
deltaT: 0.504639 s,
deltaX: -0.300001 m,
approachRate: -0.594487 m/s,
rangeRepo size: 4
2025-06-11T21:12:46.767Z,1749676366.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.663692 m,
bearing: 257.814726 deg,
lat: 36.906679 deg,
lon: -122.115712 deg,
deltaT: 0.504639 s,
deltaX: -0.297514 m,
approachRate: -0.589558 m/s,
posRepo size: 4
2025-06-11T21:12:46.772Z,1749676366.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.66 m.
2025-06-11T21:12:46.774Z,1749676366.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.663692 m,
nav range: 27.419268 m,
bearing: 258.006942 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.157205 deg/s,
cmd heading: 266.967178 deg,
new cmd heading: 267.171900 deg.
2025-06-11T21:12:46.775Z,1749676366.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663029 target range: 27.663692 and range: 27.90 m.
2025-06-11T21:12:46.878Z,1749676366.878 [DAT](INFO): DAT read: Rx Time:21:12:48.4361
2025-06-11T21:12:46.880Z,1749676366.880 [DAT](INFO): Rx dataTimestamp_ set to:1749676366.878519
2025-06-11T21:12:46.883Z,1749676366.883 [DAT](INFO): DAT read: Bearing 350.2, 9.5 (Local)
2025-06-11T21:12:46.884Z,1749676366.884 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.2, 9.5 (Local)
2025-06-11T21:12:46.887Z,1749676366.887 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.908245
2025-06-11T21:12:47.126Z,1749676367.126 [DAT](INFO): DAT read: Range 10 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4
2025-06-11T21:12:47.131Z,1749676367.131 [DAT](INFO): DAT read: 21:12:48.4361 LVL= 21648, 26417, 16626, 29635, AGC= 61, IDX= 501, 0.10,-0.982,-2.324,-0.678,-1.305, PHS= 0.411,-0.972, 0.624, RAW= 157.1, -0.9, CAL= 159.8, -9.5, ROT= 350.2, 9.5
2025-06-11T21:12:47.132Z,1749676367.132 [DAT](INFO): got valid direction response:
21:12:48.4361 LVL= 21648, 26417, 16626, 29635, AGC= 61, IDX= 501, 0.10,-0.982,-2.324,-0.678,-1.305, PHS= 0.411,-0.972, 0.624, RAW= 157.1, -0.9, CAL= 159.8, -9.5, ROT= 350.2, 9.5
2025-06-11T21:12:47.133Z,1749676367.133 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-11T21:12:47.134Z,1749676367.134 [DAT](INFO): direction in FSK: [0.971894,-0.167875,-0.165048]
2025-06-11T21:12:47.134Z,1749676367.134 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:47.139Z,1749676367.139 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.160690
2025-06-11T21:12:47.163Z,1749676367.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.502078 s,
deltaX: -0.400000 m,
approachRate: -0.796688 m/s,
rangeRepo size: 4
2025-06-11T21:12:47.169Z,1749676367.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.267080 m,
bearing: 258.034747 deg,
lat: 36.906679 deg,
lon: -122.115712 deg,
deltaT: 0.502078 s,
deltaX: -0.396612 m,
approachRate: -0.789941 m/s,
posRepo size: 4
2025-06-11T21:12:47.170Z,1749676367.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.27 m.
2025-06-11T21:12:47.177Z,1749676367.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.267080 m,
nav range: 27.202587 m,
bearing: 258.064542 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.157205 deg/s,
cmd heading: 267.171893 deg,
new cmd heading: 267.359511 deg.
2025-06-11T21:12:47.178Z,1749676367.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666304 target range: 27.267080 and range: 27.50 m.
2025-06-11T21:12:47.383Z,1749676367.383 [DAT](INFO): DAT read: Rx Time:21:12:48.9361
2025-06-11T21:12:47.388Z,1749676367.388 [DAT](INFO): Rx dataTimestamp_ set to:1749676367.386540
2025-06-11T21:12:47.393Z,1749676367.393 [DAT](INFO): DAT read: Bearing 350.1, 9.4 (Local)
2025-06-11T21:12:47.394Z,1749676367.394 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.1, 9.4 (Local)
2025-06-11T21:12:47.410Z,1749676367.410 [DAT](INFO): DAT read: Range 10 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4
2025-06-11T21:12:47.418Z,1749676367.418 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-06-11T21:12:47.426Z,1749676367.426 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.448053
2025-06-11T21:12:47.515Z,1749676367.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:47.532Z,1749676367.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.262245 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:47.534Z,1749676367.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.27 m.
2025-06-11T21:12:47.546Z,1749676367.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.267080 m,
nav range: 27.012945 m,
bearing: 258.099813 deg,
approach rate: -0.521309 m/s,
LOS rate: 0.097640 deg/s,
cmd heading: 267.359504 deg,
new cmd heading: 267.466062 deg.
2025-06-11T21:12:47.553Z,1749676367.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668163 target range: 27.267080 and range: 27.50 m.
2025-06-11T21:12:47.633Z,1749676367.633 [DAT](INFO): DAT read: 21:12:48.9361 LVL= 21232, 26049, 14530, 30259, AGC= 60, IDX= 500, 0.28, 0.471,-0.882, 0.782, 0.147, PHS= 0.411,-0.983, 0.631, RAW= 157.2, -0.8, CAL= 159.9, -9.4, ROT= 350.1, 9.4
2025-06-11T21:12:47.634Z,1749676367.634 [DAT](INFO): got valid direction response:
21:12:48.9361 LVL= 21232, 26049, 14530, 30259, AGC= 60, IDX= 500, 0.28, 0.471,-0.882, 0.782, 0.147, PHS= 0.411,-0.983, 0.631, RAW= 157.2, -0.8, CAL= 159.9, -9.4, ROT= 350.1, 9.4
2025-06-11T21:12:47.634Z,1749676367.634 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-06-11T21:12:47.635Z,1749676367.635 [DAT](INFO): direction in FSK: [0.971881,-0.169620,-0.163326]
2025-06-11T21:12:47.641Z,1749676367.641 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.663057
2025-06-11T21:12:47.885Z,1749676367.885 [DAT](INFO): DAT read: Rx Time:21:12:49.4358
2025-06-11T21:12:47.887Z,1749676367.887 [DAT](INFO): Rx dataTimestamp_ set to:1749676367.885657
2025-06-11T21:12:47.891Z,1749676367.891 [DAT](INFO): DAT read: Bearing 349.4, 8.9 (Local)
2025-06-11T21:12:47.892Z,1749676367.892 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.4, 8.9 (Local)
2025-06-11T21:12:47.903Z,1749676367.903 [DAT](INFO): DAT read: Range 10 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4
2025-06-11T21:12:47.918Z,1749676367.918 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-06-11T21:12:47.930Z,1749676367.930 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.951775
2025-06-11T21:12:48.073Z,1749676368.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.000000 m,
deltaT: 0.499117 s,
deltaX: -0.500000 m,
approachRate: -1.001769 m/s,
rangeRepo size: 4
2025-06-11T21:12:48.075Z,1749676368.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.771353 m,
bearing: 258.267408 deg,
lat: 36.906679 deg,
lon: -122.115712 deg,
deltaT: 0.761362 s,
deltaX: -0.495728 m,
approachRate: -0.651106 m/s,
posRepo size: 4
2025-06-11T21:12:48.088Z,1749676368.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.77 m.
2025-06-11T21:12:48.091Z,1749676368.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.771353 m,
nav range: 26.665289 m,
bearing: 258.115798 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.097640 deg/s,
cmd heading: 267.466055 deg,
new cmd heading: 267.625920 deg.
2025-06-11T21:12:48.096Z,1749676368.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670953 target range: 26.771353 and range: 27.00 m.
2025-06-11T21:12:48.137Z,1749676368.137 [DAT](INFO): DAT read: 21:12:49.4358 LVL= 20896, 25137, 14834, 30483, AGC= 60, IDX= 498,-0.34,-2.867, 2.089,-2.530, 3.123, PHS= 0.381,-0.986, 0.627, RAW= 158.1, -0.3, CAL= 160.6, -8.9, ROT= 349.4, 8.9
2025-06-11T21:12:48.139Z,1749676368.139 [DAT](INFO): got valid direction response:
21:12:49.4358 LVL= 20896, 25137, 14834, 30483, AGC= 60, IDX= 498,-0.34,-2.867, 2.089,-2.530, 3.123, PHS= 0.381,-0.986, 0.627, RAW= 158.1, -0.3, CAL= 160.6, -8.9, ROT= 349.4, 8.9
2025-06-11T21:12:48.140Z,1749676368.140 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-06-11T21:12:48.142Z,1749676368.142 [DAT](INFO): direction in FSK: [0.971101,-0.181737,-0.154710]
2025-06-11T21:12:48.147Z,1749676368.147 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.168316
2025-06-11T21:12:48.390Z,1749676368.390 [DAT](INFO): DAT read: Rx Time:21:12:49.9357
2025-06-11T21:12:48.392Z,1749676368.392 [DAT](INFO): Rx dataTimestamp_ set to:1749676368.390748
2025-06-11T21:12:48.396Z,1749676368.396 [DAT](INFO): DAT read: Bearing 349.3, 9.0 (Local)
2025-06-11T21:12:48.398Z,1749676368.398 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.3, 9.0 (Local)
2025-06-11T21:12:48.406Z,1749676368.406 [DAT](INFO): DAT read: Rao 50 : 26.9 m (trip time 17.9 ms) speed 0.4
2025-06-11T21:12:48.408Z,1749676368.408 [DAT](INFO): unknown deviceResponse_: Rao 50 : 26.9 m (trip time 17.9 ms) speed 0.4
2025-06-11T21:12:48.411Z,1749676368.411 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.431925
2025-06-11T21:12:48.496Z,1749676368.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.77 m.
2025-06-11T21:12:48.499Z,1749676368.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.771353 m,
nav range: 26.451830 m,
bearing: 258.151512 deg,
approach rate: -0.503307 m/s,
LOS rate: 0.084889 deg/s,
cmd heading: 267.625909 deg,
new cmd heading: 267.733916 deg.
2025-06-11T21:12:48.500Z,1749676368.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672838 target range: 26.771353 and range: 27.00 m.
2025-06-11T21:12:48.645Z,1749676368.645 [DAT](INFO): DAT read: 21:12:49.9357 LVL= 20832, 26321, 18146, 30547, AGC= 60, IDX= 497,-0.04,-1.693,-3.006,-1.355,-1.984, PHS= 0.378,-0.976, 0.625, RAW= 158.2, -0.4, CAL= 160.7, -9.0, ROT= 349.3, 9.0
2025-06-11T21:12:48.646Z,1749676368.646 [DAT](INFO): got valid direction response:
21:12:49.9357 LVL= 20832, 26321, 18146, 30547, AGC= 60, IDX= 497,-0.04,-1.693,-3.006,-1.355,-1.984, PHS= 0.378,-0.976, 0.625, RAW= 158.2, -0.4, CAL= 160.7, -9.0, ROT= 349.3, 9.0
2025-06-11T21:12:48.646Z,1749676368.646 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-06-11T21:12:48.647Z,1749676368.647 [DAT](INFO): direction in FSK: [0.970515,-0.183381,-0.156434]
2025-06-11T21:12:48.655Z,1749676368.655 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.676460
2025-06-11T21:12:48.783Z,1749676368.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.77 m.
2025-06-11T21:12:48.787Z,1749676368.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.771353 m,
nav range: 26.308329 m,
bearing: 258.174757 deg,
approach rate: -0.498826 m/s,
LOS rate: 0.081240 deg/s,
cmd heading: 267.733908 deg,
new cmd heading: 267.804021 deg.
2025-06-11T21:12:48.787Z,1749676368.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674062 target range: 26.771353 and range: 27.00 m.
2025-06-11T21:12:48.898Z,1749676368.898 [DAT](INFO): DAT read: Rx Time:21:12:50.4354
2025-06-11T21:12:48.900Z,1749676368.900 [DAT](INFO): Rx dataTimestamp_ set to:1749676368.898812
2025-06-11T21:12:48.905Z,1749676368.905 [DAT](INFO): DAT read: Bearing 349.2, 8.9 (Local)
2025-06-11T21:12:48.907Z,1749676368.907 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.2, 8.9 (Local)
2025-06-11T21:12:48.914Z,1749676368.914 [DAT](INFO): DAT read: Range 10 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4
2025-06-11T21:12:48.918Z,1749676368.918 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-06-11T21:12:48.947Z,1749676368.947 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.968000
2025-06-11T21:12:49.161Z,1749676369.161 [DAT](INFO): DAT read: 21:12:50.4354 LVL= 23216, 23313, 16498, 28403, AGC= 60, IDX= 510, 0.19,-1.170,-2.518,-0.819,-1.465, PHS= 0.384,-1.006, 0.644, RAW= 158.4, -0.3, CAL= 160.8, -8.9, ROT= 349.2, 8.9
2025-06-11T21:12:49.162Z,1749676369.162 [DAT](INFO): got valid direction response:
21:12:50.4354 LVL= 23216, 23313, 16498, 28403, AGC= 60, IDX= 510, 0.19,-1.170,-2.518,-0.819,-1.465, PHS= 0.384,-1.006, 0.644, RAW= 158.4, -0.3, CAL= 160.8, -8.9, ROT= 349.2, 8.9
2025-06-11T21:12:49.162Z,1749676369.162 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-06-11T21:12:49.163Z,1749676369.163 [DAT](INFO): direction in FSK: [0.970460,-0.185125,-0.154710]
2025-06-11T21:12:49.171Z,1749676369.171 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.192842
2025-06-11T21:12:49.269Z,1749676369.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.400000 m,
deltaT: 1.013155 s,
deltaX: -0.600000 m,
approachRate: -0.592210 m/s,
rangeRepo size: 4
2025-06-11T21:12:49.271Z,1749676369.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.176447 m,
bearing: 257.887205 deg,
lat: 36.906679 deg,
lon: -122.115710 deg,
deltaT: 1.013155 s,
deltaX: -0.594906 m,
approachRate: -0.587182 m/s,
posRepo size: 4
2025-06-11T21:12:49.271Z,1749676369.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.18 m.
2025-06-11T21:12:49.278Z,1749676369.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.176447 m,
nav range: 25.925024 m,
bearing: 258.134934 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081240 deg/s,
cmd heading: 267.804013 deg,
new cmd heading: 267.921042 deg.
2025-06-11T21:12:49.279Z,1749676369.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676105 target range: 26.176447 and range: 26.40 m.
2025-06-11T21:12:49.406Z,1749676369.406 [DAT](INFO): DAT read: Rx Time:21:12:50.9354
2025-06-11T21:12:49.408Z,1749676369.408 [DAT](INFO): Rx dataTimestamp_ set to:1749676369.406720
2025-06-11T21:12:49.415Z,1749676369.415 [DAT](INFO): DAT read: Bearing 349.0, 8.7 (Local)
2025-06-11T21:12:49.416Z,1749676369.416 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.0, 8.7 (Local)
2025-06-11T21:12:49.419Z,1749676369.419 [DAT](INFO): DAT read: Range 10 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4
2025-06-11T21:12:49.424Z,1749676369.424 [DAT](INFO): DAT read: 21:12:50.9354 LVL= 20912, 26481, 16370, 31315, AGC= 59, IDX= 510,-0.29,-1.961, 3.023,-1.610,-2.235, PHS= 0.362,-0.979, 0.622, RAW= 158.7, -0.1, CAL= 161.0, -8.7, ROT= 349.0, 8.7
2025-06-11T21:12:49.425Z,1749676369.425 [DAT](INFO): got valid direction response:
21:12:50.9354 LVL= 20912, 26481, 16370, 31315, AGC= 59, IDX= 510,-0.29,-1.961, 3.023,-1.610,-2.235, PHS= 0.362,-0.979, 0.622, RAW= 158.7, -0.1, CAL= 161.0, -8.7, ROT= 349.0, 8.7
2025-06-11T21:12:49.426Z,1749676369.426 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-11T21:12:49.427Z,1749676369.427 [DAT](INFO): direction in FSK: [0.970332,-0.188614,-0.151261]
2025-06-11T21:12:49.427Z,1749676369.427 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:49.448Z,1749676369.448 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.469633
2025-06-11T21:12:49.653Z,1749676369.653 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.674704
2025-06-11T21:12:49.689Z,1749676369.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.400000 m,
deltaT: 0.507908 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:49.691Z,1749676369.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.176371 m,
bearing: 257.862509 deg,
lat: 36.906678 deg,
lon: -122.115710 deg,
deltaT: 0.507908 s,
deltaX: -0.000076 m,
approachRate: -0.000150 m/s,
posRepo size: 4
2025-06-11T21:12:49.691Z,1749676369.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.18 m.
2025-06-11T21:12:49.698Z,1749676369.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.176371 m,
nav range: 25.740292 m,
bearing: 257.972366 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081240 deg/s,
cmd heading: 267.921055 deg,
new cmd heading: 268.023471 deg.
2025-06-11T21:12:49.699Z,1749676369.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677892 target range: 26.176371 and range: 26.40 m.
2025-06-11T21:12:49.911Z,1749676369.911 [DAT](INFO): DAT read: Rx Time:21:12:51.4352
2025-06-11T21:12:49.914Z,1749676369.914 [DAT](INFO): Rx dataTimestamp_ set to:1749676369.912648
2025-06-11T21:12:49.917Z,1749676369.917 [DAT](INFO): DAT read: Bearing 349.3, 9.1 (Local)
2025-06-11T21:12:49.918Z,1749676369.918 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.3, 9.1 (Local)
2025-06-11T21:12:49.921Z,1749676369.921 [DAT](INFO): DAT read: Range 10 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4
2025-06-11T21:12:49.981Z,1749676369.981 [DAT](INFO): DAT read: 21:12:51.4352 LVL= 21488, 25313, 16114, 31187, AGC= 58, IDX= 507, 0.05,-1.110,-2.431,-0.772,-1.406, PHS= 0.385,-0.978, 0.631, RAW= 158.2, -0.5, CAL= 160.7, -9.1, ROT= 349.3, 9.1
2025-06-11T21:12:49.993Z,1749676369.993 [DAT](INFO): got valid direction response:
21:12:51.4352 LVL= 21488, 25313, 16114, 31187, AGC= 58, IDX= 507, 0.05,-1.110,-2.431,-0.772,-1.406, PHS= 0.385,-0.978, 0.631, RAW= 158.2, -0.5, CAL= 160.7, -9.1, ROT= 349.3, 9.1
2025-06-11T21:12:49.994Z,1749676369.994 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-11T21:12:50.006Z,1749676370.006 [DAT](INFO): direction in FSK: [0.970245,-0.183330,-0.158158]
2025-06-11T21:12:50.007Z,1749676370.007 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:50.019Z,1749676370.019 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.041027
2025-06-11T21:12:50.132Z,1749676370.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.100000 m,
deltaT: 0.505928 s,
deltaX: -0.299999 m,
approachRate: -0.592968 m/s,
rangeRepo size: 4
2025-06-11T21:12:50.134Z,1749676370.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.878912 m,
bearing: 258.405938 deg,
lat: 36.906679 deg,
lon: -122.115710 deg,
deltaT: 0.505928 s,
deltaX: -0.297459 m,
approachRate: -0.587947 m/s,
posRepo size: 4
2025-06-11T21:12:50.135Z,1749676370.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.88 m.
2025-06-11T21:12:50.142Z,1749676370.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.878912 m,
nav range: 25.505297 m,
bearing: 258.270557 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081240 deg/s,
cmd heading: 268.023481 deg,
new cmd heading: 268.131595 deg.
2025-06-11T21:12:50.143Z,1749676370.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679779 target range: 25.878912 and range: 26.10 m.
2025-06-11T21:12:50.157Z,1749676370.157 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.178923
2025-06-11T21:12:50.414Z,1749676370.414 [DAT](INFO): DAT read: Rx Time:21:12:51.9351
2025-06-11T21:12:50.416Z,1749676370.416 [DAT](INFO): Rx dataTimestamp_ set to:1749676370.414854
2025-06-11T21:12:50.418Z,1749676370.418 [DAT](INFO): DAT read: Bearing 348.6, 8.5 (Local)
2025-06-11T21:12:50.418Z,1749676370.418 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.6, 8.5 (Local)
2025-06-11T21:12:50.420Z,1749676370.420 [DAT](INFO): DAT read: Range 10 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4
2025-06-11T21:12:50.425Z,1749676370.425 [DAT](INFO): DAT read: 21:12:51.9351 LVL= 25840, 23905, 15186, 29363, AGC= 59, IDX= 506,-0.42,-2.838, 2.133,-2.468,-3.105, PHS= 0.355,-0.998, 0.633, RAW= 159.2, 0.1, CAL= 161.4, -8.5, ROT= 348.6, 8.5
2025-06-11T21:12:50.426Z,1749676370.426 [DAT](INFO): got valid direction response:
21:12:51.9351 LVL= 25840, 23905, 15186, 29363, AGC= 59, IDX= 506,-0.42,-2.838, 2.133,-2.468,-3.105, PHS= 0.355,-0.998, 0.633, RAW= 159.2, 0.1, CAL= 161.4, -8.5, ROT= 348.6, 8.5
2025-06-11T21:12:50.427Z,1749676370.427 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-11T21:12:50.428Z,1749676370.428 [DAT](INFO): direction in FSK: [0.969504,-0.195486,-0.147809]
2025-06-11T21:12:50.428Z,1749676370.428 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:50.439Z,1749676370.439 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.453482
2025-06-11T21:12:50.526Z,1749676370.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.000000 m,
deltaT: 0.502206 s,
deltaX: -0.100000 m,
approachRate: -0.199122 m/s,
rangeRepo size: 4
2025-06-11T21:12:50.528Z,1749676370.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.779760 m,
bearing: 257.842293 deg,
lat: 36.906678 deg,
lon: -122.115711 deg,
deltaT: 0.502206 s,
deltaX: -0.099152 m,
approachRate: -0.197432 m/s,
posRepo size: 4
2025-06-11T21:12:50.529Z,1749676370.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.78 m.
2025-06-11T21:12:50.531Z,1749676370.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.779760 m,
nav range: 25.481394 m,
bearing: 258.033263 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081240 deg/s,
cmd heading: 268.131589 deg,
new cmd heading: 268.228482 deg.
2025-06-11T21:12:50.536Z,1749676370.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681470 target range: 25.779760 and range: 26.00 m.
2025-06-11T21:12:50.661Z,1749676370.661 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.683067
2025-06-11T21:12:50.918Z,1749676370.918 [DAT](INFO): DAT read: Rx Time:21:12:52.4348
2025-06-11T21:12:50.918Z,1749676370.918 [DAT](INFO): Rx dataTimestamp_ set to:1749676370.918026
2025-06-11T21:12:50.921Z,1749676370.921 [DAT](INFO): DAT read: Bearing 348.5, 8.9 (Local)
2025-06-11T21:12:50.922Z,1749676370.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.5, 8.9 (Local)
2025-06-11T21:12:50.925Z,1749676370.925 [DAT](INFO): DAT read: Range 10 to 50 : 25.5 m (trip time 17.0 ms) speed 0.4
2025-06-11T21:12:50.963Z,1749676370.963 [DAT](INFO): DAT read: 21:12:52.4348 LVL= 25552, 27121, 17314, 30499, AGC= 60, IDX= 503, 0.02,-2.682, 2.266,-2.307,-2.965, PHS= 0.371,-1.005, 0.655, RAW= 159.2, -0.3, CAL= 161.5, -8.9, ROT= 348.5, 8.9
2025-06-11T21:12:51.033Z,1749676371.033 [DAT](INFO): got valid direction response:
21:12:52.4348 LVL= 25552, 27121, 17314, 30499, AGC= 60, IDX= 503, 0.02,-2.682, 2.266,-2.307,-2.965, PHS= 0.371,-1.005, 0.655, RAW= 159.2, -0.3, CAL= 161.5, -8.9, ROT= 348.5, 8.9
2025-06-11T21:12:51.033Z,1749676371.033 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-11T21:12:51.034Z,1749676371.034 [DAT](INFO): direction in FSK: [0.968126,-0.196968,-0.154710]
2025-06-11T21:12:51.034Z,1749676371.034 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:51.046Z,1749676371.046 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.068068
2025-06-11T21:12:51.061Z,1749676371.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.500000 m,
deltaT: 0.503172 s,
deltaX: -0.500000 m,
approachRate: -0.993696 m/s,
rangeRepo size: 4
2025-06-11T21:12:51.063Z,1749676371.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.283895 m,
bearing: 257.970495 deg,
lat: 36.906678 deg,
lon: -122.115711 deg,
deltaT: 0.503172 s,
deltaX: -0.495865 m,
approachRate: -0.985478 m/s,
posRepo size: 4
2025-06-11T21:12:51.063Z,1749676371.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.28 m.
2025-06-11T21:12:51.070Z,1749676371.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.283895 m,
nav range: 25.271391 m,
bearing: 258.057686 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081240 deg/s,
cmd heading: 268.228468 deg,
new cmd heading: 268.356865 deg.
2025-06-11T21:12:51.071Z,1749676371.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683711 target range: 25.283895 and range: 25.50 m.
2025-06-11T21:12:51.165Z,1749676371.165 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.186882
2025-06-11T21:12:51.418Z,1749676371.418 [DAT](INFO): DAT read: Rx Time:21:12:52.9348
2025-06-11T21:12:51.419Z,1749676371.419 [DAT](INFO): Rx dataTimestamp_ set to:1749676371.418636
2025-06-11T21:12:51.421Z,1749676371.421 [DAT](INFO): DAT read: Bearing 348.3, 8.6 (Local)
2025-06-11T21:12:51.421Z,1749676371.421 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.3, 8.6 (Local)
2025-06-11T21:12:51.424Z,1749676371.424 [DAT](INFO): DAT read: Range 10 to 50 : 25.5 m (trip time 17.0 ms) speed 0.4
2025-06-11T21:12:51.429Z,1749676371.429 [DAT](INFO): DAT read: 21:12:52.9348 LVL= 23904, 25393, 15730, 30259, AGC= 59, IDX= 503,-0.41,-2.838, 2.138,-2.458,-3.103, PHS= 0.352,-0.996, 0.641, RAW= 159.5, 0.0, CAL= 161.7, -8.6, ROT= 348.3, 8.6
2025-06-11T21:12:51.430Z,1749676371.430 [DAT](INFO): got valid direction response:
21:12:52.9348 LVL= 23904, 25393, 15730, 30259, AGC= 59, IDX= 503,-0.41,-2.838, 2.138,-2.458,-3.103, PHS= 0.352,-0.996, 0.641, RAW= 159.5, 0.0, CAL= 161.7, -8.6, ROT= 348.3, 8.6
2025-06-11T21:12:51.430Z,1749676371.430 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-11T21:12:51.431Z,1749676371.431 [DAT](INFO): direction in FSK: [0.968213,-0.200508,-0.149535]
2025-06-11T21:12:51.431Z,1749676371.431 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:51.435Z,1749676371.435 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.457439
2025-06-11T21:12:51.491Z,1749676371.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.500000 m,
deltaT: 0.500610 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:51.501Z,1749676371.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.283895 m,
bearing: 257.912073 deg,
lat: 36.906677 deg,
lon: -122.115712 deg,
deltaT: 0.500610 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:12:51.502Z,1749676371.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.28 m.
2025-06-11T21:12:51.509Z,1749676371.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.283895 m,
nav range: 25.071444 m,
bearing: 257.934660 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081240 deg/s,
cmd heading: 268.356876 deg,
new cmd heading: 268.463735 deg.
2025-06-11T21:12:51.510Z,1749676371.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685576 target range: 25.283895 and range: 25.50 m.
2025-06-11T21:12:51.669Z,1749676371.669 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.691008
2025-06-11T21:12:51.830Z,1749676371.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:51.837Z,1749676371.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.28 m.
2025-06-11T21:12:51.844Z,1749676371.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.283895 m,
nav range: 24.910137 m,
bearing: 257.941400 deg,
approach rate: -0.464647 m/s,
LOS rate: 0.019540 deg/s,
cmd heading: 268.463727 deg,
new cmd heading: 268.484078 deg.
2025-06-11T21:12:51.845Z,1749676371.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685931 target range: 25.283895 and range: 25.50 m.
2025-06-11T21:12:51.922Z,1749676371.922 [DAT](INFO): DAT read: Rx Time:21:12:53.4345
2025-06-11T21:12:51.923Z,1749676371.923 [DAT](INFO): Rx dataTimestamp_ set to:1749676371.922622
2025-06-11T21:12:51.925Z,1749676371.925 [DAT](INFO): DAT read: Bearing 348.4, 8.6 (Local)
2025-06-11T21:12:51.926Z,1749676371.926 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.4, 8.6 (Local)
2025-06-11T21:12:51.929Z,1749676371.929 [DAT](INFO): DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4
2025-06-11T21:12:51.935Z,1749676371.935 [DAT](INFO): DAT read: 21:12:53.4345 LVL= 24128, 25777, 16498, 30163, AGC= 59, IDX= 500, 0.04,-2.507, 2.455,-2.127,-2.776, PHS= 0.357,-1.006, 0.646, RAW= 159.4, 0.0, CAL= 161.6, -8.6, ROT= 348.4, 8.6
2025-06-11T21:12:51.948Z,1749676371.948 [DAT](INFO): got valid direction response:
21:12:53.4345 LVL= 24128, 25777, 16498, 30163, AGC= 59, IDX= 500, 0.04,-2.507, 2.455,-2.127,-2.776, PHS= 0.357,-1.006, 0.646, RAW= 159.4, 0.0, CAL= 161.6, -8.6, ROT= 348.4, 8.6
2025-06-11T21:12:51.949Z,1749676371.949 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-11T21:12:51.950Z,1749676371.950 [DAT](INFO): direction in FSK: [0.968561,-0.198817,-0.149535]
2025-06-11T21:12:51.950Z,1749676371.950 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:51.966Z,1749676371.966 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.988234
2025-06-11T21:12:52.173Z,1749676372.173 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.194838
2025-06-11T21:12:52.264Z,1749676372.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.100000 m,
deltaT: 0.503986 s,
deltaX: -0.400000 m,
approachRate: -0.793672 m/s,
rangeRepo size: 4
2025-06-11T21:12:52.266Z,1749676372.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.887211 m,
bearing: 258.494702 deg,
lat: 36.906678 deg,
lon: -122.115712 deg,
deltaT: 0.503986 s,
deltaX: -0.396685 m,
approachRate: -0.787095 m/s,
posRepo size: 4
2025-06-11T21:12:52.267Z,1749676372.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.89 m.
2025-06-11T21:12:52.274Z,1749676372.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.887211 m,
nav range: 24.698545 m,
bearing: 258.121336 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019540 deg/s,
cmd heading: 268.484081 deg,
new cmd heading: 268.508811 deg.
2025-06-11T21:12:52.275Z,1749676372.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686363 target range: 24.887211 and range: 25.10 m.
2025-06-11T21:12:52.426Z,1749676372.426 [DAT](INFO): DAT read: Rx Time:21:12:53.9345
2025-06-11T21:12:52.426Z,1749676372.426 [DAT](INFO): Rx dataTimestamp_ set to:1749676372.425860
2025-06-11T21:12:52.427Z,1749676372.427 [DAT](INFO): DAT read: Bearing 348.3, 8.5 (Local)
2025-06-11T21:12:52.428Z,1749676372.428 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.3, 8.5 (Local)
2025-06-11T21:12:52.430Z,1749676372.430 [DAT](INFO): DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4
2025-06-11T21:12:52.435Z,1749676372.435 [DAT](INFO): DAT read: 21:12:53.9345 LVL= 24256, 29249, 17650, 32435, AGC= 59, IDX= 500,-0.38,-2.710, 2.280,-2.332,-2.967, PHS= 0.345,-0.989, 0.632, RAW= 159.6, 0.2, CAL= 161.7, -8.5, ROT= 348.3, 8.5
2025-06-11T21:12:52.436Z,1749676372.436 [DAT](INFO): got valid direction response:
21:12:53.9345 LVL= 24256, 29249, 17650, 32435, AGC= 59, IDX= 500,-0.38,-2.710, 2.280,-2.332,-2.967, PHS= 0.345,-0.989, 0.632, RAW= 159.6, 0.2, CAL= 161.7, -8.5, ROT= 348.3, 8.5
2025-06-11T21:12:52.436Z,1749676372.436 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-11T21:12:52.437Z,1749676372.437 [DAT](INFO): direction in FSK: [0.968467,-0.200560,-0.147809]
2025-06-11T21:12:52.438Z,1749676372.438 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:52.446Z,1749676372.446 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.467842
2025-06-11T21:12:52.631Z,1749676372.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.100000 m,
deltaT: 0.503238 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:52.639Z,1749676372.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.887211 m,
bearing: 258.384681 deg,
lat: 36.906678 deg,
lon: -122.115712 deg,
deltaT: 0.503238 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:12:52.645Z,1749676372.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.89 m.
2025-06-11T21:12:52.647Z,1749676372.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.887211 m,
nav range: 24.548723 m,
bearing: 258.141559 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019540 deg/s,
cmd heading: 268.508806 deg,
new cmd heading: 268.530528 deg.
2025-06-11T21:12:52.653Z,1749676372.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686742 target range: 24.887211 and range: 25.10 m.
2025-06-11T21:12:52.679Z,1749676372.679 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.701023
2025-06-11T21:12:52.930Z,1749676372.930 [DAT](INFO): DAT read: Rx Time:21:12:54.4342
2025-06-11T21:12:52.931Z,1749676372.931 [DAT](INFO): Rx dataTimestamp_ set to:1749676372.930616
2025-06-11T21:12:52.933Z,1749676372.933 [DAT](INFO): DAT read: Bearing 348.4, 8.6 (Local)
2025-06-11T21:12:52.933Z,1749676372.933 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.4, 8.6 (Local)
2025-06-11T21:12:52.936Z,1749676372.936 [DAT](INFO): DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4
2025-06-11T21:12:52.941Z,1749676372.941 [DAT](INFO): DAT read: 21:12:54.4342 LVL= 25136, 26993, 16834, 30115, AGC= 58, IDX= 497, 0.05,-2.494, 2.479,-2.119,-2.762, PHS= 0.357,-0.995, 0.641, RAW= 159.3, -0.0, CAL= 161.6, -8.6, ROT= 348.4, 8.6
2025-06-11T21:12:52.942Z,1749676372.942 [DAT](INFO): got valid direction response:
21:12:54.4342 LVL= 25136, 26993, 16834, 30115, AGC= 58, IDX= 497, 0.05,-2.494, 2.479,-2.119,-2.762, PHS= 0.357,-0.995, 0.641, RAW= 159.3, -0.0, CAL= 161.6, -8.6, ROT= 348.4, 8.6
2025-06-11T21:12:52.942Z,1749676372.942 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-11T21:12:52.943Z,1749676372.943 [DAT](INFO): direction in FSK: [0.968561,-0.198817,-0.149535]
2025-06-11T21:12:52.943Z,1749676372.943 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:52.953Z,1749676372.953 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.974752
2025-06-11T21:12:53.182Z,1749676373.182 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.203604
2025-06-11T21:12:53.201Z,1749676373.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.799999 m,
deltaT: 0.504756 s,
deltaX: -0.300001 m,
approachRate: -0.594349 m/s,
rangeRepo size: 4
2025-06-11T21:12:53.203Z,1749676373.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.589800 m,
bearing: 258.773325 deg,
lat: 36.906678 deg,
lon: -122.115712 deg,
deltaT: 0.504756 s,
deltaX: -0.297411 m,
approachRate: -0.589217 m/s,
posRepo size: 4
2025-06-11T21:12:53.208Z,1749676373.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.59 m.
2025-06-11T21:12:53.211Z,1749676373.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.589800 m,
nav range: 24.273829 m,
bearing: 258.318375 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019540 deg/s,
cmd heading: 268.530526 deg,
new cmd heading: 268.563943 deg.
2025-06-11T21:12:53.216Z,1749676373.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687325 target range: 24.589800 and range: 24.80 m.
2025-06-11T21:12:53.434Z,1749676373.434 [DAT](INFO): DAT read: Rx Time:21:12:54.9342
2025-06-11T21:12:53.434Z,1749676373.434 [DAT](INFO): Rx dataTimestamp_ set to:1749676373.433811
2025-06-11T21:12:53.435Z,1749676373.435 [DAT](INFO): DAT read: Bearing 347.2, 0.4 (Local)
2025-06-11T21:12:53.436Z,1749676373.436 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.2, 0.4 (Local)
2025-06-11T21:12:53.439Z,1749676373.439 [DAT](INFO): DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4
2025-06-11T21:12:53.446Z,1749676373.446 [DAT](INFO): DAT read: 21:12:54.9342 LVL= 27712, 26833, 16338, 32467, AGC= 60, IDX= 513,-0.41,-2.412, 2.526,-1.861,-2.366, PHS= 0.042,-1.344, 0.503, RAW= 163.9, 9.6, CAL= 162.8, -0.4, ROT= 347.2, 0.4
2025-06-11T21:12:53.447Z,1749676373.447 [DAT](INFO): got valid direction response:
21:12:54.9342 LVL= 27712, 26833, 16338, 32467, AGC= 60, IDX= 513,-0.41,-2.412, 2.526,-1.861,-2.366, PHS= 0.042,-1.344, 0.503, RAW= 163.9, 9.6, CAL= 162.8, -0.4, ROT= 347.2, 0.4
2025-06-11T21:12:53.472Z,1749676373.472 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-11T21:12:53.473Z,1749676373.473 [DAT](INFO): direction in FSK: [0.975126,-0.221543,-0.006981]
2025-06-11T21:12:53.473Z,1749676373.473 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:53.490Z,1749676373.490 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.512190
2025-06-11T21:12:53.491Z,1749676373.491 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:12:53.577Z,1749676373.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.799999 m,
deltaT: 0.503195 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:53.579Z,1749676373.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.589800 m,
bearing: 256.828363 deg,
lat: 36.906678 deg,
lon: -122.115714 deg,
deltaT: 0.503195 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:12:53.579Z,1749676373.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.59 m.
2025-06-11T21:12:53.586Z,1749676373.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.589800 m,
nav range: 24.253689 m,
bearing: 258.401884 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019540 deg/s,
cmd heading: 268.563940 deg,
new cmd heading: 268.585497 deg.
2025-06-11T21:12:53.587Z,1749676373.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687701 target range: 24.589800 and range: 24.80 m.
2025-06-11T21:12:53.686Z,1749676373.686 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.707563
2025-06-11T21:12:53.756Z,1749676373.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:12:53.938Z,1749676373.938 [DAT](INFO): DAT read: Rx Time:21:12:55.4339
2025-06-11T21:12:53.938Z,1749676373.938 [DAT](INFO): Rx dataTimestamp_ set to:1749676373.937770
2025-06-11T21:12:53.939Z,1749676373.939 [DAT](INFO): DAT read: Bearing 348.0, 8.2 (Local)
2025-06-11T21:12:53.940Z,1749676373.940 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.0, 8.2 (Local)
2025-06-11T21:12:53.942Z,1749676373.942 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4
2025-06-11T21:12:53.947Z,1749676373.947 [DAT](INFO): DAT read: 21:12:55.4339 LVL= 28320, 28401, 17138, 32755, AGC= 59, IDX= 510,-0.00,-3.130, 1.842,-2.734, 2.903, PHS= 0.338,-1.014, 0.643, RAW= 159.9, 0.4, CAL= 162.0, -8.2, ROT= 348.0, 8.2
2025-06-11T21:12:53.948Z,1749676373.948 [DAT](INFO): got valid direction response:
21:12:55.4339 LVL= 28320, 28401, 17138, 32755, AGC= 59, IDX= 510,-0.00,-3.130, 1.842,-2.734, 2.903, PHS= 0.338,-1.014, 0.643, RAW= 159.9, 0.4, CAL= 162.0, -8.2, ROT= 348.0, 8.2
2025-06-11T21:12:53.949Z,1749676373.949 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-11T21:12:53.950Z,1749676373.950 [DAT](INFO): direction in FSK: [0.968147,-0.205786,-0.142629]
2025-06-11T21:12:53.950Z,1749676373.950 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:53.958Z,1749676373.958 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.979589
2025-06-11T21:12:54.014Z,1749676374.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503959 s,
deltaX: -0.500000 m,
approachRate: -0.992144 m/s,
rangeRepo size: 4
2025-06-11T21:12:54.041Z,1749676374.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.094038 m,
bearing: 258.532188 deg,
lat: 36.906679 deg,
lon: -122.115714 deg,
deltaT: 0.503959 s,
deltaX: -0.495762 m,
approachRate: -0.983735 m/s,
posRepo size: 4
2025-06-11T21:12:54.043Z,1749676374.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.09 m.
2025-06-11T21:12:54.081Z,1749676374.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.094038 m,
nav range: 24.036018 m,
bearing: 258.582659 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019540 deg/s,
cmd heading: 268.585496 deg,
new cmd heading: 268.609409 deg.
2025-06-11T21:12:54.082Z,1749676374.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688118 target range: 24.094038 and range: 24.30 m.
2025-06-11T21:12:54.189Z,1749676374.189 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.210966
2025-06-11T21:12:54.442Z,1749676374.442 [DAT](INFO): DAT read: Rx Time:21:12:55.9338
2025-06-11T21:12:54.442Z,1749676374.442 [DAT](INFO): Rx dataTimestamp_ set to:1749676374.441709
2025-06-11T21:12:54.443Z,1749676374.443 [DAT](INFO): DAT read: Bearing 348.0, 8.5 (Local)
2025-06-11T21:12:54.444Z,1749676374.444 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.0, 8.5 (Local)
2025-06-11T21:12:54.446Z,1749676374.446 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4
2025-06-11T21:12:54.452Z,1749676374.452 [DAT](INFO): DAT read: 21:12:55.9338 LVL= 25936, 24289, 15394, 29907, AGC= 59, IDX= 508, 0.41,-2.509, 2.477,-2.119,-2.766, PHS= 0.346,-0.993, 0.644, RAW= 159.8, 0.1, CAL= 162.0, -8.5, ROT= 348.0, 8.5
2025-06-11T21:12:54.453Z,1749676374.453 [DAT](INFO): got valid direction response:
21:12:55.9338 LVL= 25936, 24289, 15394, 29907, AGC= 59, IDX= 508, 0.41,-2.509, 2.477,-2.119,-2.766, PHS= 0.346,-0.993, 0.644, RAW= 159.8, 0.1, CAL= 162.0, -8.5, ROT= 348.0, 8.5
2025-06-11T21:12:54.453Z,1749676374.453 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-11T21:12:54.454Z,1749676374.454 [DAT](INFO): direction in FSK: [0.967403,-0.205628,-0.147809]
2025-06-11T21:12:54.454Z,1749676374.454 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:54.466Z,1749676374.466 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.488091
2025-06-11T21:12:54.490Z,1749676374.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.503939 s,
deltaX: -0.099998 m,
approachRate: -0.198434 m/s,
rangeRepo size: 4
2025-06-11T21:12:54.496Z,1749676374.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.994888 m,
bearing: 258.650091 deg,
lat: 36.906679 deg,
lon: -122.115714 deg,
deltaT: 0.503939 s,
deltaX: -0.099150 m,
approachRate: -0.196749 m/s,
posRepo size: 4
2025-06-11T21:12:54.497Z,1749676374.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.99 m.
2025-06-11T21:12:54.499Z,1749676374.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.994888 m,
nav range: 23.801857 m,
bearing: 258.580448 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019540 deg/s,
cmd heading: 268.609401 deg,
new cmd heading: 268.639510 deg.
2025-06-11T21:12:54.505Z,1749676374.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688644 target range: 23.994888 and range: 24.20 m.
2025-06-11T21:12:54.693Z,1749676374.693 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.714931
2025-06-11T21:12:54.760Z,1749676374.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:12:54.818Z,1749676374.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:54.820Z,1749676374.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.99 m.
2025-06-11T21:12:54.823Z,1749676374.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.994888 m,
nav range: 23.636333 m,
bearing: 258.578242 deg,
approach rate: -0.500715 m/s,
LOS rate: -0.006722 deg/s,
cmd heading: 268.639509 deg,
new cmd heading: 268.632843 deg.
2025-06-11T21:12:54.824Z,1749676374.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688528 target range: 23.994888 and range: 24.20 m.
2025-06-11T21:12:54.946Z,1749676374.946 [DAT](INFO): DAT read: Rx Time:21:12:56.4335
2025-06-11T21:12:54.946Z,1749676374.946 [DAT](INFO): Rx dataTimestamp_ set to:1749676374.945799
2025-06-11T21:12:54.947Z,1749676374.947 [DAT](INFO): DAT read: Bearing 347.6, 8.3 (Local)
2025-06-11T21:12:54.948Z,1749676374.948 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.6, 8.3 (Local)
2025-06-11T21:12:54.951Z,1749676374.951 [DAT](INFO): DAT read: Range 10 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4
2025-06-11T21:12:54.956Z,1749676374.956 [DAT](INFO): DAT read: 21:12:56.4335 LVL= 25040, 24849, 14098, 27891, AGC= 59, IDX= 506,-0.10, 0.982,-0.291, 1.384, 0.743, PHS= 0.327,-0.987, 0.638, RAW= 160.4, 0.3, CAL= 162.4, -8.3, ROT= 347.6, 8.3
2025-06-11T21:12:54.957Z,1749676374.957 [DAT](INFO): got valid direction response:
21:12:56.4335 LVL= 25040, 24849, 14098, 27891, AGC= 59, IDX= 506,-0.10, 0.982,-0.291, 1.384, 0.743, PHS= 0.327,-0.987, 0.638, RAW= 160.4, 0.3, CAL= 162.4, -8.3, ROT= 347.6, 8.3
2025-06-11T21:12:54.957Z,1749676374.957 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-11T21:12:54.958Z,1749676374.958 [DAT](INFO): direction in FSK: [0.966442,-0.212486,-0.144356]
2025-06-11T21:12:54.959Z,1749676374.959 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:54.962Z,1749676374.962 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.984097
2025-06-11T21:12:55.197Z,1749676375.197 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.219160
2025-06-11T21:12:55.241Z,1749676375.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 0.504090 s,
deltaX: -0.500000 m,
approachRate: -0.991886 m/s,
rangeRepo size: 4
2025-06-11T21:12:55.243Z,1749676375.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.499100 m,
bearing: 258.370735 deg,
lat: 36.906679 deg,
lon: -122.115714 deg,
deltaT: 0.504090 s,
deltaX: -0.495789 m,
approachRate: -0.983532 m/s,
posRepo size: 4
2025-06-11T21:12:55.244Z,1749676375.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-06-11T21:12:55.247Z,1749676375.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.499100 m,
nav range: 23.433491 m,
bearing: 258.557194 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006722 deg/s,
cmd heading: 268.632843 deg,
new cmd heading: 268.624363 deg.
2025-06-11T21:12:55.247Z,1749676375.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688380 target range: 23.499100 and range: 23.70 m.
2025-06-11T21:12:55.453Z,1749676375.453 [DAT](INFO): DAT read: Rx Time:21:12:56.9334
2025-06-11T21:12:55.453Z,1749676375.453 [DAT](INFO): Rx dataTimestamp_ set to:1749676375.452997
2025-06-11T21:12:55.455Z,1749676375.455 [DAT](INFO): DAT read: Bearing 347.8, 8.6 (Local)
2025-06-11T21:12:55.455Z,1749676375.455 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.8, 8.6 (Local)
2025-06-11T21:12:55.457Z,1749676375.457 [DAT](INFO): DAT read: Range 10 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4
2025-06-11T21:12:55.463Z,1749676375.463 [DAT](INFO): DAT read: 21:12:56.9334 LVL= 26032, 27169, 15346, 30659, AGC= 59, IDX= 505, 0.24,-2.294, 2.698,-1.900,-2.551, PHS= 0.345,-0.987, 0.648, RAW= 160.0, -0.1, CAL= 162.2, -8.6, ROT= 347.8, 8.6
2025-06-11T21:12:55.476Z,1749676375.476 [DAT](INFO): got valid direction response:
21:12:56.9334 LVL= 26032, 27169, 15346, 30659, AGC= 59, IDX= 505, 0.24,-2.294, 2.698,-1.900,-2.551, PHS= 0.345,-0.987, 0.648, RAW= 160.0, -0.1, CAL= 162.2, -8.6, ROT= 347.8, 8.6
2025-06-11T21:12:55.477Z,1749676375.477 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-11T21:12:55.478Z,1749676375.478 [DAT](INFO): direction in FSK: [0.966426,-0.208949,-0.149535]
2025-06-11T21:12:55.478Z,1749676375.478 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:55.487Z,1749676375.487 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.508957
2025-06-11T21:12:55.617Z,1749676375.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.600000 m,
deltaT: 0.507198 s,
deltaX: -0.100000 m,
approachRate: -0.197162 m/s,
rangeRepo size: 4
2025-06-11T21:12:55.619Z,1749676375.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.399948 m,
bearing: 258.649982 deg,
lat: 36.906679 deg,
lon: -122.115714 deg,
deltaT: 0.507198 s,
deltaX: -0.099152 m,
approachRate: -0.195489 m/s,
posRepo size: 4
2025-06-11T21:12:55.624Z,1749676375.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:12:55.627Z,1749676375.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.399948 m,
nav range: 23.245422 m,
bearing: 258.533507 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006722 deg/s,
cmd heading: 268.624373 deg,
new cmd heading: 268.616784 deg.
2025-06-11T21:12:55.632Z,1749676375.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688247 target range: 23.399948 and range: 23.60 m.
2025-06-11T21:12:55.702Z,1749676375.702 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.723467
2025-06-11T21:12:55.953Z,1749676375.953 [DAT](INFO): DAT read: Rx Time:21:12:57.4333
2025-06-11T21:12:55.954Z,1749676375.954 [DAT](INFO): Rx dataTimestamp_ set to:1749676375.953480
2025-06-11T21:12:55.955Z,1749676375.955 [DAT](INFO): DAT read: Bearing 347.5, 8.2 (Local)
2025-06-11T21:12:55.955Z,1749676375.955 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.5, 8.2 (Local)
2025-06-11T21:12:55.958Z,1749676375.958 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4
2025-06-11T21:12:55.962Z,1749676375.962 [DAT](INFO): DAT read: 21:12:57.4333 LVL= 20960, 26321, 13810, 31587, AGC= 58, IDX= 503,-0.23, 0.201,-1.046, 0.602,-0.027, PHS= 0.316,-0.972, 0.627, RAW= 160.6, 0.4, CAL= 162.5, -8.2, ROT= 347.5, 8.2
2025-06-11T21:12:55.963Z,1749676375.963 [DAT](INFO): got valid direction response:
21:12:57.4333 LVL= 20960, 26321, 13810, 31587, AGC= 58, IDX= 503,-0.23, 0.201,-1.046, 0.602,-0.027, PHS= 0.316,-0.972, 0.627, RAW= 160.6, 0.4, CAL= 162.5, -8.2, ROT= 347.5, 8.2
2025-06-11T21:12:55.964Z,1749676375.964 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-11T21:12:55.965Z,1749676375.965 [DAT](INFO): direction in FSK: [0.966315,-0.214227,-0.142629]
2025-06-11T21:12:55.965Z,1749676375.965 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:55.969Z,1749676375.969 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.991203
2025-06-11T21:12:56.205Z,1749676376.205 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.226896
2025-06-11T21:12:56.217Z,1749676376.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.400000 m,
deltaT: 0.500483 s,
deltaX: -0.200001 m,
approachRate: -0.399615 m/s,
rangeRepo size: 4
2025-06-11T21:12:56.219Z,1749676376.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.201750 m,
bearing: 258.313413 deg,
lat: 36.906679 deg,
lon: -122.115714 deg,
deltaT: 0.500483 s,
deltaX: -0.198198 m,
approachRate: -0.396014 m/s,
posRepo size: 4
2025-06-11T21:12:56.219Z,1749676376.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-06-11T21:12:56.226Z,1749676376.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.201750 m,
nav range: 22.960697 m,
bearing: 258.499512 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006722 deg/s,
cmd heading: 268.616778 deg,
new cmd heading: 268.604714 deg.
2025-06-11T21:12:56.227Z,1749676376.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688036 target range: 23.201750 and range: 23.40 m.
2025-06-11T21:12:56.458Z,1749676376.458 [DAT](INFO): DAT read: Rx Time:21:12:57.9333
2025-06-11T21:12:56.459Z,1749676376.459 [DAT](INFO): Rx dataTimestamp_ set to:1749676376.458077
2025-06-11T21:12:56.461Z,1749676376.461 [DAT](INFO): DAT read: Bearing 347.7, 8.4 (Local)
2025-06-11T21:12:56.461Z,1749676376.461 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.7, 8.4 (Local)
2025-06-11T21:12:56.464Z,1749676376.464 [DAT](INFO): DAT read: Range 10 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4
2025-06-11T21:12:56.482Z,1749676376.482 [DAT](INFO): DAT read: 21:12:57.9333 LVL= 22960, 23857, 15074, 28211, AGC= 58, IDX= 502, 0.07, 2.783, 1.503,-3.103, 2.538, PHS= 0.333,-0.989, 0.639, RAW= 160.2, 0.2, CAL= 162.3, -8.4, ROT= 347.7, 8.4
2025-06-11T21:12:56.483Z,1749676376.483 [DAT](INFO): got valid direction response:
21:12:57.9333 LVL= 22960, 23857, 15074, 28211, AGC= 58, IDX= 502, 0.07, 2.783, 1.503,-3.103, 2.538, PHS= 0.333,-0.989, 0.639, RAW= 160.2, 0.2, CAL= 162.3, -8.4, ROT= 347.7, 8.4
2025-06-11T21:12:56.488Z,1749676376.488 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-11T21:12:56.489Z,1749676376.489 [DAT](INFO): direction in FSK: [0.966564,-0.210745,-0.146083]
2025-06-11T21:12:56.489Z,1749676376.489 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:56.512Z,1749676376.512 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.533947
2025-06-11T21:12:56.709Z,1749676376.709 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.731009
2025-06-11T21:12:56.710Z,1749676376.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.299999 m,
deltaT: 0.504597 s,
deltaX: -0.100000 m,
approachRate: -0.198179 m/s,
rangeRepo size: 4
2025-06-11T21:12:56.713Z,1749676376.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.102551 m,
bearing: 258.635699 deg,
lat: 36.906679 deg,
lon: -122.115714 deg,
deltaT: 0.504597 s,
deltaX: -0.099199 m,
approachRate: -0.196591 m/s,
posRepo size: 4
2025-06-11T21:12:56.713Z,1749676376.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-06-11T21:12:56.716Z,1749676376.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.102551 m,
nav range: 22.744238 m,
bearing: 258.529258 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006722 deg/s,
cmd heading: 268.604702 deg,
new cmd heading: 268.594762 deg.
2025-06-11T21:12:56.717Z,1749676376.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687863 target range: 23.102551 and range: 23.30 m.
2025-06-11T21:12:56.962Z,1749676376.962 [DAT](INFO): DAT read: Rx Time:21:12:58.4330
2025-06-11T21:12:56.962Z,1749676376.962 [DAT](INFO): Rx dataTimestamp_ set to:1749676376.962091
2025-06-11T21:12:56.964Z,1749676376.964 [DAT](INFO): DAT read: Bearing 347.9, 8.7 (Local)
2025-06-11T21:12:56.964Z,1749676376.964 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.9, 8.7 (Local)
2025-06-11T21:12:56.966Z,1749676376.966 [DAT](INFO): DAT read: Range 10 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4
2025-06-11T21:12:56.971Z,1749676376.971 [DAT](INFO): DAT read: 21:12:58.4330 LVL= 24352, 26481, 17874, 31683, AGC= 59, IDX= 499, 0.41, 2.280, 0.993, 2.671, 2.023, PHS= 0.345,-0.983, 0.645, RAW= 160.0, -0.1, CAL= 162.1, -8.7, ROT= 347.9, 8.7
2025-06-11T21:12:56.972Z,1749676376.972 [DAT](INFO): got valid direction response:
21:12:58.4330 LVL= 24352, 26481, 17874, 31683, AGC= 59, IDX= 499, 0.41, 2.280, 0.993, 2.671, 2.023, PHS= 0.345,-0.983, 0.645, RAW= 160.0, -0.1, CAL= 162.1, -8.7, ROT= 347.9, 8.7
2025-06-11T21:12:56.973Z,1749676376.973 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-11T21:12:56.974Z,1749676376.974 [DAT](INFO): direction in FSK: [0.966533,-0.207207,-0.151261]
2025-06-11T21:12:56.974Z,1749676376.974 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:56.982Z,1749676376.982 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.003975
2025-06-11T21:12:57.153Z,1749676377.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 0.504014 s,
deltaX: -0.500000 m,
approachRate: -0.992036 m/s,
rangeRepo size: 4
2025-06-11T21:12:57.155Z,1749676377.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.606787 m,
bearing: 258.877437 deg,
lat: 36.906679 deg,
lon: -122.115714 deg,
deltaT: 0.504014 s,
deltaX: -0.495764 m,
approachRate: -0.983631 m/s,
posRepo size: 4
2025-06-11T21:12:57.164Z,1749676377.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:12:57.167Z,1749676377.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.606787 m,
nav range: 22.502993 m,
bearing: 258.483982 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006722 deg/s,
cmd heading: 268.594758 deg,
new cmd heading: 268.585893 deg.
2025-06-11T21:12:57.172Z,1749676377.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687708 target range: 22.606787 and range: 22.80 m.
2025-06-11T21:12:57.213Z,1749676377.213 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.234777
2025-06-11T21:12:57.465Z,1749676377.465 [DAT](INFO): DAT read: Rx Time:21:12:58.9330
2025-06-11T21:12:57.466Z,1749676377.466 [DAT](INFO): Rx dataTimestamp_ set to:1749676377.465525
2025-06-11T21:12:57.467Z,1749676377.467 [DAT](INFO): DAT read: Bearing 347.9, 8.2 (Local)
2025-06-11T21:12:57.467Z,1749676377.467 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.9, 8.2 (Local)
2025-06-11T21:12:57.470Z,1749676377.470 [DAT](INFO): DAT read: Range 10 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4
2025-06-11T21:12:57.474Z,1749676377.474 [DAT](INFO): DAT read: 21:12:58.9330 LVL= 21264, 26545, 17218, 31635, AGC= 58, IDX= 499,-0.16, 1.571, 0.308, 1.959, 1.333, PHS= 0.326,-0.978, 0.623, RAW= 160.0, 0.4, CAL= 162.1, -8.2, ROT= 347.9, 8.2
2025-06-11T21:12:57.475Z,1749676377.475 [DAT](INFO): got valid direction response:
21:12:58.9330 LVL= 21264, 26545, 17218, 31635, AGC= 58, IDX= 499,-0.16, 1.571, 0.308, 1.959, 1.333, PHS= 0.326,-0.978, 0.623, RAW= 160.0, 0.4, CAL= 162.1, -8.2, ROT= 347.9, 8.2
2025-06-11T21:12:57.480Z,1749676377.480 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-11T21:12:57.481Z,1749676377.481 [DAT](INFO): direction in FSK: [0.967787,-0.207475,-0.142629]
2025-06-11T21:12:57.481Z,1749676377.481 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:57.485Z,1749676377.485 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.506786
2025-06-11T21:12:57.608Z,1749676377.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 0.503434 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:12:57.610Z,1749676377.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.606787 m,
bearing: 258.834557 deg,
lat: 36.906680 deg,
lon: -122.115714 deg,
deltaT: 0.503434 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:12:57.610Z,1749676377.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:12:57.617Z,1749676377.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.606787 m,
nav range: 22.348589 m,
bearing: 258.559445 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006722 deg/s,
cmd heading: 268.585906 deg,
new cmd heading: 268.576724 deg.
2025-06-11T21:12:57.618Z,1749676377.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687548 target range: 22.606787 and range: 22.80 m.
2025-06-11T21:12:57.718Z,1749676377.718 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.739836
2025-06-11T21:12:57.970Z,1749676377.970 [DAT](INFO): DAT read: Rx Time:21:12:59.4327
2025-06-11T21:12:57.970Z,1749676377.970 [DAT](INFO): Rx dataTimestamp_ set to:1749676377.969691
2025-06-11T21:12:57.971Z,1749676377.971 [DAT](INFO): DAT read: Bearing 348.1, 8.6 (Local)
2025-06-11T21:12:57.972Z,1749676377.972 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.1, 8.6 (Local)
2025-06-11T21:12:57.974Z,1749676377.974 [DAT](INFO): DAT read: Range 10 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4
2025-06-11T21:12:57.979Z,1749676377.979 [DAT](INFO): DAT read: 21:12:59.4327 LVL= 22224, 25377, 16034, 31523, AGC= 57, IDX= 496, 0.08, 2.113, 0.835, 2.493, 1.857, PHS= 0.344,-0.975, 0.633, RAW= 159.7, -0.0, CAL= 161.9, -8.6, ROT= 348.1, 8.6
2025-06-11T21:12:57.980Z,1749676377.980 [DAT](INFO): got valid direction response:
21:12:59.4327 LVL= 22224, 25377, 16034, 31523, AGC= 57, IDX= 496, 0.08, 2.113, 0.835, 2.493, 1.857, PHS= 0.344,-0.975, 0.633, RAW= 159.7, -0.0, CAL= 161.9, -8.6, ROT= 348.1, 8.6
2025-06-11T21:12:57.980Z,1749676377.980 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-11T21:12:57.981Z,1749676377.981 [DAT](INFO): direction in FSK: [0.967507,-0.203885,-0.149535]
2025-06-11T21:12:57.982Z,1749676377.982 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:57.997Z,1749676377.997 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.019182
2025-06-11T21:12:58.129Z,1749676378.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.400000 m,
deltaT: 0.504166 s,
deltaX: -0.400000 m,
approachRate: -0.793389 m/s,
rangeRepo size: 4
2025-06-11T21:12:58.141Z,1749676378.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.210127 m,
bearing: 259.092328 deg,
lat: 36.906680 deg,
lon: -122.115714 deg,
deltaT: 0.504166 s,
deltaX: -0.396660 m,
approachRate: -0.786764 m/s,
posRepo size: 4
2025-06-11T21:12:58.142Z,1749676378.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.21 m.
2025-06-11T21:12:58.157Z,1749676378.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.210127 m,
nav range: 22.142614 m,
bearing: 258.727166 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006722 deg/s,
cmd heading: 268.576726 deg,
new cmd heading: 268.566602 deg.
2025-06-11T21:12:58.158Z,1749676378.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687371 target range: 22.210127 and range: 22.40 m.
2025-06-11T21:12:58.222Z,1749676378.222 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.243303
2025-06-11T21:12:58.477Z,1749676378.477 [DAT](INFO): DAT read: Rx Time:21:12:59.9326
2025-06-11T21:12:58.478Z,1749676378.478 [DAT](INFO): Rx dataTimestamp_ set to:1749676378.477560
2025-06-11T21:12:58.479Z,1749676378.479 [DAT](INFO): DAT read: Bearing 348.0, 8.6 (Local)
2025-06-11T21:12:58.479Z,1749676378.479 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.0, 8.6 (Local)
2025-06-11T21:12:58.482Z,1749676378.482 [DAT](INFO): DAT read: Range 10 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4
2025-06-11T21:12:58.503Z,1749676378.503 [DAT](INFO): DAT read: 21:12:59.9326 LVL= 23952, 23985, 15026, 29043, AGC= 58, IDX= 510, 0.42, 2.468, 1.176, 2.858, 2.212, PHS= 0.345,-0.988, 0.643, RAW= 159.9, 0.0, CAL= 162.0, -8.6, ROT= 348.0, 8.6
2025-06-11T21:12:58.504Z,1749676378.504 [DAT](INFO): got valid direction response:
21:12:59.9326 LVL= 23952, 23985, 15026, 29043, AGC= 58, IDX= 510, 0.42, 2.468, 1.176, 2.858, 2.212, PHS= 0.345,-0.988, 0.643, RAW= 159.9, 0.0, CAL= 162.0, -8.6, ROT= 348.0, 8.6
2025-06-11T21:12:58.504Z,1749676378.504 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-11T21:12:58.505Z,1749676378.505 [DAT](INFO): direction in FSK: [0.967150,-0.205574,-0.149535]
2025-06-11T21:12:58.506Z,1749676378.506 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:58.533Z,1749676378.533 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.555391
2025-06-11T21:12:58.567Z,1749676378.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.200001 m,
deltaT: 0.507869 s,
deltaX: -0.199999 m,
approachRate: -0.393800 m/s,
rangeRepo size: 4
2025-06-11T21:12:58.582Z,1749676378.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.011824 m,
bearing: 259.006616 deg,
lat: 36.906681 deg,
lon: -122.115715 deg,
deltaT: 0.507869 s,
deltaX: -0.198303 m,
approachRate: -0.390461 m/s,
posRepo size: 4
2025-06-11T21:12:58.583Z,1749676378.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.01 m.
2025-06-11T21:12:58.594Z,1749676378.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.011824 m,
nav range: 21.889936 m,
bearing: 258.820532 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.006722 deg/s,
cmd heading: 268.566590 deg,
new cmd heading: 268.557283 deg.
2025-06-11T21:12:58.594Z,1749676378.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687209 target range: 22.011824 and range: 22.20 m.
2025-06-11T21:12:58.725Z,1749676378.725 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.746981
2025-06-11T21:12:58.946Z,1749676378.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:12:58.949Z,1749676378.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.01 m.
2025-06-11T21:12:58.952Z,1749676378.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.011824 m,
nav range: 21.678827 m,
bearing: 258.782040 deg,
approach rate: -0.553357 m/s,
LOS rate: -0.101878 deg/s,
cmd heading: 268.557273 deg,
new cmd heading: 268.440672 deg.
2025-06-11T21:12:58.953Z,1749676378.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685174 target range: 22.011824 and range: 22.20 m.
2025-06-11T21:12:58.977Z,1749676378.977 [DAT](INFO): DAT read: Rx Time:21:13:00.4323
2025-06-11T21:12:58.978Z,1749676378.978 [DAT](INFO): Rx dataTimestamp_ set to:1749676378.977533
2025-06-11T21:12:58.979Z,1749676378.979 [DAT](INFO): DAT read: Bearing 347.8, 8.5 (Local)
2025-06-11T21:12:58.979Z,1749676378.979 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.8, 8.5 (Local)
2025-06-11T21:12:58.982Z,1749676378.982 [DAT](INFO): DAT read: Range 10 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4
2025-06-11T21:12:58.989Z,1749676378.989 [DAT](INFO): DAT read: 21:13:00.4323 LVL= 26720, 25681, 15682, 30387, AGC= 58, IDX= 508,-0.16,-0.496,-1.757,-0.108,-0.741, PHS= 0.333,-0.968, 0.631, RAW= 160.1, 0.1, CAL= 162.2, -8.5, ROT= 347.8, 8.5
2025-06-11T21:12:58.991Z,1749676378.991 [DAT](INFO): got valid direction response:
21:13:00.4323 LVL= 26720, 25681, 15682, 30387, AGC= 58, IDX= 508,-0.16,-0.496,-1.757,-0.108,-0.741, PHS= 0.333,-0.968, 0.631, RAW= 160.1, 0.1, CAL= 162.2, -8.5, ROT= 347.8, 8.5
2025-06-11T21:12:58.991Z,1749676378.991 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-11T21:12:58.993Z,1749676378.993 [DAT](INFO): direction in FSK: [0.966680,-0.209004,-0.147809]
2025-06-11T21:12:58.993Z,1749676378.993 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:58.999Z,1749676378.999 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.020531
2025-06-11T21:12:59.229Z,1749676379.229 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.250887
2025-06-11T21:12:59.328Z,1749676379.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.799999 m,
deltaT: 0.499973 s,
deltaX: -0.400002 m,
approachRate: -0.800046 m/s,
rangeRepo size: 4
2025-06-11T21:12:59.330Z,1749676379.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.615141 m,
bearing: 258.820484 deg,
lat: 36.906681 deg,
lon: -122.115715 deg,
deltaT: 0.499973 s,
deltaX: -0.396683 m,
approachRate: -0.793408 m/s,
posRepo size: 4
2025-06-11T21:12:59.331Z,1749676379.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.62 m.
2025-06-11T21:12:59.333Z,1749676379.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.615141 m,
nav range: 21.484861 m,
bearing: 258.815540 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.101878 deg/s,
cmd heading: 268.440668 deg,
new cmd heading: 268.324800 deg.
2025-06-11T21:12:59.334Z,1749676379.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683151 target range: 21.615141 and range: 21.80 m.
2025-06-11T21:12:59.482Z,1749676379.482 [DAT](INFO): DAT read: Rx Time:21:13:00.9322
2025-06-11T21:12:59.482Z,1749676379.482 [DAT](INFO): Rx dataTimestamp_ set to:1749676379.481716
2025-06-11T21:12:59.483Z,1749676379.483 [DAT](INFO): DAT read: Bearing 347.9, 9.1 (Local)
2025-06-11T21:12:59.484Z,1749676379.484 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.9, 9.1 (Local)
2025-06-11T21:12:59.486Z,1749676379.486 [DAT](INFO): DAT read: Range 10 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4
2025-06-11T21:12:59.491Z,1749676379.491 [DAT](INFO): DAT read: 21:13:00.9322 LVL= 20208, 24481, 13618, 28803, AGC= 57, IDX= 507, 0.11, 2.329, 1.064, 2.708, 2.062, PHS= 0.355,-0.951, 0.643, RAW= 159.8, -0.6, CAL= 162.1, -9.1, ROT= 347.9, 9.1
2025-06-11T21:12:59.492Z,1749676379.492 [DAT](INFO): got valid direction response:
21:13:00.9322 LVL= 20208, 24481, 13618, 28803, AGC= 57, IDX= 507, 0.11, 2.329, 1.064, 2.708, 2.062, PHS= 0.355,-0.951, 0.643, RAW= 159.8, -0.6, CAL= 162.1, -9.1, ROT= 347.9, 9.1
2025-06-11T21:12:59.492Z,1749676379.492 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-11T21:12:59.493Z,1749676379.493 [DAT](INFO): direction in FSK: [0.965477,-0.206980,-0.158158]
2025-06-11T21:12:59.494Z,1749676379.494 [DAT](INFO): publishing direction and range info
2025-06-11T21:12:59.497Z,1749676379.497 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.519361
2025-06-11T21:12:59.725Z,1749676379.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.600000 m,
deltaT: 0.504183 s,
deltaX: -0.199999 m,
approachRate: -0.396679 m/s,
rangeRepo size: 4
2025-06-11T21:12:59.727Z,1749676379.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.416759 m,
bearing: 258.978555 deg,
lat: 36.906681 deg,
lon: -122.115715 deg,
deltaT: 0.504183 s,
deltaX: -0.198381 m,
approachRate: -0.393471 m/s,
posRepo size: 4
2025-06-11T21:12:59.733Z,1749676379.733 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.754843
2025-06-11T21:12:59.734Z,1749676379.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.42 m.
2025-06-11T21:12:59.741Z,1749676379.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.416759 m,
nav range: 21.283131 m,
bearing: 258.913603 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.101878 deg/s,
cmd heading: 268.324801 deg,
new cmd heading: 268.203283 deg.
2025-06-11T21:12:59.745Z,1749676379.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681030 target range: 21.416759 and range: 21.60 m.
2025-06-11T21:12:59.985Z,1749676379.985 [DAT](INFO): DAT read: Rx Time:21:13:01.4319
2025-06-11T21:12:59.986Z,1749676379.986 [DAT](INFO): Rx dataTimestamp_ set to:1749676379.985688
2025-06-11T21:12:59.987Z,1749676379.987 [DAT](INFO): DAT read: Bearing 347.9, 9.0 (Local)
2025-06-11T21:12:59.988Z,1749676379.988 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.9, 9.0 (Local)
2025-06-11T21:12:59.991Z,1749676379.991 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4
2025-06-11T21:13:00.006Z,1749676380.006 [DAT](INFO): DAT read: 21:13:01.4319 LVL= 23728, 27121, 14514, 28851, AGC= 58, IDX= 504, 0.42, 1.145,-0.128, 1.528, 0.880, PHS= 0.353,-0.962, 0.645, RAW= 159.8, -0.5, CAL= 162.1, -9.0, ROT= 347.9, 9.0
2025-06-11T21:13:00.007Z,1749676380.007 [DAT](INFO): got valid direction response:
21:13:01.4319 LVL= 23728, 27121, 14514, 28851, AGC= 58, IDX= 504, 0.42, 1.145,-0.128, 1.528, 0.880, PHS= 0.353,-0.962, 0.645, RAW= 159.8, -0.5, CAL= 162.1, -9.0, ROT= 347.9, 9.0
2025-06-11T21:13:00.008Z,1749676380.008 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-11T21:13:00.009Z,1749676380.009 [DAT](INFO): direction in FSK: [0.965745,-0.207038,-0.156434]
2025-06-11T21:13:00.009Z,1749676380.009 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:00.018Z,1749676380.018 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.039783
2025-06-11T21:13:00.194Z,1749676380.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.200001 m,
deltaT: 0.503972 s,
deltaX: -0.400000 m,
approachRate: -0.793694 m/s,
rangeRepo size: 4
2025-06-11T21:13:00.200Z,1749676380.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.020153 m,
bearing: 258.962156 deg,
lat: 36.906682 deg,
lon: -122.115715 deg,
deltaT: 0.503972 s,
deltaX: -0.396606 m,
approachRate: -0.786961 m/s,
posRepo size: 4
2025-06-11T21:13:00.201Z,1749676380.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.02 m.
2025-06-11T21:13:00.203Z,1749676380.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.020153 m,
nav range: 21.040714 m,
bearing: 258.943590 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.101878 deg/s,
cmd heading: 268.203278 deg,
new cmd heading: 268.060151 deg.
2025-06-11T21:13:00.209Z,1749676380.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678532 target range: 21.020153 and range: 21.20 m.
2025-06-11T21:13:00.240Z,1749676380.240 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.261536
2025-06-11T21:13:00.489Z,1749676380.489 [DAT](INFO): DAT read: Rx Time:21:13:01.9319
2025-06-11T21:13:00.490Z,1749676380.490 [DAT](INFO): Rx dataTimestamp_ set to:1749676380.489634
2025-06-11T21:13:00.491Z,1749676380.491 [DAT](INFO): DAT read: Bearing 347.6, 8.9 (Local)
2025-06-11T21:13:00.492Z,1749676380.492 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.6, 8.9 (Local)
2025-06-11T21:13:00.494Z,1749676380.494 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4
2025-06-11T21:13:00.499Z,1749676380.499 [DAT](INFO): DAT read: 21:13:01.9319 LVL= 20720, 27217, 14770, 31763, AGC= 57, IDX= 504,-0.16, 0.351,-0.891, 0.736, 0.099, PHS= 0.340,-0.943, 0.634, RAW= 160.1, -0.4, CAL= 162.4, -8.9, ROT= 347.6, 8.9
2025-06-11T21:13:00.500Z,1749676380.500 [DAT](INFO): got valid direction response:
21:13:01.9319 LVL= 20720, 27217, 14770, 31763, AGC= 57, IDX= 504,-0.16, 0.351,-0.891, 0.736, 0.099, PHS= 0.340,-0.943, 0.634, RAW= 160.1, -0.4, CAL= 162.4, -8.9, ROT= 347.6, 8.9
2025-06-11T21:13:00.500Z,1749676380.500 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-11T21:13:00.501Z,1749676380.501 [DAT](INFO): direction in FSK: [0.964913,-0.212150,-0.154710]
2025-06-11T21:13:00.502Z,1749676380.502 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:00.510Z,1749676380.510 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.531908
2025-06-11T21:13:00.608Z,1749676380.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.200001 m,
deltaT: 0.503946 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:00.610Z,1749676380.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.020153 m,
bearing: 258.607537 deg,
lat: 36.906681 deg,
lon: -122.115715 deg,
deltaT: 0.503946 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:13:00.611Z,1749676380.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.02 m.
2025-06-11T21:13:00.618Z,1749676380.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.020153 m,
nav range: 20.864750 m,
bearing: 258.857530 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.101878 deg/s,
cmd heading: 268.060145 deg,
new cmd heading: 267.934723 deg.
2025-06-11T21:13:00.619Z,1749676380.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676343 target range: 21.020153 and range: 21.20 m.
2025-06-11T21:13:00.741Z,1749676380.741 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.763065
2025-06-11T21:13:00.963Z,1749676380.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:00.965Z,1749676380.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.02 m.
2025-06-11T21:13:00.968Z,1749676380.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.020153 m,
nav range: 20.651045 m,
bearing: 258.833753 deg,
approach rate: -0.590315 m/s,
LOS rate: -0.066359 deg/s,
cmd heading: 267.934715 deg,
new cmd heading: 267.862646 deg.
2025-06-11T21:13:00.969Z,1749676380.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675085 target range: 21.020153 and range: 21.20 m.
2025-06-11T21:13:00.994Z,1749676380.994 [DAT](INFO): DAT read: Rx Time:21:13:02.4316
2025-06-11T21:13:00.994Z,1749676380.994 [DAT](INFO): Rx dataTimestamp_ set to:1749676380.994211
2025-06-11T21:13:00.996Z,1749676380.996 [DAT](INFO): DAT read: Bearing 347.8, 9.2 (Local)
2025-06-11T21:13:00.996Z,1749676380.996 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.8, 9.2 (Local)
2025-06-11T21:13:00.999Z,1749676380.999 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4
2025-06-11T21:13:01.010Z,1749676381.010 [DAT](INFO): DAT read: 21:13:02.4316 LVL= 24352, 26689, 17298, 29971, AGC= 58, IDX= 501, 0.10, 0.852,-0.419, 1.232, 0.580, PHS= 0.359,-0.952, 0.648, RAW= 159.7, -0.8, CAL= 162.2, -9.2, ROT= 347.8, 9.2
2025-06-11T21:13:01.011Z,1749676381.011 [DAT](INFO): got valid direction response:
21:13:02.4316 LVL= 24352, 26689, 17298, 29971, AGC= 58, IDX= 501, 0.10, 0.852,-0.419, 1.232, 0.580, PHS= 0.359,-0.952, 0.648, RAW= 159.7, -0.8, CAL= 162.2, -9.2, ROT= 347.8, 9.2
2025-06-11T21:13:01.012Z,1749676381.012 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-11T21:13:01.014Z,1749676381.014 [DAT](INFO): direction in FSK: [0.964843,-0.208607,-0.159881]
2025-06-11T21:13:01.014Z,1749676381.014 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:01.049Z,1749676381.049 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.067806
2025-06-11T21:13:01.245Z,1749676381.245 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.267225
2025-06-11T21:13:01.438Z,1749676381.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.700001 m,
deltaT: 0.504577 s,
deltaX: -0.500000 m,
approachRate: -0.990929 m/s,
rangeRepo size: 4
2025-06-11T21:13:01.445Z,1749676381.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.524342 m,
bearing: 258.756297 deg,
lat: 36.906681 deg,
lon: -122.115715 deg,
deltaT: 0.504577 s,
deltaX: -0.495811 m,
approachRate: -0.982628 m/s,
posRepo size: 4
2025-06-11T21:13:01.446Z,1749676381.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.52 m.
2025-06-11T21:13:01.452Z,1749676381.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.524342 m,
nav range: 20.437193 m,
bearing: 258.778323 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.066359 deg/s,
cmd heading: 267.862643 deg,
new cmd heading: 267.768689 deg.
2025-06-11T21:13:01.453Z,1749676381.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673445 target range: 20.524342 and range: 20.70 m.
2025-06-11T21:13:01.498Z,1749676381.498 [DAT](INFO): DAT read: Rx Time:21:13:02.9315
2025-06-11T21:13:01.499Z,1749676381.499 [DAT](INFO): Rx dataTimestamp_ set to:1749676381.498342
2025-06-11T21:13:01.501Z,1749676381.501 [DAT](INFO): DAT read: Bearing 347.8, 9.2 (Local)
2025-06-11T21:13:01.501Z,1749676381.501 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.8, 9.2 (Local)
2025-06-11T21:13:01.505Z,1749676381.505 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4
2025-06-11T21:13:01.512Z,1749676381.512 [DAT](INFO): DAT read: 21:13:02.9315 LVL= 20976, 24049, 15058, 28723, AGC= 57, IDX= 500,-0.50,-0.981,-2.218,-0.605,-1.240, PHS= 0.347,-0.931, 0.632, RAW= 159.9, -0.7, CAL= 162.2, -9.2, ROT= 347.8, 9.2
2025-06-11T21:13:01.513Z,1749676381.513 [DAT](INFO): got valid direction response:
21:13:02.9315 LVL= 20976, 24049, 15058, 28723, AGC= 57, IDX= 500,-0.50,-0.981,-2.218,-0.605,-1.240, PHS= 0.347,-0.931, 0.632, RAW= 159.9, -0.7, CAL= 162.2, -9.2, ROT= 347.8, 9.2
2025-06-11T21:13:01.514Z,1749676381.514 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-11T21:13:01.516Z,1749676381.516 [DAT](INFO): direction in FSK: [0.964843,-0.208607,-0.159881]
2025-06-11T21:13:01.516Z,1749676381.516 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:01.523Z,1749676381.523 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.544722
2025-06-11T21:13:01.749Z,1749676381.749 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.770882
2025-06-11T21:13:01.795Z,1749676381.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.600000 m,
deltaT: 0.504131 s,
deltaX: -0.100000 m,
approachRate: -0.198362 m/s,
rangeRepo size: 4
2025-06-11T21:13:01.801Z,1749676381.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.425154 m,
bearing: 258.756297 deg,
lat: 36.906681 deg,
lon: -122.115715 deg,
deltaT: 0.504131 s,
deltaX: -0.099188 m,
approachRate: -0.196750 m/s,
posRepo size: 4
2025-06-11T21:13:01.802Z,1749676381.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.43 m.
2025-06-11T21:13:01.809Z,1749676381.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.425154 m,
nav range: 20.233389 m,
bearing: 258.766229 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.066359 deg/s,
cmd heading: 267.768687 deg,
new cmd heading: 267.697595 deg.
2025-06-11T21:13:01.810Z,1749676381.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672204 target range: 20.425154 and range: 20.60 m.
2025-06-11T21:13:02.002Z,1749676382.002 [DAT](INFO): DAT read: Rx Time:21:13:03.4312
2025-06-11T21:13:02.002Z,1749676382.002 [DAT](INFO): Rx dataTimestamp_ set to:1749676382.001700
2025-06-11T21:13:02.003Z,1749676382.003 [DAT](INFO): DAT read: Bearing 347.8, 9.3 (Local)
2025-06-11T21:13:02.004Z,1749676382.004 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.8, 9.3 (Local)
2025-06-11T21:13:02.006Z,1749676382.006 [DAT](INFO): DAT read: Range 10 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4
2025-06-11T21:13:02.019Z,1749676382.019 [DAT](INFO): DAT read: 21:13:03.4312 LVL= 19424, 25265, 13202, 27795, AGC= 56, IDX= 497,-0.13,-1.977, 3.067,-1.602,-2.240, PHS= 0.351,-0.930, 0.635, RAW= 159.8, -0.8, CAL= 162.2, -9.3, ROT= 347.8, 9.3
2025-06-11T21:13:02.030Z,1749676382.030 [DAT](INFO): got valid direction response:
21:13:03.4312 LVL= 19424, 25265, 13202, 27795, AGC= 56, IDX= 497,-0.13,-1.977, 3.067,-1.602,-2.240, PHS= 0.351,-0.930, 0.635, RAW= 159.8, -0.8, CAL= 162.2, -9.3, ROT= 347.8, 9.3
2025-06-11T21:13:02.030Z,1749676382.030 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-11T21:13:02.031Z,1749676382.031 [DAT](INFO): direction in FSK: [0.964568,-0.208547,-0.161604]
2025-06-11T21:13:02.037Z,1749676382.037 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:02.041Z,1749676382.041 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.063377
2025-06-11T21:13:02.253Z,1749676382.253 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.274857
2025-06-11T21:13:02.305Z,1749676382.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.100000 m,
deltaT: 0.503358 s,
deltaX: -0.500000 m,
approachRate: -0.993329 m/s,
rangeRepo size: 4
2025-06-11T21:13:02.307Z,1749676382.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.929398 m,
bearing: 258.765381 deg,
lat: 36.906681 deg,
lon: -122.115714 deg,
deltaT: 0.503358 s,
deltaX: -0.495756 m,
approachRate: -0.984898 m/s,
posRepo size: 4
2025-06-11T21:13:02.312Z,1749676382.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.93 m.
2025-06-11T21:13:02.315Z,1749676382.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.929398 m,
nav range: 19.933041 m,
bearing: 258.754870 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.066359 deg/s,
cmd heading: 267.697599 deg,
new cmd heading: 267.595996 deg.
2025-06-11T21:13:02.320Z,1749676382.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670431 target range: 19.929398 and range: 20.10 m.
2025-06-11T21:13:02.505Z,1749676382.505 [DAT](INFO): DAT read: Rx Time:21:13:03.9311
2025-06-11T21:13:02.506Z,1749676382.506 [DAT](INFO): Rx dataTimestamp_ set to:1749676382.505679
2025-06-11T21:13:02.507Z,1749676382.507 [DAT](INFO): DAT read: Bearing 351.8, 6.0 (Local)
2025-06-11T21:13:02.508Z,1749676382.508 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.8, 6.0 (Local)
2025-06-11T21:13:02.510Z,1749676382.510 [DAT](INFO): DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4
2025-06-11T21:13:02.515Z,1749676382.515 [DAT](INFO): DAT read: 21:13:03.9311 LVL= 22960, 23873, 15506, 28371, AGC= 57, IDX= 512, 0.07, 0.940,-0.333, 1.221, 0.723, PHS= 0.305,-1.009, 0.495, RAW= 156.7, 3.0, CAL= 158.2, -6.0, ROT= 351.8, 6.0
2025-06-11T21:13:02.516Z,1749676382.516 [DAT](INFO): got valid direction response:
21:13:03.9311 LVL= 22960, 23873, 15506, 28371, AGC= 57, IDX= 512, 0.07, 0.940,-0.333, 1.221, 0.723, PHS= 0.305,-1.009, 0.495, RAW= 156.7, 3.0, CAL= 158.2, -6.0, ROT= 351.8, 6.0
2025-06-11T21:13:02.517Z,1749676382.517 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-11T21:13:02.518Z,1749676382.518 [DAT](INFO): direction in FSK: [0.984354,-0.141848,-0.104528]
2025-06-11T21:13:02.518Z,1749676382.518 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:02.522Z,1749676382.522 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.543510
2025-06-11T21:13:02.662Z,1749676382.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.000000 m,
deltaT: 0.503979 s,
deltaX: -0.100000 m,
approachRate: -0.198422 m/s,
rangeRepo size: 4
2025-06-11T21:13:02.674Z,1749676382.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.830246 m,
bearing: 262.260022 deg,
lat: 36.906681 deg,
lon: -122.115715 deg,
deltaT: 0.503979 s,
deltaX: -0.099152 m,
approachRate: -0.196738 m/s,
posRepo size: 4
2025-06-11T21:13:02.675Z,1749676382.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.83 m.
2025-06-11T21:13:02.686Z,1749676382.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.830246 m,
nav range: 19.807747 m,
bearing: 258.794746 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.066359 deg/s,
cmd heading: 267.595993 deg,
new cmd heading: 267.525006 deg.
2025-06-11T21:13:02.687Z,1749676382.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669192 target range: 19.830246 and range: 20.00 m.
2025-06-11T21:13:02.758Z,1749676382.758 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.779724
2025-06-11T21:13:03.010Z,1749676383.010 [DAT](INFO): DAT read: Rx Time:21:13:04.4309
2025-06-11T21:13:03.010Z,1749676383.010 [DAT](INFO): Rx dataTimestamp_ set to:1749676383.009765
2025-06-11T21:13:03.011Z,1749676383.011 [DAT](INFO): DAT read: Bearing 348.2, 9.7 (Local)
2025-06-11T21:13:03.012Z,1749676383.012 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.2, 9.7 (Local)
2025-06-11T21:13:03.014Z,1749676383.014 [DAT](INFO): DAT read: Range 10 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4
2025-06-11T21:13:03.019Z,1749676383.019 [DAT](INFO): DAT read: 21:13:04.4309 LVL= 21344, 25809, 14546, 28899, AGC= 56, IDX= 509, 0.39,-0.884,-2.142,-0.526,-1.169, PHS= 0.373,-0.926, 0.640, RAW= 159.2, -1.2, CAL= 161.8, -9.7, ROT= 348.2, 9.7
2025-06-11T21:13:03.020Z,1749676383.020 [DAT](INFO): got valid direction response:
21:13:04.4309 LVL= 21344, 25809, 14546, 28899, AGC= 56, IDX= 509, 0.39,-0.884,-2.142,-0.526,-1.169, PHS= 0.373,-0.926, 0.640, RAW= 159.2, -1.2, CAL= 161.8, -9.7, ROT= 348.2, 9.7
2025-06-11T21:13:03.021Z,1749676383.021 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-11T21:13:03.022Z,1749676383.022 [DAT](INFO): direction in FSK: [0.964873,-0.201572,-0.168489]
2025-06-11T21:13:03.022Z,1749676383.022 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:03.026Z,1749676383.026 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.047455
2025-06-11T21:13:03.167Z,1749676383.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.700001 m,
deltaT: 0.504086 s,
deltaX: -0.299999 m,
approachRate: -0.595135 m/s,
rangeRepo size: 4
2025-06-11T21:13:03.195Z,1749676383.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.532753 m,
bearing: 258.928350 deg,
lat: 36.906681 deg,
lon: -122.115714 deg,
deltaT: 0.504086 s,
deltaX: -0.297493 m,
approachRate: -0.590163 m/s,
posRepo size: 4
2025-06-11T21:13:03.205Z,1749676383.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.53 m.
2025-06-11T21:13:03.216Z,1749676383.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.532753 m,
nav range: 19.548847 m,
bearing: 258.858567 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.066359 deg/s,
cmd heading: 267.525013 deg,
new cmd heading: 267.427479 deg.
2025-06-11T21:13:03.217Z,1749676383.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667490 target range: 19.532753 and range: 19.70 m.
2025-06-11T21:13:03.262Z,1749676383.262 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.283527
2025-06-11T21:13:03.513Z,1749676383.513 [DAT](INFO): DAT read: Rx Time:21:13:04.9309
2025-06-11T21:13:03.514Z,1749676383.514 [DAT](INFO): Rx dataTimestamp_ set to:1749676383.513671
2025-06-11T21:13:03.515Z,1749676383.515 [DAT](INFO): DAT read: Bearing 348.2, 9.4 (Local)
2025-06-11T21:13:03.516Z,1749676383.516 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.2, 9.4 (Local)
2025-06-11T21:13:03.518Z,1749676383.518 [DAT](INFO): DAT read: Range 10 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4
2025-06-11T21:13:03.523Z,1749676383.523 [DAT](INFO): DAT read: 21:13:04.9309 LVL= 20464, 24929, 15442, 28915, AGC= 56, IDX= 509,-0.22,-1.216,-2.463,-0.857,-1.491, PHS= 0.362,-0.925, 0.631, RAW= 159.3, -1.0, CAL= 161.8, -9.4, ROT= 348.2, 9.4
2025-06-11T21:13:03.533Z,1749676383.533 [DAT](INFO): got valid direction response:
21:13:04.9309 LVL= 20464, 24929, 15442, 28915, AGC= 56, IDX= 509,-0.22,-1.216,-2.463,-0.857,-1.491, PHS= 0.362,-0.925, 0.631, RAW= 159.3, -1.0, CAL= 161.8, -9.4, ROT= 348.2, 9.4
2025-06-11T21:13:03.533Z,1749676383.533 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-11T21:13:03.534Z,1749676383.534 [DAT](INFO): direction in FSK: [0.965723,-0.201750,-0.163326]
2025-06-11T21:13:03.534Z,1749676383.534 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:03.538Z,1749676383.538 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.559757
2025-06-11T21:13:03.576Z,1749676383.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.700001 m,
deltaT: 0.503906 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:03.578Z,1749676383.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.532753 m,
bearing: 258.901872 deg,
lat: 36.906681 deg,
lon: -122.115715 deg,
deltaT: 0.503906 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:13:03.579Z,1749676383.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.53 m.
2025-06-11T21:13:03.590Z,1749676383.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.532753 m,
nav range: 19.388039 m,
bearing: 258.961059 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.066359 deg/s,
cmd heading: 267.427478 deg,
new cmd heading: 267.344694 deg.
2025-06-11T21:13:03.591Z,1749676383.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666045 target range: 19.532753 and range: 19.70 m.
2025-06-11T21:13:03.765Z,1749676383.765 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.787079
2025-06-11T21:13:03.942Z,1749676383.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:03.965Z,1749676383.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.53 m.
2025-06-11T21:13:03.967Z,1749676383.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.532753 m,
nav range: 19.188478 m,
bearing: 258.996877 deg,
approach rate: -0.529770 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 267.344696 deg,
new cmd heading: 267.453268 deg.
2025-06-11T21:13:03.973Z,1749676383.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667940 target range: 19.532753 and range: 19.70 m.
2025-06-11T21:13:04.017Z,1749676384.017 [DAT](INFO): DAT read: Rx Time:21:13:05.4306
2025-06-11T21:13:04.018Z,1749676384.018 [DAT](INFO): Rx dataTimestamp_ set to:1749676384.017657
2025-06-11T21:13:04.019Z,1749676384.019 [DAT](INFO): DAT read: Bearing 348.5, 9.6 (Local)
2025-06-11T21:13:04.020Z,1749676384.020 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.5, 9.6 (Local)
2025-06-11T21:13:04.022Z,1749676384.022 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4
2025-06-11T21:13:04.027Z,1749676384.027 [DAT](INFO): DAT read: 21:13:05.4306 LVL= 20016, 23393, 14802, 29075, AGC= 56, IDX= 506, 0.02,-0.959,-2.236,-0.607,-1.250, PHS= 0.379,-0.939, 0.640, RAW= 158.9, -1.1, CAL= 161.5, -9.6, ROT= 348.5, 9.6
2025-06-11T21:13:04.028Z,1749676384.028 [DAT](INFO): got valid direction response:
21:13:05.4306 LVL= 20016, 23393, 14802, 29075, AGC= 56, IDX= 506, 0.02,-0.959,-2.236,-0.607,-1.250, PHS= 0.379,-0.939, 0.640, RAW= 158.9, -1.1, CAL= 161.5, -9.6, ROT= 348.5, 9.6
2025-06-11T21:13:04.028Z,1749676384.028 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-11T21:13:04.029Z,1749676384.029 [DAT](INFO): direction in FSK: [0.966202,-0.196576,-0.166769]
2025-06-11T21:13:04.029Z,1749676384.029 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:04.037Z,1749676384.037 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.059303
2025-06-11T21:13:04.269Z,1749676384.269 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.290836
2025-06-11T21:13:04.337Z,1749676384.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.200001 m,
deltaT: 0.503986 s,
deltaX: -0.500000 m,
approachRate: -0.992091 m/s,
rangeRepo size: 4
2025-06-11T21:13:04.339Z,1749676384.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.036968 m,
bearing: 258.969788 deg,
lat: 36.906681 deg,
lon: -122.115714 deg,
deltaT: 0.503986 s,
deltaX: -0.495785 m,
approachRate: -0.983727 m/s,
posRepo size: 4
2025-06-11T21:13:04.344Z,1749676384.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.04 m.
2025-06-11T21:13:04.347Z,1749676384.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.036968 m,
nav range: 18.920248 m,
bearing: 258.986197 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 267.453269 deg,
new cmd heading: 267.565041 deg.
2025-06-11T21:13:04.352Z,1749676384.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669891 target range: 19.036968 and range: 19.20 m.
2025-06-11T21:13:04.522Z,1749676384.522 [DAT](INFO): DAT read: Rx Time:21:13:05.9305
2025-06-11T21:13:04.522Z,1749676384.522 [DAT](INFO): Rx dataTimestamp_ set to:1749676384.521776
2025-06-11T21:13:04.523Z,1749676384.523 [DAT](INFO): DAT read: Bearing 348.7, 9.9 (Local)
2025-06-11T21:13:04.524Z,1749676384.524 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.7, 9.9 (Local)
2025-06-11T21:13:04.526Z,1749676384.526 [DAT](INFO): DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4
2025-06-11T21:13:04.531Z,1749676384.531 [DAT](INFO): DAT read: 21:13:05.9305 LVL= 20288, 26305, 14194, 29907, AGC= 56, IDX= 505, 0.28, 0.979,-0.308, 1.323, 0.672, PHS= 0.395,-0.934, 0.647, RAW= 158.5, -1.5, CAL= 161.3, -9.9, ROT= 348.7, 9.9
2025-06-11T21:13:04.532Z,1749676384.532 [DAT](INFO): got valid direction response:
21:13:05.9305 LVL= 20288, 26305, 14194, 29907, AGC= 56, IDX= 505, 0.28, 0.979,-0.308, 1.323, 0.672, PHS= 0.395,-0.934, 0.647, RAW= 158.5, -1.5, CAL= 161.3, -9.9, ROT= 348.7, 9.9
2025-06-11T21:13:04.532Z,1749676384.532 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-11T21:13:04.533Z,1749676384.533 [DAT](INFO): direction in FSK: [0.966013,-0.193028,-0.171929]
2025-06-11T21:13:04.533Z,1749676384.533 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:04.537Z,1749676384.537 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.559311
2025-06-11T21:13:04.752Z,1749676384.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.100000 m,
deltaT: 0.504119 s,
deltaX: -0.100000 m,
approachRate: -0.198367 m/s,
rangeRepo size: 4
2025-06-11T21:13:04.754Z,1749676384.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.937546 m,
bearing: 259.193055 deg,
lat: 36.906682 deg,
lon: -122.115716 deg,
deltaT: 0.504119 s,
deltaX: -0.099422 m,
approachRate: -0.197220 m/s,
posRepo size: 4
2025-06-11T21:13:04.755Z,1749676384.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.94 m.
2025-06-11T21:13:04.762Z,1749676384.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.937546 m,
nav range: 18.811987 m,
bearing: 259.193120 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 267.565038 deg,
new cmd heading: 267.684877 deg.
2025-06-11T21:13:04.763Z,1749676384.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671982 target range: 18.937546 and range: 19.10 m.
2025-06-11T21:13:04.773Z,1749676384.773 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.794804
2025-06-11T21:13:05.026Z,1749676385.026 [DAT](INFO): DAT read: Rx Time:21:13:06.4303
2025-06-11T21:13:05.027Z,1749676385.027 [DAT](INFO): Rx dataTimestamp_ set to:1749676385.025991
2025-06-11T21:13:05.029Z,1749676385.029 [DAT](INFO): DAT read: Bearing 348.5, 9.9 (Local)
2025-06-11T21:13:05.029Z,1749676385.029 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.5, 9.9 (Local)
2025-06-11T21:13:05.033Z,1749676385.033 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4
2025-06-11T21:13:05.038Z,1749676385.038 [DAT](INFO): DAT read: 21:13:06.4303 LVL= 19264, 24561, 14818, 27379, AGC= 55, IDX= 503,-0.28,-2.532, 2.496,-2.187,-2.826, PHS= 0.381,-0.914, 0.635, RAW= 158.8, -1.4, CAL= 161.5, -9.9, ROT= 348.5, 9.9
2025-06-11T21:13:05.039Z,1749676385.039 [DAT](INFO): got valid direction response:
21:13:06.4303 LVL= 19264, 24561, 14818, 27379, AGC= 55, IDX= 503,-0.28,-2.532, 2.496,-2.187,-2.826, PHS= 0.381,-0.914, 0.635, RAW= 158.8, -1.4, CAL= 161.5, -9.9, ROT= 348.5, 9.9
2025-06-11T21:13:05.046Z,1749676385.046 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-11T21:13:05.047Z,1749676385.047 [DAT](INFO): direction in FSK: [0.965333,-0.196399,-0.171929]
2025-06-11T21:13:05.047Z,1749676385.047 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:05.051Z,1749676385.051 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.072853
2025-06-11T21:13:05.231Z,1749676385.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.504215 s,
deltaX: -0.300001 m,
approachRate: -0.594987 m/s,
rangeRepo size: 4
2025-06-11T21:13:05.241Z,1749676385.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.640097 m,
bearing: 258.889547 deg,
lat: 36.906681 deg,
lon: -122.115714 deg,
deltaT: 0.504215 s,
deltaX: -0.297449 m,
approachRate: -0.589925 m/s,
posRepo size: 4
2025-06-11T21:13:05.242Z,1749676385.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:13:05.245Z,1749676385.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.640097 m,
nav range: 18.507267 m,
bearing: 259.061916 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 267.684867 deg,
new cmd heading: 267.824015 deg.
2025-06-11T21:13:05.246Z,1749676385.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674411 target range: 18.640097 and range: 18.80 m.
2025-06-11T21:13:05.277Z,1749676385.277 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.298908
2025-06-11T21:13:05.529Z,1749676385.529 [DAT](INFO): DAT read: Rx Time:21:13:06.9301
2025-06-11T21:13:05.530Z,1749676385.530 [DAT](INFO): Rx dataTimestamp_ set to:1749676385.529680
2025-06-11T21:13:05.531Z,1749676385.531 [DAT](INFO): DAT read: Bearing 348.9, 10.0 (Local)
2025-06-11T21:13:05.532Z,1749676385.532 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.9, 10.0 (Local)
2025-06-11T21:13:05.534Z,1749676385.534 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4
2025-06-11T21:13:05.539Z,1749676385.539 [DAT](INFO): DAT read: 21:13:06.9301 LVL= 26768, 25153, 16322, 32755, AGC= 57, IDX= 501,-0.04,-1.845,-3.136,-1.508,-2.155, PHS= 0.398,-0.933, 0.644, RAW= 158.3, -1.5, CAL= 161.1, -10.0, ROT= 348.9, 10.0
2025-06-11T21:13:05.540Z,1749676385.540 [DAT](INFO): got valid direction response:
21:13:06.9301 LVL= 26768, 25153, 16322, 32755, AGC= 57, IDX= 501,-0.04,-1.845,-3.136,-1.508,-2.155, PHS= 0.398,-0.933, 0.644, RAW= 158.3, -1.5, CAL= 161.1, -10.0, ROT= 348.9, 10.0
2025-06-11T21:13:05.540Z,1749676385.540 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-11T21:13:05.541Z,1749676385.541 [DAT](INFO): direction in FSK: [0.966385,-0.189597,-0.173648]
2025-06-11T21:13:05.542Z,1749676385.542 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:05.553Z,1749676385.553 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.575253
2025-06-11T21:13:05.761Z,1749676385.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.503689 s,
deltaX: -0.199999 m,
approachRate: -0.397068 m/s,
rangeRepo size: 4
2025-06-11T21:13:05.763Z,1749676385.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.441597 m,
bearing: 259.293275 deg,
lat: 36.906681 deg,
lon: -122.115716 deg,
deltaT: 0.503689 s,
deltaX: -0.198500 m,
approachRate: -0.394092 m/s,
posRepo size: 4
2025-06-11T21:13:05.768Z,1749676385.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.44 m.
2025-06-11T21:13:05.771Z,1749676385.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.441597 m,
nav range: 18.323256 m,
bearing: 259.205647 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 267.824012 deg,
new cmd heading: 267.976856 deg.
2025-06-11T21:13:05.776Z,1749676385.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677078 target range: 18.441597 and range: 18.60 m.
2025-06-11T21:13:05.781Z,1749676385.781 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.802860
2025-06-11T21:13:06.034Z,1749676386.034 [DAT](INFO): DAT read: Rx Time:21:13:07.4298
2025-06-11T21:13:06.034Z,1749676386.034 [DAT](INFO): Rx dataTimestamp_ set to:1749676386.033746
2025-06-11T21:13:06.035Z,1749676386.035 [DAT](INFO): DAT read: Bearing 349.3, 10.6 (Local)
2025-06-11T21:13:06.036Z,1749676386.036 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.3, 10.6 (Local)
2025-06-11T21:13:06.038Z,1749676386.038 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4
2025-06-11T21:13:06.043Z,1749676386.043 [DAT](INFO): DAT read: 21:13:07.4298 LVL= 20544, 27377, 14626, 29507, AGC= 55, IDX= 498, 0.24,-1.422,-2.715,-1.108,-1.758, PHS= 0.424,-0.910, 0.647, RAW= 157.6, -2.2, CAL= 160.7, -10.6, ROT= 349.3, 10.6
2025-06-11T21:13:06.044Z,1749676386.044 [DAT](INFO): got valid direction response:
21:13:07.4298 LVL= 20544, 27377, 14626, 29507, AGC= 55, IDX= 498, 0.24,-1.422,-2.715,-1.108,-1.758, PHS= 0.424,-0.910, 0.647, RAW= 157.6, -2.2, CAL= 160.7, -10.6, ROT= 349.3, 10.6
2025-06-11T21:13:06.045Z,1749676386.045 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-11T21:13:06.046Z,1749676386.046 [DAT](INFO): direction in FSK: [0.965845,-0.182498,-0.183951]
2025-06-11T21:13:06.046Z,1749676386.046 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:06.050Z,1749676386.050 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.071602
2025-06-11T21:13:06.277Z,1749676386.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.504066 s,
deltaX: -0.400000 m,
approachRate: -0.793546 m/s,
rangeRepo size: 4
2025-06-11T21:13:06.279Z,1749676386.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.045004 m,
bearing: 259.660466 deg,
lat: 36.906682 deg,
lon: -122.115714 deg,
deltaT: 0.504066 s,
deltaX: -0.396593 m,
approachRate: -0.786788 m/s,
posRepo size: 4
2025-06-11T21:13:06.279Z,1749676386.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-11T21:13:06.285Z,1749676386.285 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.306900
2025-06-11T21:13:06.296Z,1749676386.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.045004 m,
nav range: 17.979145 m,
bearing: 259.310583 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 267.976844 deg,
new cmd heading: 268.124199 deg.
2025-06-11T21:13:06.297Z,1749676386.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679650 target range: 18.045004 and range: 18.20 m.
2025-06-11T21:13:06.537Z,1749676386.537 [DAT](INFO): DAT read: Rx Time:21:13:07.9298
2025-06-11T21:13:06.538Z,1749676386.538 [DAT](INFO): Rx dataTimestamp_ set to:1749676386.537685
2025-06-11T21:13:06.539Z,1749676386.539 [DAT](INFO): DAT read: Bearing 349.0, 10.2 (Local)
2025-06-11T21:13:06.540Z,1749676386.540 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.0, 10.2 (Local)
2025-06-11T21:13:06.544Z,1749676386.544 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4
2025-06-11T21:13:06.551Z,1749676386.551 [DAT](INFO): DAT read: 21:13:07.9298 LVL= 20064, 27105, 14626, 29315, AGC= 55, IDX= 498,-0.31,-2.577, 2.429,-2.250,-2.893, PHS= 0.404,-0.914, 0.640, RAW= 158.1, -1.8, CAL= 161.0, -10.2, ROT= 349.0, 10.2
2025-06-11T21:13:06.557Z,1749676386.557 [DAT](INFO): got valid direction response:
21:13:07.9298 LVL= 20064, 27105, 14626, 29315, AGC= 55, IDX= 498,-0.31,-2.577, 2.429,-2.250,-2.893, PHS= 0.404,-0.914, 0.640, RAW= 158.1, -1.8, CAL= 161.0, -10.2, ROT= 349.0, 10.2
2025-06-11T21:13:06.558Z,1749676386.558 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-11T21:13:06.559Z,1749676386.559 [DAT](INFO): direction in FSK: [0.966113,-0.187794,-0.177085]
2025-06-11T21:13:06.559Z,1749676386.559 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:06.563Z,1749676386.563 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.584751
2025-06-11T21:13:06.697Z,1749676386.697 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:13:06.789Z,1749676386.789 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.810909
2025-06-11T21:13:06.846Z,1749676386.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.503939 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:06.853Z,1749676386.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.045076 m,
bearing: 259.330697 deg,
lat: 36.906682 deg,
lon: -122.115716 deg,
deltaT: 0.503939 s,
deltaX: 0.000072 m,
approachRate: 0.000144 m/s,
posRepo size: 4
2025-06-11T21:13:06.854Z,1749676386.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-11T21:13:06.868Z,1749676386.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.045076 m,
nav range: 17.786930 m,
bearing: 259.453903 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 268.124212 deg,
new cmd heading: 268.289555 deg.
2025-06-11T21:13:06.876Z,1749676386.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682536 target range: 18.045076 and range: 18.20 m.
2025-06-11T21:13:07.041Z,1749676387.041 [DAT](INFO): DAT read: Rx Time:21:13:08.4295
2025-06-11T21:13:07.042Z,1749676387.042 [DAT](INFO): Rx dataTimestamp_ set to:1749676387.041679
2025-06-11T21:13:07.043Z,1749676387.043 [DAT](INFO): DAT read: Bearing 349.6, 10.7 (Local)
2025-06-11T21:13:07.044Z,1749676387.044 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.6, 10.7 (Local)
2025-06-11T21:13:07.046Z,1749676387.046 [DAT](INFO): DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4
2025-06-11T21:13:07.051Z,1749676387.051 [DAT](INFO): DAT read: 21:13:08.4295 LVL= 19392, 24689, 14146, 28659, AGC= 55, IDX= 495, 0.01,-2.263, 2.708,-1.956,-2.609, PHS= 0.434,-0.919, 0.650, RAW= 157.3, -2.3, CAL= 160.4, -10.7, ROT= 349.6, 10.7
2025-06-11T21:13:07.052Z,1749676387.052 [DAT](INFO): got valid direction response:
21:13:08.4295 LVL= 19392, 24689, 14146, 28659, AGC= 55, IDX= 495, 0.01,-2.263, 2.708,-1.956,-2.609, PHS= 0.434,-0.919, 0.650, RAW= 157.3, -2.3, CAL= 160.4, -10.7, ROT= 349.6, 10.7
2025-06-11T21:13:07.052Z,1749676387.052 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-11T21:13:07.053Z,1749676387.053 [DAT](INFO): direction in FSK: [0.966470,-0.177380,-0.185667]
2025-06-11T21:13:07.054Z,1749676387.054 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:07.058Z,1749676387.058 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.079552
2025-06-11T21:13:07.293Z,1749676387.293 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.314991
2025-06-11T21:13:07.335Z,1749676387.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.503994 s,
deltaX: -0.500000 m,
approachRate: -0.992075 m/s,
rangeRepo size: 4
2025-06-11T21:13:07.337Z,1749676387.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.549332 m,
bearing: 259.882688 deg,
lat: 36.906682 deg,
lon: -122.115714 deg,
deltaT: 0.503994 s,
deltaX: -0.495745 m,
approachRate: -0.983632 m/s,
posRepo size: 4
2025-06-11T21:13:07.338Z,1749676387.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.55 m.
2025-06-11T21:13:07.341Z,1749676387.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.549332 m,
nav range: 17.452942 m,
bearing: 259.442569 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 268.289557 deg,
new cmd heading: 268.430508 deg.
2025-06-11T21:13:07.342Z,1749676387.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684996 target range: 17.549332 and range: 17.70 m.
2025-06-11T21:13:07.547Z,1749676387.547 [DAT](INFO): DAT read: Rx Time:21:13:08.9295
2025-06-11T21:13:07.547Z,1749676387.547 [DAT](INFO): Rx dataTimestamp_ set to:1749676387.546719
2025-06-11T21:13:07.548Z,1749676387.548 [DAT](INFO): DAT read: Bearing 349.8, 10.9 (Local)
2025-06-11T21:13:07.550Z,1749676387.550 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.8, 10.9 (Local)
2025-06-11T21:13:07.578Z,1749676387.578 [DAT](INFO): DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4
2025-06-11T21:13:07.602Z,1749676387.602 [DAT](INFO): DAT read: 21:13:08.9295 LVL= 20720, 25489, 14834, 30051, AGC= 55, IDX= 510, 0.38,-0.779,-2.098,-0.481,-1.136, PHS= 0.445,-0.916, 0.652, RAW= 157.0, -2.5, CAL= 160.2, -10.9, ROT= 349.8, 10.9
2025-06-11T21:13:07.603Z,1749676387.603 [DAT](INFO): got valid direction response:
21:13:08.9295 LVL= 20720, 25489, 14834, 30051, AGC= 55, IDX= 510, 0.38,-0.779,-2.098,-0.481,-1.136, PHS= 0.445,-0.916, 0.652, RAW= 157.0, -2.5, CAL= 160.2, -10.9, ROT= 349.8, 10.9
2025-06-11T21:13:07.603Z,1749676387.603 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-11T21:13:07.616Z,1749676387.616 [DAT](INFO): direction in FSK: [0.966439,-0.173890,-0.189095]
2025-06-11T21:13:07.617Z,1749676387.617 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:07.627Z,1749676387.627 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.648201
2025-06-11T21:13:07.797Z,1749676387.797 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.819248
2025-06-11T21:13:07.943Z,1749676387.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.505040 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:07.950Z,1749676387.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.549284 m,
bearing: 260.082152 deg,
lat: 36.906683 deg,
lon: -122.115716 deg,
deltaT: 0.505040 s,
deltaX: -0.000048 m,
approachRate: -0.000094 m/s,
posRepo size: 4
2025-06-11T21:13:07.951Z,1749676387.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.55 m.
2025-06-11T21:13:07.958Z,1749676387.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.549284 m,
nav range: 17.276611 m,
bearing: 259.952951 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 268.430505 deg,
new cmd heading: 268.605656 deg.
2025-06-11T21:13:07.959Z,1749676387.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688053 target range: 17.549284 and range: 17.70 m.
2025-06-11T21:13:08.050Z,1749676388.050 [DAT](INFO): DAT read: Rx Time:21:13:09.4292
2025-06-11T21:13:08.050Z,1749676388.050 [DAT](INFO): Rx dataTimestamp_ set to:1749676388.049842
2025-06-11T21:13:08.051Z,1749676388.051 [DAT](INFO): DAT read: Bearing 349.9, 10.8 (Local)
2025-06-11T21:13:08.052Z,1749676388.052 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.9, 10.8 (Local)
2025-06-11T21:13:08.054Z,1749676388.054 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4
2025-06-11T21:13:08.059Z,1749676388.059 [DAT](INFO): DAT read: 21:13:09.4292 LVL= 19920, 23921, 16882, 27859, AGC= 54, IDX= 508,-0.12, 2.646, 1.351, 2.938, 2.299, PHS= 0.435,-0.901, 0.636, RAW= 156.9, -2.4, CAL= 160.1, -10.8, ROT= 349.9, 10.8
2025-06-11T21:13:08.060Z,1749676388.060 [DAT](INFO): got valid direction response:
21:13:09.4292 LVL= 19920, 23921, 16882, 27859, AGC= 54, IDX= 508,-0.12, 2.646, 1.351, 2.938, 2.299, PHS= 0.435,-0.901, 0.636, RAW= 156.9, -2.4, CAL= 160.1, -10.8, ROT= 349.9, 10.8
2025-06-11T21:13:08.061Z,1749676388.061 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-11T21:13:08.062Z,1749676388.062 [DAT](INFO): direction in FSK: [0.967065,-0.172261,-0.187381]
2025-06-11T21:13:08.062Z,1749676388.062 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:08.078Z,1749676388.078 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.100063
2025-06-11T21:13:08.301Z,1749676388.301 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.322861
2025-06-11T21:13:08.474Z,1749676388.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.503123 s,
deltaX: -0.400002 m,
approachRate: -0.795037 m/s,
rangeRepo size: 4
2025-06-11T21:13:08.480Z,1749676388.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.152689 m,
bearing: 260.180296 deg,
lat: 36.906683 deg,
lon: -122.115716 deg,
deltaT: 0.503123 s,
deltaX: -0.396595 m,
approachRate: -0.788266 m/s,
posRepo size: 4
2025-06-11T21:13:08.480Z,1749676388.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:13:08.483Z,1749676388.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.152689 m,
nav range: 17.028980 m,
bearing: 260.059447 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 268.605659 deg,
new cmd heading: 268.758638 deg.
2025-06-11T21:13:08.488Z,1749676388.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690723 target range: 17.152689 and range: 17.30 m.
2025-06-11T21:13:08.554Z,1749676388.554 [DAT](INFO): DAT read: Rx Time:21:13:09.9291
2025-06-11T21:13:08.554Z,1749676388.554 [DAT](INFO): Rx dataTimestamp_ set to:1749676388.553718
2025-06-11T21:13:08.555Z,1749676388.555 [DAT](INFO): DAT read: Bearing 350.1, 11.3 (Local)
2025-06-11T21:13:08.556Z,1749676388.556 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.1, 11.3 (Local)
2025-06-11T21:13:08.558Z,1749676388.558 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4
2025-06-11T21:13:08.563Z,1749676388.563 [DAT](INFO): DAT read: 21:13:09.9291 LVL= 20384, 24241, 16146, 28819, AGC= 55, IDX= 507, 0.17, 0.233,-1.106, 0.516,-0.149, PHS= 0.471,-0.910, 0.662, RAW= 156.4, -3.0, CAL= 159.9, -11.3, ROT= 350.1, 11.3
2025-06-11T21:13:08.564Z,1749676388.564 [DAT](INFO): got valid direction response:
21:13:09.9291 LVL= 20384, 24241, 16146, 28819, AGC= 55, IDX= 507, 0.17, 0.233,-1.106, 0.516,-0.149, PHS= 0.471,-0.910, 0.662, RAW= 156.4, -3.0, CAL= 159.9, -11.3, ROT= 350.1, 11.3
2025-06-11T21:13:08.564Z,1749676388.564 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-11T21:13:08.565Z,1749676388.565 [DAT](INFO): direction in FSK: [0.966013,-0.168596,-0.195946]
2025-06-11T21:13:08.566Z,1749676388.566 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:08.589Z,1749676388.589 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.611343
2025-06-11T21:13:08.808Z,1749676388.808 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.829544
2025-06-11T21:13:08.980Z,1749676388.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.503876 s,
deltaX: -0.199999 m,
approachRate: -0.396921 m/s,
rangeRepo size: 4
2025-06-11T21:13:08.984Z,1749676388.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.954523 m,
bearing: 260.440464 deg,
lat: 36.906683 deg,
lon: -122.115716 deg,
deltaT: 0.503876 s,
deltaX: -0.198166 m,
approachRate: -0.393283 m/s,
posRepo size: 4
2025-06-11T21:13:08.985Z,1749676388.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.95 m.
2025-06-11T21:13:08.988Z,1749676388.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.954523 m,
nav range: 16.824608 m,
bearing: 260.116937 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 268.758627 deg,
new cmd heading: 268.904464 deg.
2025-06-11T21:13:08.989Z,1749676388.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693268 target range: 16.954523 and range: 17.10 m.
2025-06-11T21:13:09.058Z,1749676389.058 [DAT](INFO): DAT read: Rx Time:21:13:10.4290
2025-06-11T21:13:09.058Z,1749676389.058 [DAT](INFO): Rx dataTimestamp_ set to:1749676389.057803
2025-06-11T21:13:09.059Z,1749676389.059 [DAT](INFO): DAT read: Bearing 350.0, 10.8 (Local)
2025-06-11T21:13:09.060Z,1749676389.060 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.0, 10.8 (Local)
2025-06-11T21:13:09.062Z,1749676389.062 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4
2025-06-11T21:13:09.067Z,1749676389.067 [DAT](INFO): DAT read: 21:13:10.4290 LVL= 22112, 19985, 15458, 24979, AGC= 54, IDX= 505,-0.28,-2.696, 2.259,-2.404,-3.057, PHS= 0.449,-0.920, 0.650, RAW= 156.8, -2.5, CAL= 160.0, -10.8, ROT= 350.0, 10.8
2025-06-11T21:13:09.068Z,1749676389.068 [DAT](INFO): got valid direction response:
21:13:10.4290 LVL= 22112, 19985, 15458, 24979, AGC= 54, IDX= 505,-0.28,-2.696, 2.259,-2.404,-3.057, PHS= 0.449,-0.920, 0.650, RAW= 156.8, -2.5, CAL= 160.0, -10.8, ROT= 350.0, 10.8
2025-06-11T21:13:09.068Z,1749676389.068 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-11T21:13:09.069Z,1749676389.069 [DAT](INFO): direction in FSK: [0.967364,-0.170572,-0.187381]
2025-06-11T21:13:09.070Z,1749676389.070 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:09.073Z,1749676389.073 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.095402
2025-06-11T21:13:09.309Z,1749676389.309 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.330826
2025-06-11T21:13:09.442Z,1749676389.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 0.504085 s,
deltaX: -0.300001 m,
approachRate: -0.595140 m/s,
rangeRepo size: 4
2025-06-11T21:13:09.445Z,1749676389.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.657074 m,
bearing: 260.330305 deg,
lat: 36.906683 deg,
lon: -122.115716 deg,
deltaT: 0.504085 s,
deltaX: -0.297449 m,
approachRate: -0.590077 m/s,
posRepo size: 4
2025-06-11T21:13:09.445Z,1749676389.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.66 m.
2025-06-11T21:13:09.448Z,1749676389.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.657074 m,
nav range: 16.568729 m,
bearing: 260.237634 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 268.904466 deg,
new cmd heading: 269.037871 deg.
2025-06-11T21:13:09.449Z,1749676389.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695597 target range: 16.657074 and range: 16.80 m.
2025-06-11T21:13:09.562Z,1749676389.562 [DAT](INFO): DAT read: Rx Time:21:13:10.9288
2025-06-11T21:13:09.562Z,1749676389.562 [DAT](INFO): Rx dataTimestamp_ set to:1749676389.561837
2025-06-11T21:13:09.563Z,1749676389.563 [DAT](INFO): DAT read: Bearing 350.5, 11.5 (Local)
2025-06-11T21:13:09.564Z,1749676389.564 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.5, 11.5 (Local)
2025-06-11T21:13:09.566Z,1749676389.566 [DAT](INFO): DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4
2025-06-11T21:13:09.571Z,1749676389.571 [DAT](INFO): DAT read: 21:13:10.9288 LVL= 20192, 23745, 14402, 26611, AGC= 55, IDX= 503, 0.11,-0.783,-2.124,-0.516,-1.174, PHS= 0.479,-0.904, 0.655, RAW= 155.9, -3.2, CAL= 159.5, -11.5, ROT= 350.5, 11.5
2025-06-11T21:13:09.572Z,1749676389.572 [DAT](INFO): got valid direction response:
21:13:10.9288 LVL= 20192, 23745, 14402, 26611, AGC= 55, IDX= 503, 0.11,-0.783,-2.124,-0.516,-1.174, PHS= 0.479,-0.904, 0.655, RAW= 155.9, -3.2, CAL= 159.5, -11.5, ROT= 350.5, 11.5
2025-06-11T21:13:09.573Z,1749676389.573 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-11T21:13:09.574Z,1749676389.574 [DAT](INFO): direction in FSK: [0.966486,-0.161734,-0.199368]
2025-06-11T21:13:09.574Z,1749676389.574 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:09.582Z,1749676389.582 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.603733
2025-06-11T21:13:09.766Z,1749676389.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.500000 m,
deltaT: 0.504034 s,
deltaX: -0.299999 m,
approachRate: -0.595196 m/s,
rangeRepo size: 4
2025-06-11T21:13:09.772Z,1749676389.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.359592 m,
bearing: 260.949191 deg,
lat: 36.906684 deg,
lon: -122.115716 deg,
deltaT: 0.504034 s,
deltaX: -0.297482 m,
approachRate: -0.590201 m/s,
posRepo size: 4
2025-06-11T21:13:09.773Z,1749676389.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.36 m.
2025-06-11T21:13:09.780Z,1749676389.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.359592 m,
nav range: 16.420889 m,
bearing: 260.362238 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 269.037873 deg,
new cmd heading: 269.131155 deg.
2025-06-11T21:13:09.781Z,1749676389.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697225 target range: 16.359592 and range: 16.50 m.
2025-06-11T21:13:09.813Z,1749676389.813 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.834904
2025-06-11T21:13:10.065Z,1749676390.065 [DAT](INFO): DAT read: Rx Time:21:13:11.4286
2025-06-11T21:13:10.066Z,1749676390.066 [DAT](INFO): Rx dataTimestamp_ set to:1749676390.065578
2025-06-11T21:13:10.067Z,1749676390.067 [DAT](INFO): DAT read: Bearing 350.1, 11.0 (Local)
2025-06-11T21:13:10.067Z,1749676390.067 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.1, 11.0 (Local)
2025-06-11T21:13:10.070Z,1749676390.070 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4
2025-06-11T21:13:10.075Z,1749676390.075 [DAT](INFO): DAT read: 21:13:11.4286 LVL= 24784, 25121, 16162, 29075, AGC= 55, IDX= 501,-0.31, 2.208, 0.878, 2.495, 1.841, PHS= 0.455,-0.915, 0.651, RAW= 156.6, -2.6, CAL= 159.9, -11.0, ROT= 350.1, 11.0
2025-06-11T21:13:10.076Z,1749676390.076 [DAT](INFO): got valid direction response:
21:13:11.4286 LVL= 24784, 25121, 16162, 29075, AGC= 55, IDX= 501,-0.31, 2.208, 0.878, 2.495, 1.841, PHS= 0.455,-0.915, 0.651, RAW= 156.6, -2.6, CAL= 159.9, -11.0, ROT= 350.1, 11.0
2025-06-11T21:13:10.077Z,1749676390.077 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-11T21:13:10.078Z,1749676390.078 [DAT](INFO): direction in FSK: [0.967010,-0.168770,-0.190809]
2025-06-11T21:13:10.078Z,1749676390.078 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:10.084Z,1749676390.084 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.106316
2025-06-11T21:13:10.206Z,1749676390.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.503741 s,
deltaX: -0.299999 m,
approachRate: -0.595543 m/s,
rangeRepo size: 4
2025-06-11T21:13:10.213Z,1749676390.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.062147 m,
bearing: 260.578685 deg,
lat: 36.906684 deg,
lon: -122.115716 deg,
deltaT: 0.503741 s,
deltaX: -0.297445 m,
approachRate: -0.590473 m/s,
posRepo size: 4
2025-06-11T21:13:10.213Z,1749676390.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.06 m.
2025-06-11T21:13:10.220Z,1749676390.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.062147 m,
nav range: 16.184977 m,
bearing: 260.463461 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 269.131146 deg,
new cmd heading: 269.258044 deg.
2025-06-11T21:13:10.221Z,1749676390.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699440 target range: 16.062147 and range: 16.20 m.
2025-06-11T21:13:10.319Z,1749676390.319 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.340801
2025-06-11T21:13:10.569Z,1749676390.569 [DAT](INFO): DAT read: Rx Time:21:13:11.9285
2025-06-11T21:13:10.570Z,1749676390.570 [DAT](INFO): Rx dataTimestamp_ set to:1749676390.569677
2025-06-11T21:13:10.571Z,1749676390.571 [DAT](INFO): DAT read: Bearing 350.3, 11.2 (Local)
2025-06-11T21:13:10.572Z,1749676390.572 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.3, 11.2 (Local)
2025-06-11T21:13:10.574Z,1749676390.574 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4
2025-06-11T21:13:10.579Z,1749676390.579 [DAT](INFO): DAT read: 21:13:11.9285 LVL= 25440, 21489, 13890, 27971, AGC= 54, IDX= 500, 0.08,-0.761,-2.133,-0.480,-1.153, PHS= 0.480,-0.933, 0.670, RAW= 156.2, -2.9, CAL= 159.7, -11.2, ROT= 350.3, 11.2
2025-06-11T21:13:10.580Z,1749676390.580 [DAT](INFO): got valid direction response:
21:13:11.9285 LVL= 25440, 21489, 13890, 27971, AGC= 54, IDX= 500, 0.08,-0.761,-2.133,-0.480,-1.153, PHS= 0.480,-0.933, 0.670, RAW= 156.2, -2.9, CAL= 159.7, -11.2, ROT= 350.3, 11.2
2025-06-11T21:13:10.580Z,1749676390.580 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-11T21:13:10.581Z,1749676390.581 [DAT](INFO): direction in FSK: [0.966931,-0.165281,-0.194234]
2025-06-11T21:13:10.581Z,1749676390.581 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:10.589Z,1749676390.589 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.611118
2025-06-11T21:13:10.763Z,1749676390.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.100000 m,
deltaT: 0.504099 s,
deltaX: -0.100000 m,
approachRate: -0.198374 m/s,
rangeRepo size: 4
2025-06-11T21:13:10.769Z,1749676390.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.963094 m,
bearing: 260.876807 deg,
lat: 36.906684 deg,
lon: -122.115715 deg,
deltaT: 0.504099 s,
deltaX: -0.099053 m,
approachRate: -0.196496 m/s,
posRepo size: 4
2025-06-11T21:13:10.769Z,1749676390.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.96 m.
2025-06-11T21:13:10.776Z,1749676390.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.963094 m,
nav range: 15.837529 m,
bearing: 260.667167 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 269.258051 deg,
new cmd heading: 269.418364 deg.
2025-06-11T21:13:10.777Z,1749676390.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702238 target range: 15.963094 and range: 16.10 m.
2025-06-11T21:13:10.822Z,1749676390.822 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.843849
2025-06-11T21:13:11.073Z,1749676391.073 [DAT](INFO): DAT read: Rx Time:21:13:12.4283
2025-06-11T21:13:11.074Z,1749676391.074 [DAT](INFO): Rx dataTimestamp_ set to:1749676391.073634
2025-06-11T21:13:11.075Z,1749676391.075 [DAT](INFO): DAT read: Bearing 349.9, 11.0 (Local)
2025-06-11T21:13:11.076Z,1749676391.076 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.9, 11.0 (Local)
2025-06-11T21:13:11.078Z,1749676391.078 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4
2025-06-11T21:13:11.083Z,1749676391.083 [DAT](INFO): DAT read: 21:13:12.4283 LVL= 25808, 23921, 15826, 28627, AGC= 55, IDX= 498,-0.31, 2.348, 1.017, 2.641, 1.982, PHS= 0.454,-0.917, 0.656, RAW= 156.8, -2.6, CAL= 160.1, -11.0, ROT= 349.9, 11.0
2025-06-11T21:13:11.084Z,1749676391.084 [DAT](INFO): got valid direction response:
21:13:12.4283 LVL= 25808, 23921, 15826, 28627, AGC= 55, IDX= 498,-0.31, 2.348, 1.017, 2.641, 1.982, PHS= 0.454,-0.917, 0.656, RAW= 156.8, -2.6, CAL= 160.1, -11.0, ROT= 349.9, 11.0
2025-06-11T21:13:11.084Z,1749676391.084 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-11T21:13:11.085Z,1749676391.085 [DAT](INFO): direction in FSK: [0.966415,-0.172145,-0.190809]
2025-06-11T21:13:11.086Z,1749676391.086 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:11.089Z,1749676391.089 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.111160
2025-06-11T21:13:11.120Z,1749676391.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.503957 s,
deltaX: -0.300000 m,
approachRate: -0.595289 m/s,
rangeRepo size: 4
2025-06-11T21:13:11.122Z,1749676391.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.665645 m,
bearing: 260.572110 deg,
lat: 36.906684 deg,
lon: -122.115714 deg,
deltaT: 0.503957 s,
deltaX: -0.297449 m,
approachRate: -0.590227 m/s,
posRepo size: 4
2025-06-11T21:13:11.123Z,1749676391.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.67 m.
2025-06-11T21:13:11.126Z,1749676391.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.665645 m,
nav range: 15.612970 m,
bearing: 260.621737 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096075 deg/s,
cmd heading: 269.418369 deg,
new cmd heading: 269.520207 deg.
2025-06-11T21:13:11.127Z,1749676391.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704015 target range: 15.665645 and range: 15.80 m.
2025-06-11T21:13:11.326Z,1749676391.326 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.347309
2025-06-11T21:13:11.570Z,1749676391.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:11.577Z,1749676391.577 [DAT](INFO): DAT read: Rx Time:21:13:12.9282
2025-06-11T21:13:11.578Z,1749676391.578 [DAT](INFO): Rx dataTimestamp_ set to:1749676391.577666
2025-06-11T21:13:11.579Z,1749676391.579 [DAT](INFO): DAT read: Bearing 350.5, 11.5 (Local)
2025-06-11T21:13:11.580Z,1749676391.580 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.5, 11.5 (Local)
2025-06-11T21:13:11.582Z,1749676391.582 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4
2025-06-11T21:13:11.587Z,1749676391.587 [DAT](INFO): DAT read: 21:13:12.9282 LVL= 23216, 22641, 14002, 26963, AGC= 54, IDX= 497, 0.12,-0.461,-1.815,-0.191,-0.857, PHS= 0.484,-0.912, 0.663, RAW= 156.0, -3.2, CAL= 159.5, -11.5, ROT= 350.5, 11.5
2025-06-11T21:13:11.588Z,1749676391.588 [DAT](INFO): got valid direction response:
21:13:12.9282 LVL= 23216, 22641, 14002, 26963, AGC= 54, IDX= 497, 0.12,-0.461,-1.815,-0.191,-0.857, PHS= 0.484,-0.912, 0.663, RAW= 156.0, -3.2, CAL= 159.5, -11.5, ROT= 350.5, 11.5
2025-06-11T21:13:11.588Z,1749676391.588 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-11T21:13:11.589Z,1749676391.589 [DAT](INFO): direction in FSK: [0.966486,-0.161734,-0.199368]
2025-06-11T21:13:11.590Z,1749676391.590 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:11.592Z,1749676391.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.67 m.
2025-06-11T21:13:11.595Z,1749676391.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.665645 m,
nav range: 15.393453 m,
bearing: 260.590185 deg,
approach rate: -0.480592 m/s,
LOS rate: -0.070063 deg/s,
cmd heading: 269.520221 deg,
new cmd heading: 269.424215 deg.
2025-06-11T21:13:11.597Z,1749676391.597 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.619286
2025-06-11T21:13:11.600Z,1749676391.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702340 target range: 15.665645 and range: 15.80 m.
2025-06-11T21:13:11.830Z,1749676391.830 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.851341
2025-06-11T21:13:11.982Z,1749676391.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.600000 m,
deltaT: 0.504032 s,
deltaX: -0.200000 m,
approachRate: -0.396800 m/s,
rangeRepo size: 4
2025-06-11T21:13:11.988Z,1749676391.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.467559 m,
bearing: 261.420677 deg,
lat: 36.906685 deg,
lon: -122.115714 deg,
deltaT: 0.504032 s,
deltaX: -0.198086 m,
approachRate: -0.393002 m/s,
posRepo size: 4
2025-06-11T21:13:11.988Z,1749676391.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.47 m.
2025-06-11T21:13:11.991Z,1749676391.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.467559 m,
nav range: 15.202506 m,
bearing: 260.780258 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070063 deg/s,
cmd heading: 269.424216 deg,
new cmd heading: 269.338264 deg.
2025-06-11T21:13:12.000Z,1749676392.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700840 target range: 15.467559 and range: 15.60 m.
2025-06-11T21:13:12.083Z,1749676392.083 [DAT](INFO): DAT read: Rx Time:21:13:13.4281
2025-06-11T21:13:12.083Z,1749676392.083 [DAT](INFO): Rx dataTimestamp_ set to:1749676392.082815
2025-06-11T21:13:12.086Z,1749676392.086 [DAT](INFO): DAT read: Bearing 350.0, 11.0 (Local)
2025-06-11T21:13:12.086Z,1749676392.086 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.0, 11.0 (Local)
2025-06-11T21:13:12.089Z,1749676392.089 [DAT](INFO): DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4
2025-06-11T21:13:12.096Z,1749676392.096 [DAT](INFO): DAT read: 21:13:13.4281 LVL= 23136, 26193, 14834, 28115, AGC= 54, IDX= 511,-0.23, 2.147, 0.827, 2.435, 1.785, PHS= 0.451,-0.911, 0.647, RAW= 156.7, -2.6, CAL= 160.0, -11.0, ROT= 350.0, 11.0
2025-06-11T21:13:12.097Z,1749676392.097 [DAT](INFO): got valid direction response:
21:13:13.4281 LVL= 23136, 26193, 14834, 28115, AGC= 54, IDX= 511,-0.23, 2.147, 0.827, 2.435, 1.785, PHS= 0.451,-0.911, 0.647, RAW= 156.7, -2.6, CAL= 160.0, -11.0, ROT= 350.0, 11.0
2025-06-11T21:13:12.097Z,1749676392.097 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-11T21:13:12.098Z,1749676392.098 [DAT](INFO): direction in FSK: [0.966714,-0.170458,-0.190809]
2025-06-11T21:13:12.099Z,1749676392.099 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:12.118Z,1749676392.118 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.139633
2025-06-11T21:13:12.335Z,1749676392.335 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.356361
2025-06-11T21:13:12.438Z,1749676392.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.500000 m,
deltaT: 0.505149 s,
deltaX: -0.100000 m,
approachRate: -0.197962 m/s,
rangeRepo size: 4
2025-06-11T21:13:12.440Z,1749676392.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.368407 m,
bearing: 260.878192 deg,
lat: 36.906685 deg,
lon: -122.115715 deg,
deltaT: 0.505149 s,
deltaX: -0.099152 m,
approachRate: -0.196282 m/s,
posRepo size: 4
2025-06-11T21:13:12.441Z,1749676392.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.37 m.
2025-06-11T21:13:12.443Z,1749676392.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.368407 m,
nav range: 15.046077 m,
bearing: 260.757874 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070063 deg/s,
cmd heading: 269.338265 deg,
new cmd heading: 269.242359 deg.
2025-06-11T21:13:12.465Z,1749676392.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699166 target range: 15.368407 and range: 15.50 m.
2025-06-11T21:13:12.586Z,1749676392.586 [DAT](INFO): DAT read: Rx Time:21:13:13.9280
2025-06-11T21:13:12.586Z,1749676392.586 [DAT](INFO): Rx dataTimestamp_ set to:1749676392.585767
2025-06-11T21:13:12.587Z,1749676392.587 [DAT](INFO): DAT read: Bearing 350.3, 11.4 (Local)
2025-06-11T21:13:12.588Z,1749676392.588 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.3, 11.4 (Local)
2025-06-11T21:13:12.590Z,1749676392.590 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4
2025-06-11T21:13:12.595Z,1749676392.595 [DAT](INFO): DAT read: 21:13:13.9280 LVL= 23904, 24417, 15010, 28595, AGC= 54, IDX= 510, 0.18,-0.681,-2.026,-0.405,-1.069, PHS= 0.476,-0.910, 0.661, RAW= 156.2, -3.1, CAL= 159.7, -11.4, ROT= 350.3, 11.4
2025-06-11T21:13:12.596Z,1749676392.596 [DAT](INFO): got valid direction response:
21:13:13.9280 LVL= 23904, 24417, 15010, 28595, AGC= 54, IDX= 510, 0.18,-0.681,-2.026,-0.405,-1.069, PHS= 0.476,-0.910, 0.661, RAW= 156.2, -3.1, CAL= 159.7, -11.4, ROT= 350.3, 11.4
2025-06-11T21:13:12.597Z,1749676392.597 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-11T21:13:12.598Z,1749676392.598 [DAT](INFO): direction in FSK: [0.966257,-0.165165,-0.197657]
2025-06-11T21:13:12.598Z,1749676392.598 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:12.602Z,1749676392.602 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.623680
2025-06-11T21:13:12.782Z,1749676392.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.502952 s,
deltaX: -0.200000 m,
approachRate: -0.397652 m/s,
rangeRepo size: 4
2025-06-11T21:13:12.788Z,1749676392.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.170118 m,
bearing: 261.340900 deg,
lat: 36.906685 deg,
lon: -122.115716 deg,
deltaT: 0.502952 s,
deltaX: -0.198289 m,
approachRate: -0.394250 m/s,
posRepo size: 4
2025-06-11T21:13:12.789Z,1749676392.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.17 m.
2025-06-11T21:13:12.796Z,1749676392.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.170118 m,
nav range: 14.974573 m,
bearing: 260.806538 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070063 deg/s,
cmd heading: 269.242369 deg,
new cmd heading: 269.170132 deg.
2025-06-11T21:13:12.797Z,1749676392.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697905 target range: 15.170118 and range: 15.30 m.
2025-06-11T21:13:12.837Z,1749676392.837 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.858879
2025-06-11T21:13:13.089Z,1749676393.089 [DAT](INFO): DAT read: Rx Time:21:13:14.4278
2025-06-11T21:13:13.090Z,1749676393.090 [DAT](INFO): Rx dataTimestamp_ set to:1749676393.089563
2025-06-11T21:13:13.091Z,1749676393.091 [DAT](INFO): DAT read: Bearing 349.8, 10.9 (Local)
2025-06-11T21:13:13.091Z,1749676393.091 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.8, 10.9 (Local)
2025-06-11T21:13:13.094Z,1749676393.094 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4
2025-06-11T21:13:13.103Z,1749676393.103 [DAT](INFO): DAT read: 21:13:14.4278 LVL= 22832, 25057, 15218, 29171, AGC= 54, IDX= 508,-0.22, 2.297, 0.979, 2.594, 1.938, PHS= 0.446,-0.912, 0.653, RAW= 157.0, -2.6, CAL= 160.2, -10.9, ROT= 349.8, 10.9
2025-06-11T21:13:13.109Z,1749676393.109 [DAT](INFO): got valid direction response:
21:13:14.4278 LVL= 22832, 25057, 15218, 29171, AGC= 54, IDX= 508,-0.22, 2.297, 0.979, 2.594, 1.938, PHS= 0.446,-0.912, 0.653, RAW= 157.0, -2.6, CAL= 160.2, -10.9, ROT= 349.8, 10.9
2025-06-11T21:13:13.109Z,1749676393.109 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-11T21:13:13.110Z,1749676393.110 [DAT](INFO): direction in FSK: [0.966439,-0.173890,-0.189095]
2025-06-11T21:13:13.110Z,1749676393.110 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:13.131Z,1749676393.131 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.152477
2025-06-11T21:13:13.202Z,1749676393.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.000000 m,
deltaT: 0.503796 s,
deltaX: -0.300000 m,
approachRate: -0.595479 m/s,
rangeRepo size: 4
2025-06-11T21:13:13.208Z,1749676393.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.872664 m,
bearing: 260.869014 deg,
lat: 36.906685 deg,
lon: -122.115716 deg,
deltaT: 0.503796 s,
deltaX: -0.297454 m,
approachRate: -0.590425 m/s,
posRepo size: 4
2025-06-11T21:13:13.209Z,1749676393.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.87 m.
2025-06-11T21:13:13.211Z,1749676393.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.872664 m,
nav range: 14.771853 m,
bearing: 260.880400 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070063 deg/s,
cmd heading: 269.170133 deg,
new cmd heading: 269.081788 deg.
2025-06-11T21:13:13.217Z,1749676393.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696363 target range: 14.872664 and range: 15.00 m.
2025-06-11T21:13:13.344Z,1749676393.344 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.365078
2025-06-11T21:13:13.593Z,1749676393.593 [DAT](INFO): DAT read: Rx Time:21:13:14.9276
2025-06-11T21:13:13.594Z,1749676393.594 [DAT](INFO): Rx dataTimestamp_ set to:1749676393.593673
2025-06-11T21:13:13.595Z,1749676393.595 [DAT](INFO): DAT read: Bearing 350.1, 11.1 (Local)
2025-06-11T21:13:13.596Z,1749676393.596 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.1, 11.1 (Local)
2025-06-11T21:13:13.598Z,1749676393.598 [DAT](INFO): DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4
2025-06-11T21:13:13.603Z,1749676393.603 [DAT](INFO): DAT read: 21:13:14.9276 LVL= 23024, 26001, 15666, 30627, AGC= 54, IDX= 506, 0.14,-2.064, 2.884,-1.778,-2.436, PHS= 0.460,-0.916, 0.655, RAW= 156.5, -2.7, CAL= 159.9, -11.1, ROT= 350.1, 11.1
2025-06-11T21:13:13.604Z,1749676393.604 [DAT](INFO): got valid direction response:
21:13:14.9276 LVL= 23024, 26001, 15666, 30627, AGC= 54, IDX= 506, 0.14,-2.064, 2.884,-1.778,-2.436, PHS= 0.460,-0.916, 0.655, RAW= 156.5, -2.7, CAL= 159.9, -11.1, ROT= 350.1, 11.1
2025-06-11T21:13:13.604Z,1749676393.604 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-11T21:13:13.605Z,1749676393.605 [DAT](INFO): direction in FSK: [0.966681,-0.168713,-0.192522]
2025-06-11T21:13:13.606Z,1749676393.606 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:13.609Z,1749676393.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:13.611Z,1749676393.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.87 m.
2025-06-11T21:13:13.615Z,1749676393.615 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.637241
2025-06-11T21:13:13.623Z,1749676393.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.872664 m,
nav range: 14.585206 m,
bearing: 260.859065 deg,
approach rate: -0.454985 m/s,
LOS rate: -0.052673 deg/s,
cmd heading: 269.081777 deg,
new cmd heading: 269.016953 deg.
2025-06-11T21:13:13.628Z,1749676393.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695231 target range: 14.872664 and range: 15.00 m.
2025-06-11T21:13:13.846Z,1749676393.846 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.867462
2025-06-11T21:13:13.973Z,1749676393.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.700000 m,
deltaT: 0.504110 s,
deltaX: -0.300000 m,
approachRate: -0.595109 m/s,
rangeRepo size: 4
2025-06-11T21:13:13.975Z,1749676393.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.575147 m,
bearing: 261.229210 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 0.504110 s,
deltaX: -0.297518 m,
approachRate: -0.590184 m/s,
posRepo size: 4
2025-06-11T21:13:13.980Z,1749676393.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-11T21:13:13.982Z,1749676393.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.575147 m,
nav range: 14.454942 m,
bearing: 261.229259 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.052673 deg/s,
cmd heading: 269.016945 deg,
new cmd heading: 268.962484 deg.
2025-06-11T21:13:13.983Z,1749676393.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694281 target range: 14.575147 and range: 14.70 m.
2025-06-11T21:13:14.097Z,1749676394.097 [DAT](INFO): DAT read: Rx Time:21:13:15.4274
2025-06-11T21:13:14.098Z,1749676394.098 [DAT](INFO): Rx dataTimestamp_ set to:1749676394.097634
2025-06-11T21:13:14.099Z,1749676394.099 [DAT](INFO): DAT read: Bearing 349.6, 10.7 (Local)
2025-06-11T21:13:14.100Z,1749676394.100 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.6, 10.7 (Local)
2025-06-11T21:13:14.102Z,1749676394.102 [DAT](INFO): DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4
2025-06-11T21:13:14.107Z,1749676394.107 [DAT](INFO): DAT read: 21:13:15.4274 LVL= 22320, 24881, 14834, 28275, AGC= 53, IDX= 504,-0.29, 1.346, 0.040, 1.651, 1.000, PHS= 0.434,-0.913, 0.648, RAW= 157.3, -2.3, CAL= 160.4, -10.7, ROT= 349.6, 10.7
2025-06-11T21:13:14.108Z,1749676394.108 [DAT](INFO): got valid direction response:
21:13:15.4274 LVL= 22320, 24881, 14834, 28275, AGC= 53, IDX= 504,-0.29, 1.346, 0.040, 1.651, 1.000, PHS= 0.434,-0.913, 0.648, RAW= 157.3, -2.3, CAL= 160.4, -10.7, ROT= 349.6, 10.7
2025-06-11T21:13:14.108Z,1749676394.108 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-11T21:13:14.109Z,1749676394.109 [DAT](INFO): direction in FSK: [0.966470,-0.177380,-0.185667]
2025-06-11T21:13:14.110Z,1749676394.110 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:14.114Z,1749676394.114 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.135475
2025-06-11T21:13:14.356Z,1749676394.356 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.376736
2025-06-11T21:13:14.474Z,1749676394.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.503961 s,
deltaX: -0.300000 m,
approachRate: -0.595285 m/s,
rangeRepo size: 4
2025-06-11T21:13:14.476Z,1749676394.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.277695 m,
bearing: 260.739008 deg,
lat: 36.906685 deg,
lon: -122.115716 deg,
deltaT: 0.503961 s,
deltaX: -0.297452 m,
approachRate: -0.590228 m/s,
posRepo size: 4
2025-06-11T21:13:14.477Z,1749676394.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.28 m.
2025-06-11T21:13:14.479Z,1749676394.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.277695 m,
nav range: 14.220852 m,
bearing: 260.861593 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.052673 deg/s,
cmd heading: 268.962495 deg,
new cmd heading: 268.880763 deg.
2025-06-11T21:13:14.481Z,1749676394.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692854 target range: 14.277695 and range: 14.40 m.
2025-06-11T21:13:14.604Z,1749676394.604 [DAT](INFO): DAT read: Rx Time:21:13:15.9273
2025-06-11T21:13:14.605Z,1749676394.605 [DAT](INFO): Rx dataTimestamp_ set to:1749676394.604494
2025-06-11T21:13:14.607Z,1749676394.607 [DAT](INFO): DAT read: Bearing 350.0, 11.3 (Local)
2025-06-11T21:13:14.608Z,1749676394.608 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.0, 11.3 (Local)
2025-06-11T21:13:14.612Z,1749676394.612 [DAT](INFO): DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4
2025-06-11T21:13:14.633Z,1749676394.633 [DAT](INFO): DAT read: 21:13:15.9273 LVL= 22128, 25633, 13938, 29155, AGC= 53, IDX= 503, 0.11,-1.751,-3.066,-1.466,-2.122, PHS= 0.459,-0.897, 0.653, RAW= 156.6, -3.0, CAL= 160.0, -11.3, ROT= 350.0, 11.3
2025-06-11T21:13:14.634Z,1749676394.634 [DAT](INFO): got valid direction response:
21:13:15.9273 LVL= 22128, 25633, 13938, 29155, AGC= 53, IDX= 503, 0.11,-1.751,-3.066,-1.466,-2.122, PHS= 0.459,-0.897, 0.653, RAW= 156.6, -3.0, CAL= 160.0, -11.3, ROT= 350.0, 11.3
2025-06-11T21:13:14.634Z,1749676394.634 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-11T21:13:14.635Z,1749676394.635 [DAT](INFO): direction in FSK: [0.965717,-0.170282,-0.195946]
2025-06-11T21:13:14.636Z,1749676394.636 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:14.640Z,1749676394.640 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.661446
2025-06-11T21:13:14.845Z,1749676394.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.300000 m,
deltaT: 0.506860 s,
deltaX: -0.099999 m,
approachRate: -0.197292 m/s,
rangeRepo size: 4
2025-06-11T21:13:14.847Z,1749676394.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.178464 m,
bearing: 261.196970 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 0.506860 s,
deltaX: -0.099231 m,
approachRate: -0.195775 m/s,
posRepo size: 4
2025-06-11T21:13:14.857Z,1749676394.857 [DAT](INFO): DAT read: Rx Time:21:13:16.4271
2025-06-11T21:13:14.859Z,1749676394.859 [DAT](INFO): Rx dataTimestamp_ set to:1749676394.857547
2025-06-11T21:13:14.861Z,1749676394.861 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.882362
2025-06-11T21:13:14.868Z,1749676394.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.18 m.
2025-06-11T21:13:14.893Z,1749676394.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.178464 m,
nav range: 14.035809 m,
bearing: 261.184089 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.052673 deg/s,
cmd heading: 268.880751 deg,
new cmd heading: 268.822052 deg.
2025-06-11T21:13:14.901Z,1749676394.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691830 target range: 14.178464 and range: 14.30 m.
2025-06-11T21:13:15.107Z,1749676395.107 [DAT](INFO): DAT read: Bearing 349.6, 10.7 (Local)
2025-06-11T21:13:15.107Z,1749676395.107 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.6, 10.7 (Local)
2025-06-11T21:13:15.110Z,1749676395.110 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4
2025-06-11T21:13:15.125Z,1749676395.125 [DAT](INFO): DAT read: 21:13:16.4271 LVL= 22608, 23841, 13522, 26691, AGC= 53, IDX= 501,-0.34, 1.387, 0.080, 1.691, 1.041, PHS= 0.434,-0.914, 0.647, RAW= 157.3, -2.3, CAL= 160.4, -10.7, ROT= 349.6, 10.7
2025-06-11T21:13:15.127Z,1749676395.127 [DAT](INFO): got valid direction response:
21:13:16.4271 LVL= 22608, 23841, 13522, 26691, AGC= 53, IDX= 501,-0.34, 1.387, 0.080, 1.691, 1.041, PHS= 0.434,-0.914, 0.647, RAW= 157.3, -2.3, CAL= 160.4, -10.7, ROT= 349.6, 10.7
2025-06-11T21:13:15.127Z,1749676395.127 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-11T21:13:15.145Z,1749676395.145 [DAT](INFO): direction in FSK: [0.966470,-0.177380,-0.185667]
2025-06-11T21:13:15.145Z,1749676395.145 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:15.153Z,1749676395.153 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.174713
2025-06-11T21:13:15.362Z,1749676395.362 [DAT](INFO): DAT read: Rx Time:21:13:16.9270
2025-06-11T21:13:15.365Z,1749676395.365 [DAT](INFO): Rx dataTimestamp_ set to:1749676395.362951
2025-06-11T21:13:15.369Z,1749676395.369 [DAT](INFO): DAT read: Bearing 349.9, 11.0 (Local)
2025-06-11T21:13:15.370Z,1749676395.370 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.9, 11.0 (Local)
2025-06-11T21:13:15.378Z,1749676395.378 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.398674
2025-06-11T21:13:15.431Z,1749676395.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.500238 s,
deltaX: -0.300000 m,
approachRate: -0.599715 m/s,
rangeRepo size: 4
2025-06-11T21:13:15.438Z,1749676395.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.881014 m,
bearing: 260.757084 deg,
lat: 36.906685 deg,
lon: -122.115716 deg,
deltaT: 0.500238 s,
deltaX: -0.297450 m,
approachRate: -0.594617 m/s,
posRepo size: 4
2025-06-11T21:13:15.438Z,1749676395.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.88 m.
2025-06-11T21:13:15.453Z,1749676395.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.881014 m,
nav range: 13.775702 m,
bearing: 260.831411 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.052673 deg/s,
cmd heading: 268.822039 deg,
new cmd heading: 268.729419 deg.
2025-06-11T21:13:15.454Z,1749676395.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690213 target range: 13.881014 and range: 14.00 m.
2025-06-11T21:13:15.610Z,1749676395.610 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4
2025-06-11T21:13:15.615Z,1749676395.615 [DAT](INFO): DAT read: 21:13:16.9270 LVL= 22512, 25969, 16370, 30035, AGC= 54, IDX= 500, 0.03,-2.316, 2.640,-2.023,-2.681, PHS= 0.453,-0.915, 0.655, RAW= 156.8, -2.6, CAL= 160.1, -11.0, ROT= 349.9, 11.0
2025-06-11T21:13:15.617Z,1749676395.617 [DAT](INFO): got valid direction response:
21:13:16.9270 LVL= 22512, 25969, 16370, 30035, AGC= 54, IDX= 500, 0.03,-2.316, 2.640,-2.023,-2.681, PHS= 0.453,-0.915, 0.655, RAW= 156.8, -2.6, CAL= 160.1, -11.0, ROT= 349.9, 11.0
2025-06-11T21:13:15.617Z,1749676395.617 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-11T21:13:15.618Z,1749676395.618 [DAT](INFO): direction in FSK: [0.966415,-0.172145,-0.190809]
2025-06-11T21:13:15.618Z,1749676395.618 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:15.622Z,1749676395.622 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.643929
2025-06-11T21:13:15.816Z,1749676395.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.503581 s,
deltaX: -0.200000 m,
approachRate: -0.397155 m/s,
rangeRepo size: 4
2025-06-11T21:13:15.818Z,1749676395.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.682642 m,
bearing: 261.097799 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 0.503581 s,
deltaX: -0.198372 m,
approachRate: -0.393923 m/s,
posRepo size: 4
2025-06-11T21:13:15.819Z,1749676395.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:13:15.822Z,1749676395.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.682642 m,
nav range: 13.569838 m,
bearing: 261.095264 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.052673 deg/s,
cmd heading: 268.729422 deg,
new cmd heading: 268.671218 deg.
2025-06-11T21:13:15.823Z,1749676395.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689198 target range: 13.682642 and range: 13.80 m.
2025-06-11T21:13:15.865Z,1749676395.865 [DAT](INFO): DAT read: Rx Time:21:13:17.4268
2025-06-11T21:13:15.867Z,1749676395.867 [DAT](INFO): Rx dataTimestamp_ set to:1749676395.865504
2025-06-11T21:13:15.870Z,1749676395.870 [DAT](INFO): DAT read: Bearing 349.9, 10.9 (Local)
2025-06-11T21:13:15.872Z,1749676395.872 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.9, 10.9 (Local)
2025-06-11T21:13:15.881Z,1749676395.881 [DAT](INFO): DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4
2025-06-11T21:13:15.892Z,1749676395.892 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-06-11T21:13:15.905Z,1749676395.905 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.926128
2025-06-11T21:13:16.118Z,1749676396.118 [DAT](INFO): DAT read: 21:13:17.4268 LVL= 19872, 24673, 14306, 28659, AGC= 53, IDX= 497, 0.45, 2.422, 1.111, 2.715, 2.064, PHS= 0.446,-0.906, 0.647, RAW= 156.9, -2.6, CAL= 160.1, -10.9, ROT= 349.9, 10.9
2025-06-11T21:13:16.119Z,1749676396.119 [DAT](INFO): got valid direction response:
21:13:17.4268 LVL= 19872, 24673, 14306, 28659, AGC= 53, IDX= 497, 0.45, 2.422, 1.111, 2.715, 2.064, PHS= 0.446,-0.906, 0.647, RAW= 156.9, -2.6, CAL= 160.1, -10.9, ROT= 349.9, 10.9
2025-06-11T21:13:16.120Z,1749676396.120 [DAT](INFO): #Rx 92: Read direction message, but no range.
2025-06-11T21:13:16.122Z,1749676396.122 [DAT](INFO): direction in FSK: [0.966741,-0.172203,-0.189095]
2025-06-11T21:13:16.131Z,1749676396.131 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.153091
2025-06-11T21:13:16.249Z,1749676396.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 0.257191 s,
deltaX: -0.300000 m,
approachRate: -1.166449 m/s,
rangeRepo size: 4
2025-06-11T21:13:16.251Z,1749676396.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.385193 m,
bearing: 261.107740 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 0.257191 s,
deltaX: -0.297449 m,
approachRate: -1.156530 m/s,
posRepo size: 4
2025-06-11T21:13:16.252Z,1749676396.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.39 m.
2025-06-11T21:13:16.255Z,1749676396.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.385193 m,
nav range: 13.360090 m,
bearing: 261.112346 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.052673 deg/s,
cmd heading: 268.671228 deg,
new cmd heading: 268.600254 deg.
2025-06-11T21:13:16.260Z,1749676396.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687959 target range: 13.385193 and range: 13.50 m.
2025-06-11T21:13:16.371Z,1749676396.371 [DAT](INFO): DAT read: Rx Time:21:13:17.9267
2025-06-11T21:13:16.374Z,1749676396.374 [DAT](INFO): Rx dataTimestamp_ set to:1749676396.372546
2025-06-11T21:13:16.379Z,1749676396.379 [DAT](INFO): DAT read: Bearing 349.8, 10.6 (Local)
2025-06-11T21:13:16.381Z,1749676396.381 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.8, 10.6 (Local)
2025-06-11T21:13:16.417Z,1749676396.417 [DAT](INFO): DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4
2025-06-11T21:13:16.426Z,1749676396.426 [DAT](INFO): DAT read: 21:13:17.9267 LVL= 22512, 21617, 15010, 26339, AGC= 53, IDX= 497,-0.14, 2.876, 1.548,-3.104, 2.525, PHS= 0.440,-0.930, 0.651, RAW= 157.1, -2.2, CAL= 160.2, -10.6, ROT= 349.8, 10.6
2025-06-11T21:13:16.427Z,1749676396.427 [DAT](INFO): got valid direction response:
21:13:17.9267 LVL= 22512, 21617, 15010, 26339, AGC= 53, IDX= 497,-0.14, 2.876, 1.548,-3.104, 2.525, PHS= 0.440,-0.930, 0.651, RAW= 157.1, -2.2, CAL= 160.2, -10.6, ROT= 349.8, 10.6
2025-06-11T21:13:16.428Z,1749676396.428 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-11T21:13:16.429Z,1749676396.429 [DAT](INFO): direction in FSK: [0.967401,-0.174063,-0.183951]
2025-06-11T21:13:16.429Z,1749676396.429 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:16.438Z,1749676396.438 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.459473
2025-06-11T21:13:16.617Z,1749676396.617 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.638924
2025-06-11T21:13:16.664Z,1749676396.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.400000 m,
deltaT: 0.507042 s,
deltaX: -0.100000 m,
approachRate: -0.197223 m/s,
rangeRepo size: 4
2025-06-11T21:13:16.666Z,1749676396.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.286043 m,
bearing: 260.956310 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 0.507042 s,
deltaX: -0.099150 m,
approachRate: -0.195545 m/s,
posRepo size: 4
2025-06-11T21:13:16.667Z,1749676396.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.29 m.
2025-06-11T21:13:16.674Z,1749676396.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.286043 m,
nav range: 13.152425 m,
bearing: 261.155484 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.052673 deg/s,
cmd heading: 268.600249 deg,
new cmd heading: 268.535302 deg.
2025-06-11T21:13:16.675Z,1749676396.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686825 target range: 13.286043 and range: 13.40 m.
2025-06-11T21:13:16.879Z,1749676396.879 [DAT](INFO): DAT read: Rx Time:21:13:18.4264
2025-06-11T21:13:16.881Z,1749676396.881 [DAT](INFO): Rx dataTimestamp_ set to:1749676396.880047
2025-06-11T21:13:16.887Z,1749676396.887 [DAT](INFO): DAT read: Bearing 350.2, 11.0 (Local)
2025-06-11T21:13:16.888Z,1749676396.888 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.2, 11.0 (Local)
2025-06-11T21:13:16.895Z,1749676396.895 [DAT](INFO): DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4
2025-06-11T21:13:16.906Z,1749676396.906 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-06-11T21:13:16.909Z,1749676396.909 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.930946
2025-06-11T21:13:17.018Z,1749676397.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:17.021Z,1749676397.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.900000 m,
deltaT: 0.507501 s,
deltaX: -0.500000 m,
approachRate: -0.985220 m/s,
rangeRepo size: 4
2025-06-11T21:13:17.025Z,1749676397.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.29 m.
2025-06-11T21:13:17.066Z,1749676397.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.286043 m,
nav range: 12.965478 m,
bearing: 261.191468 deg,
approach rate: -0.518384 m/s,
LOS rate: 0.101219 deg/s,
cmd heading: 268.535308 deg,
new cmd heading: 268.644816 deg.
2025-06-11T21:13:17.067Z,1749676397.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688736 target range: 13.286043 and range: 12.90 m.
2025-06-11T21:13:17.131Z,1749676397.131 [DAT](INFO): DAT read: 21:13:18.4264 LVL= 20592, 25377, 15666, 29299, AGC= 53, IDX= 510, 0.15, 2.681, 1.355, 2.965, 2.313, PHS= 0.456,-0.911, 0.649, RAW= 156.5, -2.7, CAL= 159.8, -11.0, ROT= 350.2, 11.0
2025-06-11T21:13:17.133Z,1749676397.133 [DAT](INFO): got valid direction response:
21:13:18.4264 LVL= 20592, 25377, 15666, 29299, AGC= 53, IDX= 510, 0.15, 2.681, 1.355, 2.965, 2.313, PHS= 0.456,-0.911, 0.649, RAW= 156.5, -2.7, CAL= 159.8, -11.0, ROT= 350.2, 11.0
2025-06-11T21:13:17.134Z,1749676397.134 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-06-11T21:13:17.135Z,1749676397.135 [DAT](INFO): direction in FSK: [0.967303,-0.167082,-0.190809]
2025-06-11T21:13:17.160Z,1749676397.160 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.182247
2025-06-11T21:13:17.382Z,1749676397.382 [DAT](INFO): DAT read: Rx Time:21:13:18.9263
2025-06-11T21:13:17.387Z,1749676397.387 [DAT](INFO): Rx dataTimestamp_ set to:1749676397.383037
2025-06-11T21:13:17.401Z,1749676397.401 [DAT](INFO): DAT read: Bearing 350.0, 10.8 (Local)
2025-06-11T21:13:17.403Z,1749676397.403 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.0, 10.8 (Local)
2025-06-11T21:13:17.432Z,1749676397.432 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4
2025-06-11T21:13:17.446Z,1749676397.446 [DAT](INFO): DAT read: 21:13:18.9263 LVL= 18960, 25617, 13810, 28339, AGC= 52, IDX= 509,-0.50, 1.315,-0.001, 1.605, 0.959, PHS= 0.444,-0.914, 0.643, RAW= 156.7, -2.4, CAL= 160.0, -10.8, ROT= 350.0, 10.8
2025-06-11T21:13:17.447Z,1749676397.447 [DAT](INFO): got valid direction response:
21:13:18.9263 LVL= 18960, 25617, 13810, 28339, AGC= 52, IDX= 509,-0.50, 1.315,-0.001, 1.605, 0.959, PHS= 0.444,-0.914, 0.643, RAW= 156.7, -2.4, CAL= 160.0, -10.8, ROT= 350.0, 10.8
2025-06-11T21:13:17.447Z,1749676397.447 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-11T21:13:17.456Z,1749676397.456 [DAT](INFO): direction in FSK: [0.967364,-0.170572,-0.187381]
2025-06-11T21:13:17.457Z,1749676397.457 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:17.476Z,1749676397.476 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.498356
2025-06-11T21:13:17.563Z,1749676397.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 0.502990 s,
deltaX: -0.099999 m,
approachRate: -0.198810 m/s,
rangeRepo size: 4
2025-06-11T21:13:17.569Z,1749676397.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.691032 m,
bearing: 261.034692 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 1.010491 s,
deltaX: -0.595011 m,
approachRate: -0.588833 m/s,
posRepo size: 4
2025-06-11T21:13:17.570Z,1749676397.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:13:17.579Z,1749676397.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.691032 m,
nav range: 12.697983 m,
bearing: 261.112212 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101219 deg/s,
cmd heading: 268.644809 deg,
new cmd heading: 268.809499 deg.
2025-06-11T21:13:17.589Z,1749676397.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691611 target range: 12.691032 and range: 12.80 m.
2025-06-11T21:13:17.629Z,1749676397.629 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.651138
2025-06-11T21:13:17.887Z,1749676397.887 [DAT](INFO): DAT read: Rx Time:21:13:19.4260
2025-06-11T21:13:17.889Z,1749676397.889 [DAT](INFO): Rx dataTimestamp_ set to:1749676397.888137
2025-06-11T21:13:17.894Z,1749676397.894 [DAT](INFO): DAT read: Bearing 350.3, 11.0 (Local)
2025-06-11T21:13:17.895Z,1749676397.895 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.3, 11.0 (Local)
2025-06-11T21:13:17.921Z,1749676397.921 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4
2025-06-11T21:13:17.935Z,1749676397.935 [DAT](INFO): DAT read: 21:13:19.4260 LVL= 20592, 23169, 15154, 27059, AGC= 52, IDX= 506,-0.15,-0.023,-1.340, 0.256,-0.387, PHS= 0.452,-0.905, 0.641, RAW= 156.4, -2.6, CAL= 159.7, -11.0, ROT= 350.3, 11.0
2025-06-11T21:13:17.941Z,1749676397.941 [DAT](INFO): got valid direction response:
21:13:19.4260 LVL= 20592, 23169, 15154, 27059, AGC= 52, IDX= 506,-0.15,-0.023,-1.340, 0.256,-0.387, PHS= 0.452,-0.905, 0.641, RAW= 156.4, -2.6, CAL= 159.7, -11.0, ROT= 350.3, 11.0
2025-06-11T21:13:17.941Z,1749676397.941 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-11T21:13:17.942Z,1749676397.942 [DAT](INFO): direction in FSK: [0.967593,-0.165394,-0.190809]
2025-06-11T21:13:17.942Z,1749676397.942 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:17.958Z,1749676397.958 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.980137
2025-06-11T21:13:18.015Z,1749676398.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.505100 s,
deltaX: -0.300000 m,
approachRate: -0.593942 m/s,
rangeRepo size: 4
2025-06-11T21:13:18.041Z,1749676398.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.393473 m,
bearing: 261.291717 deg,
lat: 36.906686 deg,
lon: -122.115715 deg,
deltaT: 0.505100 s,
deltaX: -0.297560 m,
approachRate: -0.589111 m/s,
posRepo size: 4
2025-06-11T21:13:18.042Z,1749676398.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.39 m.
2025-06-11T21:13:18.049Z,1749676398.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.393473 m,
nav range: 12.397049 m,
bearing: 261.243667 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101219 deg/s,
cmd heading: 268.809499 deg,
new cmd heading: 268.946743 deg.
2025-06-11T21:13:18.050Z,1749676398.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694006 target range: 12.393473 and range: 12.50 m.
2025-06-11T21:13:18.134Z,1749676398.134 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.156090
2025-06-11T21:13:18.330Z,1749676398.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.39 m.
2025-06-11T21:13:18.333Z,1749676398.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.393473 m,
nav range: 12.217489 m,
bearing: 261.287460 deg,
approach rate: -0.568873 m/s,
LOS rate: 0.140783 deg/s,
cmd heading: 268.946731 deg,
new cmd heading: 269.080041 deg.
2025-06-11T21:13:18.334Z,1749676398.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696332 target range: 12.393473 and range: 12.50 m.
2025-06-11T21:13:18.391Z,1749676398.391 [DAT](INFO): DAT read: Rx Time:21:13:19.9259
2025-06-11T21:13:18.394Z,1749676398.394 [DAT](INFO): Rx dataTimestamp_ set to:1749676398.392172
2025-06-11T21:13:18.399Z,1749676398.399 [DAT](INFO): DAT read: Bearing 350.8, 11.3 (Local)
2025-06-11T21:13:18.403Z,1749676398.403 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.8, 11.3 (Local)
2025-06-11T21:13:18.445Z,1749676398.445 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4
2025-06-11T21:13:18.455Z,1749676398.455 [DAT](INFO): DAT read: 21:13:19.9259 LVL= 18928, 24753, 15010, 29235, AGC= 52, IDX= 505, 0.05, 2.789, 1.452, 3.046, 2.402, PHS= 0.475,-0.903, 0.641, RAW= 155.6, -2.9, CAL= 159.2, -11.3, ROT= 350.8, 11.3
2025-06-11T21:13:18.461Z,1749676398.461 [DAT](INFO): got valid direction response:
21:13:19.9259 LVL= 18928, 24753, 15010, 29235, AGC= 52, IDX= 505, 0.05, 2.789, 1.452, 3.046, 2.402, PHS= 0.475,-0.903, 0.641, RAW= 155.6, -2.9, CAL= 159.2, -11.3, ROT= 350.8, 11.3
2025-06-11T21:13:18.462Z,1749676398.462 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-11T21:13:18.463Z,1749676398.463 [DAT](INFO): direction in FSK: [0.968000,-0.156782,-0.195946]
2025-06-11T21:13:18.468Z,1749676398.468 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:18.478Z,1749676398.478 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.499638
2025-06-11T21:13:18.637Z,1749676398.637 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.658779
2025-06-11T21:13:18.766Z,1749676398.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.504035 s,
deltaX: -0.200000 m,
approachRate: -0.396797 m/s,
rangeRepo size: 4
2025-06-11T21:13:18.768Z,1749676398.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.195112 m,
bearing: 261.731517 deg,
lat: 36.906686 deg,
lon: -122.115715 deg,
deltaT: 0.504035 s,
deltaX: -0.198360 m,
approachRate: -0.393545 m/s,
posRepo size: 4
2025-06-11T21:13:18.769Z,1749676398.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-11T21:13:18.771Z,1749676398.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.195112 m,
nav range: 11.994730 m,
bearing: 261.448280 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.140783 deg/s,
cmd heading: 269.080029 deg,
new cmd heading: 269.263763 deg.
2025-06-11T21:13:18.772Z,1749676398.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699539 target range: 12.195112 and range: 12.30 m.
2025-06-11T21:13:18.893Z,1749676398.893 [DAT](INFO): DAT read: Rx Time:21:13:20.4257
2025-06-11T21:13:18.895Z,1749676398.895 [DAT](INFO): Rx dataTimestamp_ set to:1749676398.894143
2025-06-11T21:13:18.900Z,1749676398.900 [DAT](INFO): DAT read: Bearing 351.0, 11.4 (Local)
2025-06-11T21:13:18.901Z,1749676398.901 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.0, 11.4 (Local)
2025-06-11T21:13:18.908Z,1749676398.908 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4
2025-06-11T21:13:18.925Z,1749676398.925 [DAT](INFO): DAT read: 21:13:20.4257 LVL= 19440, 27377, 14930, 31987, AGC= 52, IDX= 502, 0.25, 2.388, 1.031, 2.641, 1.991, PHS= 0.485,-0.913, 0.648, RAW= 155.4, -3.0, CAL= 159.0, -11.4, ROT= 351.0, 11.4
2025-06-11T21:13:18.927Z,1749676398.927 [DAT](INFO): got valid direction response:
21:13:20.4257 LVL= 19440, 27377, 14930, 31987, AGC= 52, IDX= 502, 0.25, 2.388, 1.031, 2.641, 1.991, PHS= 0.485,-0.913, 0.648, RAW= 155.4, -3.0, CAL= 159.0, -11.4, ROT= 351.0, 11.4
2025-06-11T21:13:18.927Z,1749676398.927 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-11T21:13:18.937Z,1749676398.937 [DAT](INFO): direction in FSK: [0.968202,-0.153348,-0.197657]
2025-06-11T21:13:18.937Z,1749676398.937 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:18.949Z,1749676398.949 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.971310
2025-06-11T21:13:19.141Z,1749676399.141 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.162857
2025-06-11T21:13:19.188Z,1749676399.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.501971 s,
deltaX: -0.300000 m,
approachRate: -0.597644 m/s,
rangeRepo size: 4
2025-06-11T21:13:19.190Z,1749676399.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.897670 m,
bearing: 261.908079 deg,
lat: 36.906686 deg,
lon: -122.115715 deg,
deltaT: 0.501971 s,
deltaX: -0.297442 m,
approachRate: -0.592549 m/s,
posRepo size: 4
2025-06-11T21:13:19.191Z,1749676399.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-06-11T21:13:19.194Z,1749676399.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.897670 m,
nav range: 11.788010 m,
bearing: 261.629298 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.140783 deg/s,
cmd heading: 269.263761 deg,
new cmd heading: 269.440323 deg.
2025-06-11T21:13:19.195Z,1749676399.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702621 target range: 11.897670 and range: 12.00 m.
2025-06-11T21:13:19.400Z,1749676399.400 [DAT](INFO): DAT read: Rx Time:21:13:20.9257
2025-06-11T21:13:19.403Z,1749676399.403 [DAT](INFO): Rx dataTimestamp_ set to:1749676399.401130
2025-06-11T21:13:19.413Z,1749676399.413 [DAT](INFO): DAT read: Bearing 351.0, 11.2 (Local)
2025-06-11T21:13:19.414Z,1749676399.414 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.0, 11.2 (Local)
2025-06-11T21:13:19.428Z,1749676399.428 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4
2025-06-11T21:13:19.443Z,1749676399.443 [DAT](INFO): DAT read: 21:13:20.9257 LVL= 19728, 27329, 14418, 30515, AGC= 52, IDX= 502,-0.45, 1.951, 0.613, 2.204, 1.565, PHS= 0.473,-0.905, 0.636, RAW= 155.5, -2.8, CAL= 159.0, -11.2, ROT= 351.0, 11.2
2025-06-11T21:13:19.457Z,1749676399.457 [DAT](INFO): got valid direction response:
21:13:20.9257 LVL= 19728, 27329, 14418, 30515, AGC= 52, IDX= 502,-0.45, 1.951, 0.613, 2.204, 1.565, PHS= 0.473,-0.905, 0.636, RAW= 155.5, -2.8, CAL= 159.0, -11.2, ROT= 351.0, 11.2
2025-06-11T21:13:19.457Z,1749676399.457 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-06-11T21:13:19.458Z,1749676399.458 [DAT](INFO): direction in FSK: [0.968878,-0.153455,-0.194234]
2025-06-11T21:13:19.458Z,1749676399.458 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:19.466Z,1749676399.466 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.488003
2025-06-11T21:13:19.627Z,1749676399.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.506987 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:19.629Z,1749676399.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.897670 m,
bearing: 261.889210 deg,
lat: 36.906686 deg,
lon: -122.115715 deg,
deltaT: 0.506987 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:13:19.630Z,1749676399.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-06-11T21:13:19.633Z,1749676399.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.897670 m,
nav range: 11.553494 m,
bearing: 261.768834 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.140783 deg/s,
cmd heading: 269.440335 deg,
new cmd heading: 269.627685 deg.
2025-06-11T21:13:19.634Z,1749676399.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705891 target range: 11.897670 and range: 12.00 m.
2025-06-11T21:13:19.645Z,1749676399.645 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.666824
2025-06-11T21:13:19.901Z,1749676399.901 [DAT](INFO): DAT read: Rx Time:21:13:21.4254
2025-06-11T21:13:19.902Z,1749676399.902 [DAT](INFO): Rx dataTimestamp_ set to:1749676399.901493
2025-06-11T21:13:19.907Z,1749676399.907 [DAT](INFO): DAT read: Bearing 351.0, 11.2 (Local)
2025-06-11T21:13:19.909Z,1749676399.909 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.0, 11.2 (Local)
2025-06-11T21:13:19.912Z,1749676399.912 [DAT](INFO): DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4
2025-06-11T21:13:19.919Z,1749676399.919 [DAT](INFO): DAT read: 21:13:21.4254 LVL= 21184, 23969, 15042, 27635, AGC= 52, IDX= 499,-0.16, 0.176,-1.180, 0.434,-0.214, PHS= 0.478,-0.920, 0.644, RAW= 155.6, -2.8, CAL= 159.0, -11.2, ROT= 351.0, 11.2
2025-06-11T21:13:19.921Z,1749676399.921 [DAT](INFO): got valid direction response:
21:13:21.4254 LVL= 21184, 23969, 15042, 27635, AGC= 52, IDX= 499,-0.16, 0.176,-1.180, 0.434,-0.214, PHS= 0.478,-0.920, 0.644, RAW= 155.6, -2.8, CAL= 159.0, -11.2, ROT= 351.0, 11.2
2025-06-11T21:13:19.921Z,1749676399.921 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-11T21:13:19.923Z,1749676399.923 [DAT](INFO): direction in FSK: [0.968878,-0.153455,-0.194234]
2025-06-11T21:13:19.923Z,1749676399.923 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:19.943Z,1749676399.943 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.964802
2025-06-11T21:13:19.987Z,1749676399.987 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:13:20.066Z,1749676400.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.500363 s,
deltaX: -0.400000 m,
approachRate: -0.799419 m/s,
rangeRepo size: 4
2025-06-11T21:13:20.084Z,1749676400.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.500996 m,
bearing: 261.893826 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 0.500363 s,
deltaX: -0.396674 m,
approachRate: -0.792773 m/s,
posRepo size: 4
2025-06-11T21:13:20.085Z,1749676400.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-11T21:13:20.088Z,1749676400.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.500996 m,
nav range: 11.385264 m,
bearing: 261.945779 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.140783 deg/s,
cmd heading: 269.627673 deg,
new cmd heading: 269.813052 deg.
2025-06-11T21:13:20.089Z,1749676400.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709126 target range: 11.500996 and range: 11.60 m.
2025-06-11T21:13:20.150Z,1749676400.150 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.171272
2025-06-11T21:13:20.407Z,1749676400.407 [DAT](INFO): DAT read: Rx Time:21:13:21.9253
2025-06-11T21:13:20.410Z,1749676400.410 [DAT](INFO): Rx dataTimestamp_ set to:1749676400.408219
2025-06-11T21:13:20.421Z,1749676400.421 [DAT](INFO): DAT read: Bearing 351.5, 11.3 (Local)
2025-06-11T21:13:20.422Z,1749676400.422 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.5, 11.3 (Local)
2025-06-11T21:13:20.465Z,1749676400.465 [DAT](INFO): DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4
2025-06-11T21:13:20.478Z,1749676400.478 [DAT](INFO): DAT read: 21:13:21.9253 LVL= 21488, 26017, 15554, 29939, AGC= 52, IDX= 498, 0.02, 2.630, 1.255, 2.867, 2.223, PHS= 0.495,-0.921, 0.641, RAW= 154.9, -2.9, CAL= 158.5, -11.3, ROT= 351.5, 11.3
2025-06-11T21:13:20.479Z,1749676400.479 [DAT](INFO): got valid direction response:
21:13:21.9253 LVL= 21488, 26017, 15554, 29939, AGC= 52, IDX= 498, 0.02, 2.630, 1.255, 2.867, 2.223, PHS= 0.495,-0.921, 0.641, RAW= 154.9, -2.9, CAL= 158.5, -11.3, ROT= 351.5, 11.3
2025-06-11T21:13:20.479Z,1749676400.479 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-11T21:13:20.485Z,1749676400.485 [DAT](INFO): direction in FSK: [0.969843,-0.144944,-0.195946]
2025-06-11T21:13:20.485Z,1749676400.485 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:20.509Z,1749676400.509 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.530651
2025-06-11T21:13:20.605Z,1749676400.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.506726 s,
deltaX: -0.200001 m,
approachRate: -0.394692 m/s,
rangeRepo size: 4
2025-06-11T21:13:20.607Z,1749676400.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.302702 m,
bearing: 262.433831 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 0.506726 s,
deltaX: -0.198294 m,
approachRate: -0.391323 m/s,
posRepo size: 4
2025-06-11T21:13:20.607Z,1749676400.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.30 m.
2025-06-11T21:13:20.614Z,1749676400.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.302702 m,
nav range: 11.156332 m,
bearing: 262.314262 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.140783 deg/s,
cmd heading: 269.813045 deg,
new cmd heading: 270.038736 deg.
2025-06-11T21:13:20.615Z,1749676400.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713065 target range: 11.302702 and range: 11.40 m.
2025-06-11T21:13:20.653Z,1749676400.653 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.674805
2025-06-11T21:13:20.910Z,1749676400.910 [DAT](INFO): DAT read: Rx Time:21:13:22.4251
2025-06-11T21:13:20.910Z,1749676400.910 [DAT](INFO): Rx dataTimestamp_ set to:1749676400.909746
2025-06-11T21:13:20.912Z,1749676400.912 [DAT](INFO): DAT read: Bearing 351.9, 11.4 (Local)
2025-06-11T21:13:20.913Z,1749676400.913 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.9, 11.4 (Local)
2025-06-11T21:13:20.916Z,1749676400.916 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4
2025-06-11T21:13:20.923Z,1749676400.923 [DAT](INFO): DAT read: 21:13:22.4251 LVL= 17904, 24641, 14962, 28003, AGC= 51, IDX= 495, 0.26, 1.774, 0.405, 1.998, 1.364, PHS= 0.498,-0.912, 0.631, RAW= 154.4, -3.0, CAL= 158.1, -11.4, ROT= 351.9, 11.4
2025-06-11T21:13:20.937Z,1749676400.937 [DAT](INFO): got valid direction response:
21:13:22.4251 LVL= 17904, 24641, 14962, 28003, AGC= 51, IDX= 495, 0.26, 1.774, 0.405, 1.998, 1.364, PHS= 0.498,-0.912, 0.631, RAW= 154.4, -3.0, CAL= 158.1, -11.4, ROT= 351.9, 11.4
2025-06-11T21:13:20.937Z,1749676400.937 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-11T21:13:20.938Z,1749676400.938 [DAT](INFO): direction in FSK: [0.970492,-0.138121,-0.197657]
2025-06-11T21:13:20.939Z,1749676400.939 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:20.954Z,1749676400.954 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.976337
2025-06-11T21:13:21.077Z,1749676401.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.501527 s,
deltaX: -0.299999 m,
approachRate: -0.598172 m/s,
rangeRepo size: 4
2025-06-11T21:13:21.079Z,1749676401.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.005284 m,
bearing: 263.010273 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 0.501527 s,
deltaX: -0.297418 m,
approachRate: -0.593024 m/s,
posRepo size: 4
2025-06-11T21:13:21.084Z,1749676401.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.01 m.
2025-06-11T21:13:21.094Z,1749676401.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.005284 m,
nav range: 10.894474 m,
bearing: 262.577612 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.140783 deg/s,
cmd heading: 270.038742 deg,
new cmd heading: 270.239969 deg.
2025-06-11T21:13:21.095Z,1749676401.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716577 target range: 11.005284 and range: 11.10 m.
2025-06-11T21:13:21.158Z,1749676401.158 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.179718
2025-06-11T21:13:21.414Z,1749676401.414 [DAT](INFO): DAT read: Rx Time:21:13:22.9250
2025-06-11T21:13:21.415Z,1749676401.415 [DAT](INFO): Rx dataTimestamp_ set to:1749676401.414364
2025-06-11T21:13:21.419Z,1749676401.419 [DAT](INFO): DAT read: Bearing 351.8, 11.1 (Local)
2025-06-11T21:13:21.421Z,1749676401.421 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.8, 11.1 (Local)
2025-06-11T21:13:21.435Z,1749676401.435 [DAT](INFO): DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4
2025-06-11T21:13:21.500Z,1749676401.500 [DAT](INFO): DAT read: 21:13:22.9250 LVL= 18656, 27505, 16882, 31683, AGC= 51, IDX= 510,-0.33, 0.218,-1.135, 0.448,-0.175, PHS= 0.481,-0.913, 0.620, RAW= 154.7, -2.6, CAL= 158.2, -11.1, ROT= 351.8, 11.1
2025-06-11T21:13:21.501Z,1749676401.501 [DAT](INFO): got valid direction response:
21:13:22.9250 LVL= 18656, 27505, 16882, 31683, AGC= 51, IDX= 510,-0.33, 0.218,-1.135, 0.448,-0.175, PHS= 0.481,-0.913, 0.620, RAW= 154.7, -2.6, CAL= 158.2, -11.1, ROT= 351.8, 11.1
2025-06-11T21:13:21.502Z,1749676401.502 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-11T21:13:21.503Z,1749676401.503 [DAT](INFO): direction in FSK: [0.971260,-0.139961,-0.192522]
2025-06-11T21:13:21.503Z,1749676401.503 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:21.519Z,1749676401.519 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.540833
2025-06-11T21:13:21.604Z,1749676401.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.800000 m,
deltaT: 0.504618 s,
deltaX: -0.300000 m,
approachRate: -0.594509 m/s,
rangeRepo size: 4
2025-06-11T21:13:21.606Z,1749676401.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.707844 m,
bearing: 262.882791 deg,
lat: 36.906686 deg,
lon: -122.115716 deg,
deltaT: 0.504618 s,
deltaX: -0.297441 m,
approachRate: -0.589437 m/s,
posRepo size: 4
2025-06-11T21:13:21.607Z,1749676401.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-11T21:13:21.614Z,1749676401.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.707844 m,
nav range: 10.639078 m,
bearing: 262.777143 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.140783 deg/s,
cmd heading: 270.239959 deg,
new cmd heading: 270.462426 deg.
2025-06-11T21:13:21.614Z,1749676401.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720460 target range: 10.707844 and range: 10.80 m.
2025-06-11T21:13:21.662Z,1749676401.662 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.683456
2025-06-11T21:13:21.915Z,1749676401.915 [DAT](INFO): DAT read: Rx Time:21:13:23.4247
2025-06-11T21:13:21.915Z,1749676401.915 [DAT](INFO): Rx dataTimestamp_ set to:1749676401.914705
2025-06-11T21:13:21.917Z,1749676401.917 [DAT](INFO): DAT read: Bearing 352.5, 11.0 (Local)
2025-06-11T21:13:21.918Z,1749676401.918 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.5, 11.0 (Local)
2025-06-11T21:13:21.921Z,1749676401.921 [DAT](INFO): DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4
2025-06-11T21:13:21.933Z,1749676401.933 [DAT](INFO): DAT read: 21:13:23.4247 LVL= 20000, 25537, 17378, 28275, AGC= 50, IDX= 507,-0.04,-0.743,-2.093,-0.537,-1.140, PHS= 0.485,-0.906, 0.600, RAW= 153.9, -2.5, CAL= 157.5, -11.0, ROT= 352.5, 11.0
2025-06-11T21:13:21.934Z,1749676401.934 [DAT](INFO): got valid direction response:
21:13:23.4247 LVL= 20000, 25537, 17378, 28275, AGC= 50, IDX= 507,-0.04,-0.743,-2.093,-0.537,-1.140, PHS= 0.485,-0.906, 0.600, RAW= 153.9, -2.5, CAL= 157.5, -11.0, ROT= 352.5, 11.0
2025-06-11T21:13:21.934Z,1749676401.934 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-11T21:13:21.935Z,1749676401.935 [DAT](INFO): direction in FSK: [0.973229,-0.128128,-0.190809]
2025-06-11T21:13:21.940Z,1749676401.940 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:21.943Z,1749676401.943 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.965302
2025-06-11T21:13:22.013Z,1749676402.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.400000 m,
deltaT: 0.500341 s,
deltaX: -0.400001 m,
approachRate: -0.799456 m/s,
rangeRepo size: 4
2025-06-11T21:13:22.015Z,1749676402.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.311308 m,
bearing: 263.778459 deg,
lat: 36.906687 deg,
lon: -122.115716 deg,
deltaT: 0.500341 s,
deltaX: -0.396536 m,
approachRate: -0.792531 m/s,
posRepo size: 4
2025-06-11T21:13:22.024Z,1749676402.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.31 m.
2025-06-11T21:13:22.027Z,1749676402.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.311308 m,
nav range: 10.422493 m,
bearing: 263.061384 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.140783 deg/s,
cmd heading: 270.462432 deg,
new cmd heading: 270.633447 deg.
2025-06-11T21:13:22.032Z,1749676402.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723445 target range: 10.311308 and range: 10.40 m.
2025-06-11T21:13:22.165Z,1749676402.165 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.186890
2025-06-11T21:13:22.323Z,1749676402.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:22.346Z,1749676402.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.31 m.
2025-06-11T21:13:22.367Z,1749676402.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.311308 m,
nav range: 10.259612 m,
bearing: 263.196968 deg,
approach rate: -0.482054 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 270.633460 deg,
new cmd heading: 271.046661 deg.
2025-06-11T21:13:22.380Z,1749676402.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730657 target range: 10.311308 and range: 10.40 m.
2025-06-11T21:13:22.418Z,1749676402.418 [DAT](INFO): DAT read: Rx Time:21:13:23.9247
2025-06-11T21:13:22.418Z,1749676402.418 [DAT](INFO): Rx dataTimestamp_ set to:1749676402.418123
2025-06-11T21:13:22.420Z,1749676402.420 [DAT](INFO): DAT read: Bearing 352.6, 11.2 (Local)
2025-06-11T21:13:22.420Z,1749676402.420 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.6, 11.2 (Local)
2025-06-11T21:13:22.422Z,1749676402.422 [DAT](INFO): DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4
2025-06-11T21:13:22.440Z,1749676402.440 [DAT](INFO): DAT read: 21:13:23.9247 LVL= 18384, 25201, 15826, 30003, AGC= 51, IDX= 506, 0.20, 2.375, 0.977, 2.578, 1.955, PHS= 0.509,-0.931, 0.620, RAW= 153.7, -2.7, CAL= 157.4, -11.2, ROT= 352.6, 11.2
2025-06-11T21:13:22.493Z,1749676402.493 [DAT](INFO): got valid direction response:
21:13:23.9247 LVL= 18384, 25201, 15826, 30003, AGC= 51, IDX= 506, 0.20, 2.375, 0.977, 2.578, 1.955, PHS= 0.509,-0.931, 0.620, RAW= 153.7, -2.7, CAL= 157.4, -11.2, ROT= 352.6, 11.2
2025-06-11T21:13:22.494Z,1749676402.494 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-11T21:13:22.508Z,1749676402.508 [DAT](INFO): direction in FSK: [0.972785,-0.126342,-0.194234]
2025-06-11T21:13:22.508Z,1749676402.508 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:22.538Z,1749676402.538 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.559711
2025-06-11T21:13:22.669Z,1749676402.669 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.690823
2025-06-11T21:13:22.921Z,1749676402.921 [DAT](INFO): DAT read: Rx Time:21:13:24.4244
2025-06-11T21:13:22.922Z,1749676402.922 [DAT](INFO): Rx dataTimestamp_ set to:1749676402.921693
2025-06-11T21:13:22.924Z,1749676402.924 [DAT](INFO): DAT read: Bearing 353.0, 10.7 (Local)
2025-06-11T21:13:22.924Z,1749676402.924 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.0, 10.7 (Local)
2025-06-11T21:13:22.927Z,1749676402.927 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4
2025-06-11T21:13:22.934Z,1749676402.934 [DAT](INFO): DAT read: 21:13:24.4244 LVL= 19136, 28049, 16802, 32755, AGC= 50, IDX= 504,-0.30,-0.730,-2.088,-0.538,-1.126, PHS= 0.484,-0.915, 0.585, RAW= 153.5, -2.1, CAL= 157.0, -10.7, ROT= 353.0, 10.7
2025-06-11T21:13:22.935Z,1749676402.935 [DAT](INFO): got valid direction response:
21:13:24.4244 LVL= 19136, 28049, 16802, 32755, AGC= 50, IDX= 504,-0.30,-0.730,-2.088,-0.538,-1.126, PHS= 0.484,-0.915, 0.585, RAW= 153.5, -2.1, CAL= 157.0, -10.7, ROT= 353.0, 10.7
2025-06-11T21:13:22.946Z,1749676402.946 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-11T21:13:22.958Z,1749676402.958 [DAT](INFO): direction in FSK: [0.975289,-0.119750,-0.185667]
2025-06-11T21:13:22.958Z,1749676402.958 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:22.970Z,1749676402.970 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.992275
2025-06-11T21:13:22.985Z,1749676402.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 1.006988 s,
deltaX: -0.500000 m,
approachRate: -0.496530 m/s,
rangeRepo size: 4
2025-06-11T21:13:22.987Z,1749676402.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.815584 m,
bearing: 264.430069 deg,
lat: 36.906687 deg,
lon: -122.115716 deg,
deltaT: 1.006988 s,
deltaX: -0.495724 m,
approachRate: -0.492284 m/s,
posRepo size: 4
2025-06-11T21:13:22.987Z,1749676402.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.82 m.
2025-06-11T21:13:22.992Z,1749676402.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-06-11T21:13:22.992Z,1749676402.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-11T21:13:22.995Z,1749676402.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 9.940434 m,
bearing: 263.737719 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 271.046659 deg,
new cmd heading: 271.816668 deg.
2025-06-11T21:13:22.000Z,1749676403.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744096 target range: 9.815584 and range: 9.90 m.
2025-06-11T21:13:23.173Z,1749676403.173 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.194828
2025-06-11T21:13:23.319Z,1749676403.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:23.326Z,1749676403.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 9.756750 m,
bearing: 263.891580 deg,
approach rate: -0.535560 m/s,
LOS rate: 0.457052 deg/s,
cmd heading: 271.816667 deg,
new cmd heading: 272.286931 deg.
2025-06-11T21:13:23.327Z,1749676403.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752304 target range: 9.815584 and range: 9.90 m.
2025-06-11T21:13:23.429Z,1749676403.429 [DAT](INFO): DAT read: Rx Time:21:13:24.9243
2025-06-11T21:13:23.431Z,1749676403.431 [DAT](INFO): Rx dataTimestamp_ set to:1749676403.430011
2025-06-11T21:13:23.438Z,1749676403.438 [DAT](INFO): DAT read: Bearing 353.5, 11.0 (Local)
2025-06-11T21:13:23.439Z,1749676403.439 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.5, 11.0 (Local)
2025-06-11T21:13:23.466Z,1749676403.466 [DAT](INFO): DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4
2025-06-11T21:13:23.500Z,1749676403.500 [DAT](INFO): DAT read: 21:13:24.9243 LVL= 21232, 25889, 16802, 29075, AGC= 51, IDX= 503, 0.06, 2.709, 1.300, 2.884, 2.283, PHS= 0.513,-0.936, 0.598, RAW= 152.8, -2.4, CAL= 156.5, -11.0, ROT= 353.5, 11.0
2025-06-11T21:13:23.502Z,1749676403.502 [DAT](INFO): got valid direction response:
21:13:24.9243 LVL= 21232, 25889, 16802, 29075, AGC= 51, IDX= 503, 0.06, 2.709, 1.300, 2.884, 2.283, PHS= 0.513,-0.936, 0.598, RAW= 152.8, -2.4, CAL= 156.5, -11.0, ROT= 353.5, 11.0
2025-06-11T21:13:23.503Z,1749676403.503 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-11T21:13:23.509Z,1749676403.509 [DAT](INFO): direction in FSK: [0.975317,-0.111123,-0.190809]
2025-06-11T21:13:23.509Z,1749676403.509 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:23.521Z,1749676403.521 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.543385
2025-06-11T21:13:23.677Z,1749676403.677 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.698811
2025-06-11T21:13:23.755Z,1749676403.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.800000 m,
deltaT: 0.508318 s,
deltaX: -0.099999 m,
approachRate: -0.196726 m/s,
rangeRepo size: 4
2025-06-11T21:13:23.766Z,1749676403.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.716437 m,
bearing: 265.149973 deg,
lat: 36.906688 deg,
lon: -122.115716 deg,
deltaT: 0.508318 s,
deltaX: -0.099147 m,
approachRate: -0.195049 m/s,
posRepo size: 4
2025-06-11T21:13:23.767Z,1749676403.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.72 m. 9.82 m.
2025-06-11T21:13:23.774Z,1749676403.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 9.564023 m,
bearing: 264.020012 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 272.286939 deg,
new cmd heading: 272.819802 deg.
2025-06-11T21:13:23.775Z,1749676403.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761604 target range: 9.815584 and range: 9.80 m.
2025-06-11T21:13:23.931Z,1749676403.931 [DAT](INFO): DAT read: Rx Time:21:13:25.4241
2025-06-11T21:13:23.932Z,1749676403.932 [DAT](INFO): Rx dataTimestamp_ set to:1749676403.931230
2025-06-11T21:13:23.934Z,1749676403.934 [DAT](INFO): DAT read: Bearing 353.5, 10.5 (Local)
2025-06-11T21:13:23.934Z,1749676403.934 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.5, 10.5 (Local)
2025-06-11T21:13:23.936Z,1749676403.936 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4
2025-06-11T21:13:23.941Z,1749676403.941 [DAT](INFO): DAT read: 21:13:25.4241 LVL= 21040, 22177, 16786, 26739, AGC= 50, IDX= 501,-0.42,-0.108,-1.504, 0.073,-0.514, PHS= 0.494,-0.943, 0.585, RAW= 153.0, -1.9, CAL= 156.5, -10.5, ROT= 353.5, 10.5
2025-06-11T21:13:23.942Z,1749676403.942 [DAT](INFO): got valid direction response:
21:13:25.4241 LVL= 21040, 22177, 16786, 26739, AGC= 50, IDX= 501,-0.42,-0.108,-1.504, 0.073,-0.514, PHS= 0.494,-0.943, 0.585, RAW= 153.0, -1.9, CAL= 156.5, -10.5, ROT= 353.5, 10.5
2025-06-11T21:13:23.943Z,1749676403.943 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-11T21:13:23.946Z,1749676403.946 [DAT](INFO): direction in FSK: [0.976934,-0.111308,-0.182236]
2025-06-11T21:13:23.946Z,1749676403.946 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:23.958Z,1749676403.958 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.980335
2025-06-11T21:13:24.181Z,1749676404.181 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.202953
2025-06-11T21:13:24.226Z,1749676404.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.501219 s,
deltaX: -0.300000 m,
approachRate: -0.598541 m/s,
rangeRepo size: 4
2025-06-11T21:13:24.228Z,1749676404.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.418975 m,
bearing: 265.239156 deg,
lat: 36.906688 deg,
lon: -122.115716 deg,
deltaT: 1.009537 s,
deltaX: -0.396609 m,
approachRate: -0.392863 m/s,
posRepo size: 4
2025-06-11T21:13:24.229Z,1749676404.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.42 m. 9.82 m.
2025-06-11T21:13:24.236Z,1749676404.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 9.351068 m,
bearing: 264.165005 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 272.819803 deg,
new cmd heading: 273.395883 deg.
2025-06-11T21:13:24.237Z,1749676404.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.771658 target range: 9.815584 and range: 9.50 m.
2025-06-11T21:13:24.433Z,1749676404.433 [DAT](INFO): DAT read: Rx Time:21:13:25.9240
2025-06-11T21:13:24.434Z,1749676404.434 [DAT](INFO): Rx dataTimestamp_ set to:1749676404.433569
2025-06-11T21:13:24.437Z,1749676404.437 [DAT](INFO): DAT read: Bearing 353.9, 10.6 (Local)
2025-06-11T21:13:24.437Z,1749676404.437 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.9, 10.6 (Local)
2025-06-11T21:13:24.477Z,1749676404.477 [DAT](INFO): DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4
2025-06-11T21:13:24.548Z,1749676404.548 [DAT](INFO): DAT read: 21:13:25.9240 LVL= 19088, 24289, 15954, 28979, AGC= 50, IDX= 500, 0.06, 2.669, 1.258, 2.835, 2.250, PHS= 0.507,-0.945, 0.583, RAW= 152.5, -2.0, CAL= 156.1, -10.6, ROT= 353.9, 10.6
2025-06-11T21:13:24.549Z,1749676404.549 [DAT](INFO): got valid direction response:
21:13:25.9240 LVL= 19088, 24289, 15954, 28979, AGC= 50, IDX= 500, 0.06, 2.669, 1.258, 2.835, 2.250, PHS= 0.507,-0.945, 0.583, RAW= 152.5, -2.0, CAL= 156.1, -10.6, ROT= 353.9, 10.6
2025-06-11T21:13:24.550Z,1749676404.550 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-11T21:13:24.551Z,1749676404.551 [DAT](INFO): direction in FSK: [0.977370,-0.104451,-0.183951]
2025-06-11T21:13:24.551Z,1749676404.551 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:24.563Z,1749676404.563 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.584778
2025-06-11T21:13:24.675Z,1749676404.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 0.502339 s,
deltaX: -0.200000 m,
approachRate: -0.398137 m/s,
rangeRepo size: 4
2025-06-11T21:13:24.682Z,1749676404.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.220681 m,
bearing: 266.069450 deg,
lat: 36.906689 deg,
lon: -122.115716 deg,
deltaT: 1.511876 s,
deltaX: -0.594903 m,
approachRate: -0.393487 m/s,
posRepo size: 4
2025-06-11T21:13:24.683Z,1749676404.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 9.82 m.
2025-06-11T21:13:24.685Z,1749676404.685 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.706882
2025-06-11T21:13:24.690Z,1749676404.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 9.153376 m,
bearing: 264.261088 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 273.395889 deg,
new cmd heading: 273.944855 deg.
2025-06-11T21:13:24.691Z,1749676404.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781240 target range: 9.815584 and range: 9.30 m.
2025-06-11T21:13:24.886Z,1749676404.886 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:13:24.938Z,1749676404.938 [DAT](INFO): DAT read: Rx Time:21:13:26.4239
2025-06-11T21:13:24.938Z,1749676404.938 [DAT](INFO): Rx dataTimestamp_ set to:1749676404.937748
2025-06-11T21:13:24.939Z,1749676404.939 [DAT](INFO): DAT read: Bearing 353.7, 10.3 (Local)
2025-06-11T21:13:24.940Z,1749676404.940 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.7, 10.3 (Local)
2025-06-11T21:13:24.942Z,1749676404.942 [DAT](INFO): DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4
2025-06-11T21:13:24.947Z,1749676404.947 [DAT](INFO): DAT read: 21:13:26.4239 LVL= 19392, 26065, 16370, 29571, AGC= 50, IDX= 498,-0.25,-0.602,-1.983,-0.426,-0.998, PHS= 0.484,-0.938, 0.569, RAW= 152.9, -1.6, CAL= 156.3, -10.3, ROT= 353.7, 10.3
2025-06-11T21:13:24.948Z,1749676404.948 [DAT](INFO): got valid direction response:
21:13:26.4239 LVL= 19392, 26065, 16370, 29571, AGC= 50, IDX= 498,-0.25,-0.602,-1.983,-0.426,-0.998, PHS= 0.484,-0.938, 0.569, RAW= 152.9, -1.6, CAL= 156.3, -10.3, ROT= 353.7, 10.3
2025-06-11T21:13:24.948Z,1749676404.948 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-11T21:13:24.949Z,1749676404.949 [DAT](INFO): direction in FSK: [0.977943,-0.107966,-0.178802]
2025-06-11T21:13:24.950Z,1749676404.950 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:24.957Z,1749676404.957 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.979271
2025-06-11T21:13:25.058Z,1749676405.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.504179 s,
deltaX: -0.100000 m,
approachRate: -0.198343 m/s,
rangeRepo size: 4
2025-06-11T21:13:25.069Z,1749676405.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.121470 m,
bearing: 266.117913 deg,
lat: 36.906689 deg,
lon: -122.115716 deg,
deltaT: 2.016055 s,
deltaX: -0.694114 m,
approachRate: -0.344293 m/s,
posRepo size: 4
2025-06-11T21:13:25.070Z,1749676405.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.12 m. 9.82 m.
2025-06-11T21:13:25.076Z,1749676405.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 8.984479 m,
bearing: 264.341697 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 273.944845 deg,
new cmd heading: 274.413693 deg.
2025-06-11T21:13:25.077Z,1749676405.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789423 target range: 9.815584 and range: 9.20 m.
2025-06-11T21:13:25.189Z,1749676405.189 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.211369
2025-06-11T21:13:25.429Z,1749676405.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:25.431Z,1749676405.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:25.443Z,1749676405.443 [DAT](INFO): DAT read: Rx Time:21:13:26.9238
2025-06-11T21:13:25.443Z,1749676405.443 [DAT](INFO): Rx dataTimestamp_ set to:1749676405.442996
2025-06-11T21:13:25.445Z,1749676405.445 [DAT](INFO): DAT read: Bearing 353.7, 10.3 (Local)
2025-06-11T21:13:25.445Z,1749676405.445 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.7, 10.3 (Local)
2025-06-11T21:13:25.447Z,1749676405.447 [DAT](INFO): DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4
2025-06-11T21:13:25.452Z,1749676405.452 [DAT](INFO): DAT read: 21:13:26.9238 LVL= 19904, 26209, 16498, 31011, AGC= 50, IDX= 496, 0.24, 1.049,-0.368, 1.226, 0.639, PHS= 0.498,-0.960, 0.585, RAW= 152.9, -1.7, CAL= 156.3, -10.3, ROT= 353.7, 10.3
2025-06-11T21:13:25.453Z,1749676405.453 [DAT](INFO): got valid direction response:
21:13:26.9238 LVL= 19904, 26209, 16498, 31011, AGC= 50, IDX= 496, 0.24, 1.049,-0.368, 1.226, 0.639, PHS= 0.498,-0.960, 0.585, RAW= 152.9, -1.7, CAL= 156.3, -10.3, ROT= 353.7, 10.3
2025-06-11T21:13:25.454Z,1749676405.454 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-11T21:13:25.462Z,1749676405.462 [DAT](INFO): direction in FSK: [0.977943,-0.107966,-0.178802]
2025-06-11T21:13:25.463Z,1749676405.463 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:25.466Z,1749676405.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 8.815001 m,
bearing: 264.419426 deg,
approach rate: -0.454539 m/s,
LOS rate: 0.212477 deg/s,
cmd heading: 274.413696 deg,
new cmd heading: 274.651365 deg.
2025-06-11T21:13:25.478Z,1749676405.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793571 target range: 9.815584 and range: 9.20 m.
2025-06-11T21:13:25.509Z,1749676405.509 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.530910
2025-06-11T21:13:25.693Z,1749676405.693 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.715256
2025-06-11T21:13:25.890Z,1749676405.890 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:13:25.909Z,1749676405.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.000000 m,
deltaT: 0.505248 s,
deltaX: -0.200000 m,
approachRate: -0.395845 m/s,
rangeRepo size: 4
2025-06-11T21:13:25.917Z,1749676405.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.923148 m,
bearing: 266.471906 deg,
lat: 36.906690 deg,
lon: -122.115716 deg,
deltaT: 2.521303 s,
deltaX: -0.892436 m,
approachRate: -0.353958 m/s,
posRepo size: 4
2025-06-11T21:13:25.918Z,1749676405.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.92 m. 9.82 m.
2025-06-11T21:13:25.926Z,1749676405.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 8.632188 m,
bearing: 264.469280 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 274.651360 deg,
new cmd heading: 275.226383 deg.
2025-06-11T21:13:25.932Z,1749676405.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803607 target range: 9.815584 and range: 9.00 m.
2025-06-11T21:13:25.945Z,1749676405.945 [DAT](INFO): DAT read: Rx Time:21:13:27.4235
2025-06-11T21:13:25.946Z,1749676405.946 [DAT](INFO): Rx dataTimestamp_ set to:1749676405.945642
2025-06-11T21:13:25.947Z,1749676405.947 [DAT](INFO): DAT read: Bearing 353.1, 9.7 (Local)
2025-06-11T21:13:25.948Z,1749676405.948 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.1, 9.7 (Local)
2025-06-11T21:13:25.950Z,1749676405.950 [DAT](INFO): DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4
2025-06-11T21:13:25.955Z,1749676405.955 [DAT](INFO): DAT read: 21:13:27.4235 LVL= 20784, 26449, 16242, 32243, AGC= 51, IDX= 510,-0.07,-1.786, 3.110,-1.583,-2.160, PHS= 0.462,-0.966, 0.575, RAW= 153.8, -1.0, CAL= 156.9, -9.7, ROT= 353.1, 9.7
2025-06-11T21:13:25.956Z,1749676405.956 [DAT](INFO): got valid direction response:
21:13:27.4235 LVL= 20784, 26449, 16242, 32243, AGC= 51, IDX= 510,-0.07,-1.786, 3.110,-1.583,-2.160, PHS= 0.462,-0.966, 0.575, RAW= 153.8, -1.0, CAL= 156.9, -9.7, ROT= 353.1, 9.7
2025-06-11T21:13:25.956Z,1749676405.956 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-11T21:13:25.957Z,1749676405.957 [DAT](INFO): direction in FSK: [0.978564,-0.118419,-0.168489]
2025-06-11T21:13:25.958Z,1749676405.958 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:25.961Z,1749676405.961 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.983383
2025-06-11T21:13:26.198Z,1749676406.198 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.219368
2025-06-11T21:13:26.276Z,1749676406.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.600000 m,
deltaT: 0.502646 s,
deltaX: -0.400000 m,
approachRate: -0.795788 m/s,
rangeRepo size: 4
2025-06-11T21:13:26.278Z,1749676406.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.526565 m,
bearing: 266.664719 deg,
lat: 36.906690 deg,
lon: -122.115716 deg,
deltaT: 3.023949 s,
deltaX: -1.289020 m,
approachRate: -0.426270 m/s,
posRepo size: 4
2025-06-11T21:13:26.279Z,1749676406.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.53 m. 9.82 m.
2025-06-11T21:13:26.285Z,1749676406.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 8.459519 m,
bearing: 264.502337 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 275.226379 deg,
new cmd heading: 275.678988 deg.
2025-06-11T21:13:26.286Z,1749676406.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811506 target range: 9.815584 and range: 8.60 m.
2025-06-11T21:13:26.450Z,1749676406.450 [DAT](INFO): DAT read: Rx Time:21:13:27.9235
2025-06-11T21:13:26.450Z,1749676406.450 [DAT](INFO): Rx dataTimestamp_ set to:1749676406.449800
2025-06-11T21:13:26.451Z,1749676406.451 [DAT](INFO): DAT read: Bearing 352.8, 9.2 (Local)
2025-06-11T21:13:26.452Z,1749676406.452 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.8, 9.2 (Local)
2025-06-11T21:13:26.454Z,1749676406.454 [DAT](INFO): DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4
2025-06-11T21:13:26.459Z,1749676406.459 [DAT](INFO): DAT read: 21:13:27.9235 LVL= 19184, 27073, 15826, 29843, AGC= 50, IDX= 510,-0.49,-0.732,-2.099,-0.513,-1.083, PHS= 0.438,-0.969, 0.567, RAW= 154.3, -0.5, CAL= 157.2, -9.2, ROT= 352.8, 9.2
2025-06-11T21:13:26.460Z,1749676406.460 [DAT](INFO): got valid direction response:
21:13:27.9235 LVL= 19184, 27073, 15826, 29843, AGC= 50, IDX= 510,-0.49,-0.732,-2.099,-0.513,-1.083, PHS= 0.438,-0.969, 0.567, RAW= 154.3, -0.5, CAL= 157.2, -9.2, ROT= 352.8, 9.2
2025-06-11T21:13:26.460Z,1749676406.460 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-11T21:13:26.461Z,1749676406.461 [DAT](INFO): direction in FSK: [0.979352,-0.123721,-0.159881]
2025-06-11T21:13:26.461Z,1749676406.461 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:26.465Z,1749676406.465 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.487148
2025-06-11T21:13:26.649Z,1749676406.649 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 78.07, 72.65, 74.68
2025-06-11T21:13:26.698Z,1749676406.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.600000 m,
deltaT: 0.504158 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:26.701Z,1749676406.701 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.722878
2025-06-11T21:13:26.705Z,1749676406.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.526565 m,
bearing: 266.765030 deg,
lat: 36.906690 deg,
lon: -122.115716 deg,
deltaT: 3.528107 s,
deltaX: -1.289020 m,
approachRate: -0.365357 m/s,
posRepo size: 4
2025-06-11T21:13:26.706Z,1749676406.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.53 m. 9.82 m.
2025-06-11T21:13:26.712Z,1749676406.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 8.279016 m,
bearing: 264.529325 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 275.678975 deg,
new cmd heading: 276.200871 deg.
2025-06-11T21:13:26.713Z,1749676406.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820615 target range: 9.815584 and range: 8.60 m.
2025-06-11T21:13:26.954Z,1749676406.954 [DAT](INFO): DAT read: Rx Time:21:13:28.4232
2025-06-11T21:13:26.955Z,1749676406.955 [DAT](INFO): Rx dataTimestamp_ set to:1749676406.954787
2025-06-11T21:13:26.957Z,1749676406.957 [DAT](INFO): DAT read: Bearing 352.4, 9.0 (Local)
2025-06-11T21:13:26.957Z,1749676406.957 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.4, 9.0 (Local)
2025-06-11T21:13:26.964Z,1749676406.964 [DAT](INFO): DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4
2025-06-11T21:13:26.971Z,1749676406.971 [DAT](INFO): DAT read: 21:13:28.4232 LVL= 23008, 29665, 16114, 32531, AGC= 51, IDX= 507, 0.07,-0.515,-1.906,-0.276,-0.861, PHS= 0.434,-0.998, 0.582, RAW= 154.9, -0.2, CAL= 157.6, -9.0, ROT= 352.4, 9.0
2025-06-11T21:13:26.972Z,1749676406.972 [DAT](INFO): got valid direction response:
21:13:28.4232 LVL= 23008, 29665, 16114, 32531, AGC= 51, IDX= 507, 0.07,-0.515,-1.906,-0.276,-0.861, PHS= 0.434,-0.998, 0.582, RAW= 154.9, -0.2, CAL= 157.6, -9.0, ROT= 352.4, 9.0
2025-06-11T21:13:26.972Z,1749676406.972 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-11T21:13:26.973Z,1749676406.973 [DAT](INFO): direction in FSK: [0.979012,-0.130628,-0.156434]
2025-06-11T21:13:26.973Z,1749676406.973 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:26.981Z,1749676406.981 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.003143
2025-06-11T21:13:27.107Z,1749676407.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.504987 s,
deltaX: -0.500000 m,
approachRate: -0.990125 m/s,
rangeRepo size: 4
2025-06-11T21:13:27.113Z,1749676407.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.030830 m,
bearing: 266.799878 deg,
lat: 36.906690 deg,
lon: -122.115716 deg,
deltaT: 4.033094 s,
deltaX: -1.784754 m,
approachRate: -0.442527 m/s,
posRepo size: 4
2025-06-11T21:13:27.114Z,1749676407.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.03 m. 9.82 m.
2025-06-11T21:13:27.121Z,1749676407.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 8.106272 m,
bearing: 264.547263 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 276.200884 deg,
new cmd heading: 276.700182 deg.
2025-06-11T21:13:27.122Z,1749676407.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829329 target range: 9.815584 and range: 8.10 m.
2025-06-11T21:13:27.206Z,1749676407.206 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.228130
2025-06-11T21:13:27.450Z,1749676407.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:27.453Z,1749676407.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:27.458Z,1749676407.458 [DAT](INFO): DAT read: Rx Time:21:13:28.9232
2025-06-11T21:13:27.458Z,1749676407.458 [DAT](INFO): Rx dataTimestamp_ set to:1749676407.457700
2025-06-11T21:13:27.459Z,1749676407.459 [DAT](INFO): DAT read: Bearing 351.5, 8.1 (Local)
2025-06-11T21:13:27.460Z,1749676407.460 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.5, 8.1 (Local)
2025-06-11T21:13:27.462Z,1749676407.462 [DAT](INFO): DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4
2025-06-11T21:13:27.474Z,1749676407.474 [DAT](INFO): DAT read: 21:13:28.9232 LVL= 22064, 25905, 16562, 30003, AGC= 51, IDX= 507,-0.23,-0.876,-2.252,-0.598,-1.181, PHS= 0.393,-1.024, 0.580, RAW= 156.1, 0.7, CAL= 158.5, -8.1, ROT= 351.5, 8.1
2025-06-11T21:13:27.475Z,1749676407.475 [DAT](INFO): got valid direction response:
21:13:28.9232 LVL= 22064, 25905, 16562, 30003, AGC= 51, IDX= 507,-0.23,-0.876,-2.252,-0.598,-1.181, PHS= 0.393,-1.024, 0.580, RAW= 156.1, 0.7, CAL= 158.5, -8.1, ROT= 351.5, 8.1
2025-06-11T21:13:27.476Z,1749676407.476 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-11T21:13:27.477Z,1749676407.477 [DAT](INFO): direction in FSK: [0.979149,-0.146335,-0.140901]
2025-06-11T21:13:27.477Z,1749676407.477 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:27.455Z,1749676407.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 7.948316 m,
bearing: 264.555780 deg,
approach rate: -0.455574 m/s,
LOS rate: 0.025055 deg/s,
cmd heading: 276.700170 deg,
new cmd heading: 276.726232 deg.
2025-06-11T21:13:27.495Z,1749676407.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829784 target range: 9.815584 and range: 8.10 m.
2025-06-11T21:13:27.508Z,1749676407.508 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.521000
2025-06-11T21:13:27.709Z,1749676407.709 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.730911
2025-06-11T21:13:27.962Z,1749676407.962 [DAT](INFO): DAT read: Rx Time:21:13:29.4230
2025-06-11T21:13:27.962Z,1749676407.962 [DAT](INFO): Rx dataTimestamp_ set to:1749676407.961717
2025-06-11T21:13:27.963Z,1749676407.963 [DAT](INFO): DAT read: Bearing 350.9, 8.1 (Local)
2025-06-11T21:13:27.964Z,1749676407.964 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.9, 8.1 (Local)
2025-06-11T21:13:27.966Z,1749676407.966 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4
2025-06-11T21:13:27.971Z,1749676407.971 [DAT](INFO): DAT read: 21:13:29.4230 LVL= 24112, 29553, 16370, 32755, AGC= 51, IDX= 504, 0.28,-0.117,-1.502, 0.184,-0.417, PHS= 0.389,-1.038, 0.598, RAW= 156.8, 0.7, CAL= 159.1, -8.1, ROT= 350.9, 8.1
2025-06-11T21:13:27.972Z,1749676407.972 [DAT](INFO): got valid direction response:
21:13:29.4230 LVL= 24112, 29553, 16370, 32755, AGC= 51, IDX= 504, 0.28,-0.117,-1.502, 0.184,-0.417, PHS= 0.389,-1.038, 0.598, RAW= 156.8, 0.7, CAL= 159.1, -8.1, ROT= 350.9, 8.1
2025-06-11T21:13:27.972Z,1749676407.972 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-11T21:13:27.973Z,1749676407.973 [DAT](INFO): direction in FSK: [0.977563,-0.156580,-0.140901]
2025-06-11T21:13:27.973Z,1749676407.973 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:27.981Z,1749676407.981 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.003189
2025-06-11T21:13:27.986Z,1749676407.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 1.006930 s,
deltaX: -0.300000 m,
approachRate: -0.297935 m/s,
rangeRepo size: 4
2025-06-11T21:13:27.992Z,1749676407.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.733383 m,
bearing: 266.131595 deg,
lat: 36.906690 deg,
lon: -122.115716 deg,
deltaT: 5.040024 s,
deltaX: -2.082201 m,
approachRate: -0.413133 m/s,
posRepo size: 4
2025-06-11T21:13:27.993Z,1749676407.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.73 m. 9.82 m.
2025-06-11T21:13:27.000Z,1749676408.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 7.734471 m,
bearing: 264.429369 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 276.726234 deg,
new cmd heading: 277.377636 deg.
2025-06-11T21:13:28.001Z,1749676408.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841153 target range: 9.815584 and range: 7.80 m.
2025-06-11T21:13:28.213Z,1749676408.213 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.234871
2025-06-11T21:13:28.308Z,1749676408.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:28.311Z,1749676408.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 7.591677 m,
bearing: 264.340979 deg,
approach rate: -0.448482 m/s,
LOS rate: -0.282832 deg/s,
cmd heading: 277.377643 deg,
new cmd heading: 277.107489 deg.
2025-06-11T21:13:28.316Z,1749676408.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836438 target range: 9.815584 and range: 7.80 m.
2025-06-11T21:13:28.465Z,1749676408.465 [DAT](INFO): DAT read: Rx Time:21:13:29.9229
2025-06-11T21:13:28.466Z,1749676408.466 [DAT](INFO): Rx dataTimestamp_ set to:1749676408.465600
2025-06-11T21:13:28.467Z,1749676408.467 [DAT](INFO): DAT read: Bearing 350.1, 7.5 (Local)
2025-06-11T21:13:28.468Z,1749676408.468 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.1, 7.5 (Local)
2025-06-11T21:13:28.474Z,1749676408.474 [DAT](INFO): DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4
2025-06-11T21:13:28.479Z,1749676408.479 [DAT](INFO): DAT read: 21:13:29.9229 LVL= 20864, 26417, 14882, 29411, AGC= 50, IDX= 504,-0.02,-0.568,-1.913,-0.232,-0.827, PHS= 0.347,-1.039, 0.592, RAW= 158.0, 1.3, CAL= 159.9, -7.5, ROT= 350.1, 7.5
2025-06-11T21:13:28.480Z,1749676408.480 [DAT](INFO): got valid direction response:
21:13:29.9229 LVL= 20864, 26417, 14882, 29411, AGC= 50, IDX= 504,-0.02,-0.568,-1.913,-0.232,-0.827, PHS= 0.347,-1.039, 0.592, RAW= 158.0, 1.3, CAL= 159.9, -7.5, ROT= 350.1, 7.5
2025-06-11T21:13:28.481Z,1749676408.481 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-11T21:13:28.482Z,1749676408.482 [DAT](INFO): direction in FSK: [0.976682,-0.170458,-0.130526]
2025-06-11T21:13:28.482Z,1749676408.482 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:28.486Z,1749676408.486 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.507763
2025-06-11T21:13:28.704Z,1749676408.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.503883 s,
deltaX: -0.100000 m,
approachRate: -0.198460 m/s,
rangeRepo size: 4
2025-06-11T21:13:28.706Z,1749676408.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.634236 m,
bearing: 266.100265 deg,
lat: 36.906689 deg,
lon: -122.115717 deg,
deltaT: 5.543907 s,
deltaX: -2.181348 m,
approachRate: -0.393468 m/s,
posRepo size: 4
2025-06-11T21:13:28.707Z,1749676408.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.63 m. 9.82 m.
2025-06-11T21:13:28.710Z,1749676408.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 7.415295 m,
bearing: 264.191429 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 277.107496 deg,
new cmd heading: 277.596136 deg.
2025-06-11T21:13:28.711Z,1749676408.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844966 target range: 9.815584 and range: 7.70 m.
2025-06-11T21:13:28.717Z,1749676408.717 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.738888
2025-06-11T21:13:28.969Z,1749676408.969 [DAT](INFO): DAT read: Rx Time:21:13:30.4227
2025-06-11T21:13:28.970Z,1749676408.970 [DAT](INFO): Rx dataTimestamp_ set to:1749676408.969568
2025-06-11T21:13:28.971Z,1749676408.971 [DAT](INFO): DAT read: Bearing 349.0, 7.0 (Local)
2025-06-11T21:13:28.971Z,1749676408.971 [DAT](INFO): Local bearing/azimuth received:
Bearing 349.0, 7.0 (Local)
2025-06-11T21:13:28.974Z,1749676408.974 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4
2025-06-11T21:13:28.979Z,1749676408.979 [DAT](INFO): DAT read: 21:13:30.4227 LVL= 25168, 25073, 15650, 29251, AGC= 52, IDX= 502,-0.39,-2.052, 2.884,-1.670,-2.284, PHS= 0.320,-1.068, 0.611, RAW= 159.3, 1.8, CAL= 161.0, -7.0, ROT= 349.0, 7.0
2025-06-11T21:13:28.980Z,1749676408.980 [DAT](INFO): got valid direction response:
21:13:30.4227 LVL= 25168, 25073, 15650, 29251, AGC= 52, IDX= 502,-0.39,-2.052, 2.884,-1.670,-2.284, PHS= 0.320,-1.068, 0.611, RAW= 159.3, 1.8, CAL= 161.0, -7.0, ROT= 349.0, 7.0
2025-06-11T21:13:28.980Z,1749676408.980 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-06-11T21:13:28.981Z,1749676408.981 [DAT](INFO): direction in FSK: [0.974310,-0.189387,-0.121869]
2025-06-11T21:13:28.981Z,1749676408.981 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:28.985Z,1749676408.985 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.007191
2025-06-11T21:13:29.123Z,1749676409.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.503968 s,
deltaX: -0.300000 m,
approachRate: -0.595275 m/s,
rangeRepo size: 4
2025-06-11T21:13:29.133Z,1749676409.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.336800 m,
bearing: 264.941093 deg,
lat: 36.906689 deg,
lon: -122.115716 deg,
deltaT: 6.047875 s,
deltaX: -2.478784 m,
approachRate: -0.409860 m/s,
posRepo size: 4
2025-06-11T21:13:29.136Z,1749676409.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.34 m. 9.82 m.
2025-06-11T21:13:29.139Z,1749676409.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 7.239430 m,
bearing: 264.035014 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 277.596127 deg,
new cmd heading: 278.108374 deg.
2025-06-11T21:13:29.140Z,1749676409.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853907 target range: 9.815584 and range: 7.40 m.
2025-06-11T21:13:29.221Z,1749676409.221 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.242859
2025-06-11T21:13:29.474Z,1749676409.474 [DAT](INFO): DAT read: Rx Time:21:13:30.9225
2025-06-11T21:13:29.474Z,1749676409.474 [DAT](INFO): Rx dataTimestamp_ set to:1749676409.473780
2025-06-11T21:13:29.475Z,1749676409.475 [DAT](INFO): DAT read: Bearing 348.6, 7.0 (Local)
2025-06-11T21:13:29.476Z,1749676409.476 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.6, 7.0 (Local)
2025-06-11T21:13:29.478Z,1749676409.478 [DAT](INFO): DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4
2025-06-11T21:13:29.484Z,1749676409.484 [DAT](INFO): DAT read: 21:13:30.9225 LVL= 24208, 27745, 16434, 32131, AGC= 51, IDX= 500, 0.12,-0.372,-1.725, 0.029,-0.598, PHS= 0.314,-1.080, 0.624, RAW= 159.8, 1.8, CAL= 161.4, -7.0, ROT= 348.6, 7.0
2025-06-11T21:13:29.485Z,1749676409.485 [DAT](INFO): got valid direction response:
21:13:30.9225 LVL= 24208, 27745, 16434, 32131, AGC= 51, IDX= 500, 0.12,-0.372,-1.725, 0.029,-0.598, PHS= 0.314,-1.080, 0.624, RAW= 159.8, 1.8, CAL= 161.4, -7.0, ROT= 348.6, 7.0
2025-06-11T21:13:29.485Z,1749676409.485 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-11T21:13:29.486Z,1749676409.486 [DAT](INFO): direction in FSK: [0.972964,-0.196184,-0.121869]
2025-06-11T21:13:29.487Z,1749676409.487 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:29.490Z,1749676409.490 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:13:29.490Z,1749676409.490 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:13:29.491Z,1749676409.491 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:29.553Z,1749676409.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.100000 m,
deltaT: 0.504212 s,
deltaX: -0.300000 m,
approachRate: -0.594988 m/s,
rangeRepo size: 4
2025-06-11T21:13:29.563Z,1749676409.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.039362 m,
bearing: 265.273909 deg,
lat: 36.906689 deg,
lon: -122.115716 deg,
deltaT: 6.552087 s,
deltaX: -2.776222 m,
approachRate: -0.423716 m/s,
posRepo size: 4
2025-06-11T21:13:29.571Z,1749676409.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.04 m. 9.82 m.
2025-06-11T21:13:29.586Z,1749676409.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 7.083394 m,
bearing: 263.873518 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 278.108364 deg,
new cmd heading: 278.626385 deg.
2025-06-11T21:13:29.587Z,1749676409.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862948 target range: 9.815584 and range: 7.10 m.
2025-06-11T21:13:29.725Z,1749676409.725 [DAT](INFO): Reached modem response timeout
2025-06-11T21:13:29.725Z,1749676409.725 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:29.725Z,1749676409.725 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:29.978Z,1749676409.978 [DAT](INFO): DAT read: Rx Time:21:13:31.4223
2025-06-11T21:13:29.978Z,1749676409.978 [DAT](INFO): Rx dataTimestamp_ set to:1749676409.977718
2025-06-11T21:13:29.979Z,1749676409.979 [DAT](INFO): DAT read: Bearing 347.7, 6.3 (Local)
2025-06-11T21:13:29.980Z,1749676409.980 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.7, 6.3 (Local)
2025-06-11T21:13:29.982Z,1749676409.982 [DAT](INFO): DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4
2025-06-11T21:13:29.991Z,1749676409.991 [DAT](INFO): DAT read: 21:13:31.4223 LVL= 21168, 27009, 14210, 30755, AGC= 50, IDX= 498,-0.18, 2.160, 0.857, 2.593, 1.981, PHS= 0.266,-1.078, 0.609, RAW= 161.1, 2.6, CAL= 162.3, -6.3, ROT= 347.7, 6.3
2025-06-11T21:13:29.992Z,1749676409.992 [DAT](INFO): got valid direction response:
21:13:31.4223 LVL= 21168, 27009, 14210, 30755, AGC= 50, IDX= 498,-0.18, 2.160, 0.857, 2.593, 1.981, PHS= 0.266,-1.078, 0.609, RAW= 161.1, 2.6, CAL= 162.3, -6.3, ROT= 347.7, 6.3
2025-06-11T21:13:29.993Z,1749676409.993 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:13:29.994Z,1749676409.994 [DAT](INFO): direction in FSK: [0.971145,-0.211744,-0.109734]
2025-06-11T21:13:29.994Z,1749676409.994 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:30.002Z,1749676410.002 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:30.002Z,1749676410.002 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:30.022Z,1749676410.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.503938 s,
deltaX: -0.300000 m,
approachRate: -0.595311 m/s,
rangeRepo size: 4
2025-06-11T21:13:30.028Z,1749676410.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.741932 m,
bearing: 264.283573 deg,
lat: 36.906689 deg,
lon: -122.115716 deg,
deltaT: 7.056025 s,
deltaX: -3.073652 m,
approachRate: -0.435607 m/s,
posRepo size: 4
2025-06-11T21:13:30.029Z,1749676410.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.74 m. 9.82 m.
2025-06-11T21:13:30.040Z,1749676410.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 6.863711 m,
bearing: 263.644068 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 278.626393 deg,
new cmd heading: 279.207946 deg.
2025-06-11T21:13:30.041Z,1749676410.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873098 target range: 9.815584 and range: 6.80 m.
2025-06-11T21:13:30.058Z,1749676410.058 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-11T21:03:29.8Z
2025-06-11T21:13:30.058Z,1749676410.058 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-11T21:13:30.058Z,1749676410.058 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T21:13:30.058Z,1749676410.058 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-11T21:13:30.058Z,1749676410.058 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T21:13:30.058Z,1749676410.058 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-11T21:13:30.229Z,1749676410.229 [DAT](INFO): Reached modem response timeout
2025-06-11T21:13:30.229Z,1749676410.229 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:30.229Z,1749676410.229 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:30.358Z,1749676410.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:30.382Z,1749676410.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:30.418Z,1749676410.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 6.707425 m,
bearing: 263.455651 deg,
approach rate: -0.442353 m/s,
LOS rate: -0.545723 deg/s,
cmd heading: 279.207943 deg,
new cmd heading: 278.629539 deg.
2025-06-11T21:13:30.419Z,1749676410.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863003 target range: 9.815584 and range: 6.80 m.
2025-06-11T21:13:30.427Z,1749676410.427 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-11T21:13:30.427Z,1749676410.427 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-11T21:13:30.427Z,1749676410.427 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-11T21:13:30.427Z,1749676410.427 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T21:13:30.427Z,1749676410.427 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-11T21:13:30.482Z,1749676410.482 [DAT](INFO): DAT read: Rx Time:21:13:31.9223
2025-06-11T21:13:30.483Z,1749676410.483 [DAT](INFO): Rx dataTimestamp_ set to:1749676410.482657
2025-06-11T21:13:30.485Z,1749676410.485 [DAT](INFO): DAT read: Bearing 347.3, 6.4 (Local)
2025-06-11T21:13:30.486Z,1749676410.486 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.3, 6.4 (Local)
2025-06-11T21:13:30.489Z,1749676410.489 [DAT](INFO): DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4
2025-06-11T21:13:30.495Z,1749676410.495 [DAT](INFO): DAT read: 21:13:31.9223 LVL= 21104, 25857, 13938, 29299, AGC= 49, IDX= 497, 0.32,-1.324,-2.624,-0.877,-1.501, PHS= 0.266,-1.076, 0.621, RAW= 161.5, 2.5, CAL= 162.7, -6.4, ROT= 347.3, 6.4
2025-06-11T21:13:30.502Z,1749676410.502 [DAT](INFO): got valid direction response:
21:13:31.9223 LVL= 21104, 25857, 13938, 29299, AGC= 49, IDX= 497, 0.32,-1.324,-2.624,-0.877,-1.501, PHS= 0.266,-1.076, 0.621, RAW= 161.5, 2.5, CAL= 162.7, -6.4, ROT= 347.3, 6.4
2025-06-11T21:13:30.502Z,1749676410.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:13:30.503Z,1749676410.503 [DAT](INFO): direction in FSK: [0.969455,-0.218476,-0.111469]
2025-06-11T21:13:30.504Z,1749676410.504 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:30.507Z,1749676410.507 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:30.507Z,1749676410.507 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:30.733Z,1749676410.733 [DAT](INFO): Reached modem response timeout
2025-06-11T21:13:30.733Z,1749676410.733 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:30.733Z,1749676410.733 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:30.985Z,1749676410.985 [DAT](INFO): DAT read: Rx Time:21:13:32.4220
2025-06-11T21:13:30.986Z,1749676410.986 [DAT](INFO): Rx dataTimestamp_ set to:1749676410.985664
2025-06-11T21:13:30.987Z,1749676410.987 [DAT](INFO): DAT read: Bearing 346.6, 5.8 (Local)
2025-06-11T21:13:30.991Z,1749676410.991 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.6, 5.8 (Local)
2025-06-11T21:13:30.993Z,1749676410.993 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4
2025-06-11T21:13:31.035Z,1749676411.035 [DAT](INFO): DAT read: 21:13:32.4220 LVL= 22304, 26433, 13938, 29795, AGC= 49, IDX= 495,-0.04, 2.279, 0.988, 2.760, 2.133, PHS= 0.233,-1.099, 0.624, RAW= 162.5, 3.1, CAL= 163.4, -5.8, ROT= 346.6, 5.8
2025-06-11T21:13:31.045Z,1749676411.045 [DAT](INFO): got valid direction response:
21:13:32.4220 LVL= 22304, 26433, 13938, 29795, AGC= 49, IDX= 495,-0.04, 2.279, 0.988, 2.760, 2.133, PHS= 0.233,-1.099, 0.624, RAW= 162.5, 3.1, CAL= 163.4, -5.8, ROT= 346.6, 5.8
2025-06-11T21:13:31.045Z,1749676411.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:13:31.046Z,1749676411.046 [DAT](INFO): direction in FSK: [0.967796,-0.230562,-0.101056]
2025-06-11T21:13:31.047Z,1749676411.047 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:31.062Z,1749676411.062 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:31.063Z,1749676411.063 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:31.237Z,1749676411.237 [DAT](INFO): Reached modem response timeout
2025-06-11T21:13:31.237Z,1749676411.237 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:31.238Z,1749676411.238 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:31.247Z,1749676411.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 1.007946 s,
deltaX: -0.500000 m,
approachRate: -0.496058 m/s,
rangeRepo size: 4
2025-06-11T21:13:31.253Z,1749676411.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.246195 m,
bearing: 264.414901 deg,
lat: 36.906689 deg,
lon: -122.115715 deg,
deltaT: 8.063971 s,
deltaX: -3.569389 m,
approachRate: -0.442634 m/s,
posRepo size: 4
2025-06-11T21:13:31.254Z,1749676411.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.25 m. 9.82 m.
2025-06-11T21:13:31.261Z,1749676411.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 6.315599 m,
bearing: 262.972961 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 278.629535 deg,
new cmd heading: 279.695090 deg.
2025-06-11T21:13:31.262Z,1749676411.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881600 target range: 9.815584 and range: 6.30 m.
2025-06-11T21:13:31.489Z,1749676411.489 [DAT](INFO): DAT read: Rx Time:21:13:32.9220
2025-06-11T21:13:31.490Z,1749676411.490 [DAT](INFO): Rx dataTimestamp_ set to:1749676411.489555
2025-06-11T21:13:31.491Z,1749676411.491 [DAT](INFO): DAT read: Bearing 346.1, 5.8 (Local)
2025-06-11T21:13:31.491Z,1749676411.491 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.1, 5.8 (Local)
2025-06-11T21:13:31.494Z,1749676411.494 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4
2025-06-11T21:13:31.498Z,1749676411.498 [DAT](INFO): DAT read: 21:13:32.9220 LVL= 32096, 28769, 17202, 32755, AGC= 50, IDX= 510, 0.50,-1.748,-3.054,-1.242,-1.887, PHS= 0.227,-1.120, 0.641, RAW= 163.0, 3.2, CAL= 163.9, -5.8, ROT= 346.1, 5.8
2025-06-11T21:13:31.499Z,1749676411.499 [DAT](INFO): got valid direction response:
21:13:32.9220 LVL= 32096, 28769, 17202, 32755, AGC= 50, IDX= 510, 0.50,-1.748,-3.054,-1.242,-1.887, PHS= 0.227,-1.120, 0.641, RAW= 163.0, 3.2, CAL= 163.9, -5.8, ROT= 346.1, 5.8
2025-06-11T21:13:31.500Z,1749676411.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:13:31.501Z,1749676411.501 [DAT](INFO): direction in FSK: [0.965747,-0.238998,-0.101056]
2025-06-11T21:13:31.501Z,1749676411.501 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:31.525Z,1749676411.525 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:31.526Z,1749676411.526 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:31.741Z,1749676411.741 [DAT](INFO): Reached modem response timeout
2025-06-11T21:13:31.741Z,1749676411.741 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:31.741Z,1749676411.741 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:31.751Z,1749676411.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 0.503891 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:31.757Z,1749676411.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.246195 m,
bearing: 264.559915 deg,
lat: 36.906689 deg,
lon: -122.115715 deg,
deltaT: 8.567862 s,
deltaX: -3.569389 m,
approachRate: -0.416602 m/s,
posRepo size: 4
2025-06-11T21:13:31.758Z,1749676411.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.25 m. 9.82 m.
2025-06-11T21:13:31.771Z,1749676411.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 6.083287 m,
bearing: 262.762684 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 279.695099 deg,
new cmd heading: 280.311320 deg.
2025-06-11T21:13:31.776Z,1749676411.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892355 target range: 9.815584 and range: 6.30 m.
2025-06-11T21:13:31.994Z,1749676411.994 [DAT](INFO): DAT read: Rx Time:21:13:33.4218
2025-06-11T21:13:31.994Z,1749676411.994 [DAT](INFO): Rx dataTimestamp_ set to:1749676411.993724
2025-06-11T21:13:31.995Z,1749676411.995 [DAT](INFO): DAT read: Bearing 345.6, 5.1 (Local)
2025-06-11T21:13:31.996Z,1749676411.996 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.6, 5.1 (Local)
2025-06-11T21:13:31.998Z,1749676411.998 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4
2025-06-11T21:13:32.003Z,1749676412.003 [DAT](INFO): DAT read: 21:13:33.4218 LVL= 32192, 30801, 17842, 32755, AGC= 51, IDX= 508, 0.01, 2.998, 1.700,-2.753, 2.893, PHS= 0.192,-1.146, 0.634, RAW= 163.8, 4.0, CAL= 164.4, -5.1, ROT= 345.6, 5.1
2025-06-11T21:13:32.004Z,1749676412.004 [DAT](INFO): got valid direction response:
21:13:33.4218 LVL= 32192, 30801, 17842, 32755, AGC= 51, IDX= 508, 0.01, 2.998, 1.700,-2.753, 2.893, PHS= 0.192,-1.146, 0.634, RAW= 163.8, 4.0, CAL= 164.4, -5.1, ROT= 345.6, 5.1
2025-06-11T21:13:32.004Z,1749676412.004 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:13:32.005Z,1749676412.005 [DAT](INFO): direction in FSK: [0.964749,-0.247705,-0.088894]
2025-06-11T21:13:32.005Z,1749676412.005 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:32.009Z,1749676412.009 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:32.009Z,1749676412.009 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:32.051Z,1749676412.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.504169 s,
deltaX: -0.100000 m,
approachRate: -0.198347 m/s,
rangeRepo size: 4
2025-06-11T21:13:32.061Z,1749676412.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.147033 m,
bearing: 263.969458 deg,
lat: 36.906689 deg,
lon: -122.115715 deg,
deltaT: 9.072031 s,
deltaX: -3.668551 m,
approachRate: -0.404380 m/s,
posRepo size: 4
2025-06-11T21:13:32.062Z,1749676412.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.15 m. 9.82 m.
2025-06-11T21:13:32.069Z,1749676412.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 5.940412 m,
bearing: 262.625151 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 280.311319 deg,
new cmd heading: 280.678435 deg.
2025-06-11T21:13:32.070Z,1749676412.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898763 target range: 9.815584 and range: 6.20 m.
2025-06-11T21:13:32.245Z,1749676412.245 [DAT](INFO): Reached modem response timeout
2025-06-11T21:13:32.245Z,1749676412.245 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:13:32.245Z,1749676412.245 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:13:32.414Z,1749676412.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:32.422Z,1749676412.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:32.429Z,1749676412.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 5.774492 m,
bearing: 262.446063 deg,
approach rate: -0.446345 m/s,
LOS rate: -0.495612 deg/s,
cmd heading: 280.678428 deg,
new cmd heading: 280.125745 deg.
2025-06-11T21:13:32.430Z,1749676412.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.889117 target range: 9.815584 and range: 6.20 m.
2025-06-11T21:13:32.498Z,1749676412.498 [DAT](INFO): DAT read: user:817>
2025-06-11T21:13:32.499Z,1749676412.499 [DAT](INFO): DAT read: 50
2025-06-11T21:13:32.499Z,1749676412.499 [DAT](INFO): unknown deviceResponse_: 50
2025-06-11T21:13:32.500Z,1749676412.500 [DAT](INFO): DAT read: Ok
2025-06-11T21:13:32.500Z,1749676412.500 [DAT](INFO): unknown deviceResponse_: Ok
2025-06-11T21:13:32.501Z,1749676412.501 [DAT](INFO): DAT read: user:818>
2025-06-11T21:13:32.502Z,1749676412.502 [DAT](INFO): DAT read: Tx time:21:13:34.3162
2025-06-11T21:13:32.503Z,1749676412.503 [DAT](INFO): Ping request sent.
2025-06-11T21:13:32.503Z,1749676412.503 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:13:32.503Z,1749676412.503 [DAT](INFO): publishing transmit ping time
2025-06-11T21:13:32.504Z,1749676412.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001362
2025-06-11T21:13:32.749Z,1749676412.749 [DAT](INFO): DAT read: TxSync time:21:13:34.3154
2025-06-11T21:13:32.750Z,1749676412.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247038
2025-06-11T21:13:32.863Z,1749676412.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:32.869Z,1749676412.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 5.565735 m,
bearing: 262.282944 deg,
approach rate: -0.474047 m/s,
LOS rate: -0.384305 deg/s,
cmd heading: 280.125756 deg,
new cmd heading: 279.618058 deg.
2025-06-11T21:13:32.870Z,1749676412.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880256 target range: 9.815584 and range: 6.20 m.
2025-06-11T21:13:33.001Z,1749676413.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498102
2025-06-11T21:13:33.253Z,1749676413.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750286
2025-06-11T21:13:33.256Z,1749676413.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:33.259Z,1749676413.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 5.378763 m,
bearing: 262.115179 deg,
approach rate: -0.475158 m/s,
LOS rate: -0.441167 deg/s,
cmd heading: 279.618055 deg,
new cmd heading: 279.097278 deg.
2025-06-11T21:13:33.260Z,1749676413.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871166 target range: 9.815584 and range: 6.20 m.
2025-06-11T21:13:33.505Z,1749676413.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002056
2025-06-11T21:13:33.626Z,1749676413.626 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:13:33.713Z,1749676413.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:33.720Z,1749676413.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 5.169638 m,
bearing: 262.016713 deg,
approach rate: -0.462519 m/s,
LOS rate: -0.226585 deg/s,
cmd heading: 279.097266 deg,
new cmd heading: 278.789921 deg.
2025-06-11T21:13:33.721Z,1749676413.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865802 target range: 9.815584 and range: 6.20 m.
2025-06-11T21:13:33.757Z,1749676413.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254684
2025-06-11T21:13:34.009Z,1749676414.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506147
2025-06-11T21:13:34.048Z,1749676414.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:34.051Z,1749676414.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 4.999683 m,
bearing: 261.930616 deg,
approach rate: -0.500230 m/s,
LOS rate: -0.262023 deg/s,
cmd heading: 278.789908 deg,
new cmd heading: 278.522840 deg.
2025-06-11T21:13:34.052Z,1749676414.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861141 target range: 9.815584 and range: 6.20 m.
2025-06-11T21:13:34.261Z,1749676414.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758082
2025-06-11T21:13:34.420Z,1749676414.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:34.423Z,1749676414.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:34.425Z,1749676414.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 4.821475 m,
bearing: 261.796238 deg,
approach rate: -0.475659 m/s,
LOS rate: -0.371929 deg/s,
cmd heading: 278.522847 deg,
new cmd heading: 278.104820 deg.
2025-06-11T21:13:34.426Z,1749676414.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853845 target range: 9.815584 and range: 6.20 m.
2025-06-11T21:13:34.514Z,1749676414.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011174
2025-06-11T21:13:34.765Z,1749676414.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262121
2025-06-11T21:13:34.868Z,1749676414.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:34.870Z,1749676414.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 4.620446 m,
bearing: 261.656228 deg,
approach rate: -0.456088 m/s,
LOS rate: -0.331469 deg/s,
cmd heading: 278.104812 deg,
new cmd heading: 277.666518 deg.
2025-06-11T21:13:34.871Z,1749676414.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846195 target range: 9.815584 and range: 6.20 m.
2025-06-11T21:13:35.017Z,1749676415.017 [DAT](INFO): DAT read: Rx Time:21:13:36.4516
2025-06-11T21:13:35.018Z,1749676415.018 [DAT](INFO): Rx dataTimestamp_ set to:1749676415.017659
2025-06-11T21:13:35.020Z,1749676415.020 [DAT](INFO): DAT read: Bearing 343.0, 3.8 (Local)
2025-06-11T21:13:35.021Z,1749676415.021 [DAT](INFO): Local bearing/azimuth received:
Bearing 343.0, 3.8 (Local)
2025-06-11T21:13:35.025Z,1749676415.025 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4
2025-06-11T21:13:35.030Z,1749676415.030 [DAT](INFO): DAT read: 21:13:36.4516 LVL= 23792, 22241, 13874, 30963, AGC= 50, IDX= 13,-0.04, 0.877,-0.350, 1.509, 0.867, PHS= 0.098,-1.170, 0.639, RAW= 166.9, 5.4, CAL= 167.0, -3.8, ROT= 343.0, 3.8
2025-06-11T21:13:35.031Z,1749676415.031 [DAT](INFO): got valid direction response:
21:13:36.4516 LVL= 23792, 22241, 13874, 30963, AGC= 50, IDX= 13,-0.04, 0.877,-0.350, 1.509, 0.867, PHS= 0.098,-1.170, 0.639, RAW= 166.9, 5.4, CAL= 167.0, -3.8, ROT= 343.0, 3.8
2025-06-11T21:13:35.056Z,1749676415.056 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:13:35.058Z,1749676415.058 [DAT](INFO): direction in FSK: [0.954202,-0.291729,-0.066274]
2025-06-11T21:13:35.058Z,1749676415.058 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:35.079Z,1749676415.079 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.576333
2025-06-11T21:13:35.234Z,1749676415.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 3.023935 s,
deltaX: -1.400000 m,
approachRate: -0.462973 m/s,
rangeRepo size: 4
2025-06-11T21:13:35.237Z,1749676415.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.758946 m,
bearing: 264.221724 deg,
lat: 36.906689 deg,
lon: -122.115717 deg,
deltaT: 12.095966 s,
deltaX: -5.056638 m,
approachRate: -0.418043 m/s,
posRepo size: 4
2025-06-11T21:13:35.238Z,1749676415.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.76 m. 9.82 m.
2025-06-11T21:13:35.241Z,1749676415.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 4.438314 m,
bearing: 261.507997 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 277.666506 deg,
new cmd heading: 278.119444 deg.
2025-06-11T21:13:35.242Z,1749676415.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854100 target range: 9.815584 and range: 4.80 m.
2025-06-11T21:13:35.269Z,1749676415.269 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.766085
2025-06-11T21:13:35.521Z,1749676415.521 [DAT](INFO): DAT read: Rx Time:21:13:36.9514
2025-06-11T21:13:35.522Z,1749676415.522 [DAT](INFO): Rx dataTimestamp_ set to:1749676415.521631
2025-06-11T21:13:35.523Z,1749676415.523 [DAT](INFO): DAT read: Bearing 342.9, 3.8 (Local)
2025-06-11T21:13:35.524Z,1749676415.524 [DAT](INFO): Local bearing/azimuth received:
Bearing 342.9, 3.8 (Local)
2025-06-11T21:13:35.526Z,1749676415.526 [DAT](INFO): DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4
2025-06-11T21:13:35.531Z,1749676415.531 [DAT](INFO): DAT read: 21:13:36.9514 LVL= 24480, 29153, 13666, 32755, AGC= 46, IDX= 507, 0.32, 1.826, 0.589, 2.466, 1.818, PHS= 0.096,-1.182, 0.645, RAW= 167.0, 5.5, CAL= 167.1, -3.8, ROT= 342.9, 3.8
2025-06-11T21:13:35.532Z,1749676415.532 [DAT](INFO): got valid direction response:
21:13:36.9514 LVL= 24480, 29153, 13666, 32755, AGC= 46, IDX= 507, 0.32, 1.826, 0.589, 2.466, 1.818, PHS= 0.096,-1.182, 0.645, RAW= 167.0, 5.5, CAL= 167.1, -3.8, ROT= 342.9, 3.8
2025-06-11T21:13:35.533Z,1749676415.533 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-11T21:13:35.534Z,1749676415.534 [DAT](INFO): direction in FSK: [0.953692,-0.293394,-0.066274]
2025-06-11T21:13:35.534Z,1749676415.534 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:35.538Z,1749676415.538 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.034971
2025-06-11T21:13:35.704Z,1749676415.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.503972 s,
deltaX: -0.300000 m,
approachRate: -0.595272 m/s,
rangeRepo size: 4
2025-06-11T21:13:35.706Z,1749676415.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.461512 m,
bearing: 264.290828 deg,
lat: 36.906689 deg,
lon: -122.115718 deg,
deltaT: 12.599938 s,
deltaX: -5.354073 m,
approachRate: -0.424928 m/s,
posRepo size: 4
2025-06-11T21:13:35.707Z,1749676415.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.46 m. 9.82 m.
2025-06-11T21:13:35.713Z,1749676415.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 4.220553 m,
bearing: 261.304686 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 278.119456 deg,
new cmd heading: 278.688544 deg.
2025-06-11T21:13:35.714Z,1749676415.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.864033 target range: 9.815584 and range: 4.50 m.
2025-06-11T21:13:35.774Z,1749676415.774 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.270760
2025-06-11T21:13:36.028Z,1749676416.028 [DAT](INFO): DAT read: Rx Time:21:13:37.4512
2025-06-11T21:13:36.029Z,1749676416.029 [DAT](INFO): Rx dataTimestamp_ set to:1749676416.028081
2025-06-11T21:13:36.031Z,1749676416.031 [DAT](INFO): DAT read: Bearing 342.6, 3.6 (Local)
2025-06-11T21:13:36.032Z,1749676416.032 [DAT](INFO): Local bearing/azimuth received:
Bearing 342.6, 3.6 (Local)
2025-06-11T21:13:36.036Z,1749676416.036 [DAT](INFO): DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4
2025-06-11T21:13:36.068Z,1749676416.068 [DAT](INFO): DAT read: 21:13:37.4512 LVL= 23200, 31137, 14706, 32755, AGC= 45, IDX= 505,-0.16,-1.169,-2.383,-0.523,-1.164, PHS= 0.083,-1.173, 0.637, RAW= 167.4, 5.7, CAL= 167.4, -3.6, ROT= 342.6, 3.6
2025-06-11T21:13:36.069Z,1749676416.069 [DAT](INFO): got valid direction response:
21:13:37.4512 LVL= 23200, 31137, 14706, 32755, AGC= 45, IDX= 505,-0.16,-1.169,-2.383,-0.523,-1.164, PHS= 0.083,-1.173, 0.637, RAW= 167.4, 5.7, CAL= 167.4, -3.6, ROT= 342.6, 3.6
2025-06-11T21:13:36.069Z,1749676416.069 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-11T21:13:36.070Z,1749676416.070 [DAT](INFO): direction in FSK: [0.952357,-0.298451,-0.062791]
2025-06-11T21:13:36.071Z,1749676416.071 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:36.082Z,1749676416.082 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.579788
2025-06-11T21:13:36.143Z,1749676416.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.506450 s,
deltaX: -0.300000 m,
approachRate: -0.592359 m/s,
rangeRepo size: 4
2025-06-11T21:13:36.149Z,1749676416.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.164067 m,
bearing: 264.089945 deg,
lat: 36.906689 deg,
lon: -122.115718 deg,
deltaT: 13.106388 s,
deltaX: -5.651517 m,
approachRate: -0.431203 m/s,
posRepo size: 4
2025-06-11T21:13:36.150Z,1749676416.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.16 m. 9.82 m.
2025-06-11T21:13:36.178Z,1749676416.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 4.014160 m,
bearing: 261.075668 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 278.688548 deg,
new cmd heading: 279.230695 deg.
2025-06-11T21:13:36.178Z,1749676416.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873495 target range: 9.815584 and range: 4.20 m.
2025-06-11T21:13:36.277Z,1749676416.277 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.774274
2025-06-11T21:13:36.477Z,1749676416.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:36.480Z,1749676416.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.82 m. 9.82 m.
2025-06-11T21:13:36.482Z,1749676416.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 3.843322 m,
bearing: 260.864289 deg,
approach rate: -0.506928 m/s,
LOS rate: -0.655107 deg/s,
cmd heading: 279.230701 deg,
new cmd heading: 278.568406 deg.
2025-06-11T21:13:36.483Z,1749676416.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861936 target range: 9.815584 and range: 4.20 m.
2025-06-11T21:13:36.530Z,1749676416.530 [DAT](INFO): DAT read: Rx Time:21:13:37.9511
2025-06-11T21:13:36.531Z,1749676416.531 [DAT](INFO): Rx dataTimestamp_ set to:1749676416.530775
2025-06-11T21:13:36.533Z,1749676416.533 [DAT](INFO): DAT read: Bearing 343.1, 3.4 (Local)
2025-06-11T21:13:36.534Z,1749676416.534 [DAT](INFO): Local bearing/azimuth received:
Bearing 343.1, 3.4 (Local)
2025-06-11T21:13:36.538Z,1749676416.538 [DAT](INFO): DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4
2025-06-11T21:13:36.568Z,1749676416.568 [DAT](INFO): DAT read: 21:13:37.9511 LVL= 21872, 29105, 12786, 32611, AGC= 45, IDX= 504, 0.16, 1.702, 0.444, 2.348, 1.704, PHS= 0.087,-1.213, 0.641, RAW= 166.9, 5.9, CAL= 166.9, -3.4, ROT= 343.1, 3.4
2025-06-11T21:13:36.569Z,1749676416.569 [DAT](INFO): got valid direction response:
21:13:37.9511 LVL= 21872, 29105, 12786, 32611, AGC= 45, IDX= 504, 0.16, 1.702, 0.444, 2.348, 1.704, PHS= 0.087,-1.213, 0.641, RAW= 166.9, 5.9, CAL= 166.9, -3.4, ROT= 343.1, 3.4
2025-06-11T21:13:36.570Z,1749676416.570 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-11T21:13:36.571Z,1749676416.571 [DAT](INFO): direction in FSK: [0.955130,-0.290190,-0.059306]
2025-06-11T21:13:36.571Z,1749676416.571 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:36.597Z,1749676416.597 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.093987
2025-06-11T21:13:36.781Z,1749676416.781 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.278327
2025-06-11T21:13:36.973Z,1749676416.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.502694 s,
deltaX: -0.100000 m,
approachRate: -0.198928 m/s,
rangeRepo size: 4
2025-06-11T21:13:36.975Z,1749676416.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.064935 m,
bearing: 264.649723 deg,
lat: 36.906689 deg,
lon: -122.115719 deg,
deltaT: 13.609082 s,
deltaX: -5.750649 m,
approachRate: -0.422560 m/s,
posRepo size: 4
2025-06-11T21:13:36.976Z,1749676416.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.06 m. 9.82 m.
2025-06-11T21:13:36.979Z,1749676416.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 3.617579 m,
bearing: 260.556805 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 278.568418 deg,
new cmd heading: 279.171720 deg.
2025-06-11T21:13:36.980Z,1749676416.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872466 target range: 9.815584 and range: 4.10 m.
2025-06-11T21:13:37.035Z,1749676417.035 [DAT](INFO): DAT read: Rx Time:21:13:38.4509
2025-06-11T21:13:37.035Z,1749676417.035 [DAT](INFO): Rx dataTimestamp_ set to:1749676417.034798
2025-06-11T21:13:37.037Z,1749676417.037 [DAT](INFO): DAT read: Bearing 343.2, 3.1 (Local)
2025-06-11T21:13:37.038Z,1749676417.038 [DAT](INFO): Local bearing/azimuth received:
Bearing 343.2, 3.1 (Local)
2025-06-11T21:13:37.042Z,1749676417.042 [DAT](INFO): DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4
2025-06-11T21:13:37.049Z,1749676417.049 [DAT](INFO): DAT read: 21:13:38.4509 LVL= 22720, 30273, 13282, 32755, AGC= 44, IDX= 502,-0.33,-1.187,-2.430,-0.548,-1.173, PHS= 0.073,-1.210, 0.621, RAW= 166.9, 6.4, CAL= 166.8, -3.1, ROT= 343.2, 3.1
2025-06-11T21:13:37.050Z,1749676417.050 [DAT](INFO): got valid direction response:
21:13:38.4509 LVL= 22720, 30273, 13282, 32755, AGC= 44, IDX= 502,-0.33,-1.187,-2.430,-0.548,-1.173, PHS= 0.073,-1.210, 0.621, RAW= 166.9, 6.4, CAL= 166.8, -3.1, ROT= 343.2, 3.1
2025-06-11T21:13:37.050Z,1749676417.050 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-11T21:13:37.051Z,1749676417.051 [DAT](INFO): direction in FSK: [0.955919,-0.288609,-0.054079]
2025-06-11T21:13:37.072Z,1749676417.072 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:37.096Z,1749676417.096 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.593769
2025-06-11T21:13:37.285Z,1749676417.285 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.782025
2025-06-11T21:13:37.322Z,1749676417.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.800000 m,
deltaT: 0.504023 s,
deltaX: -0.300000 m,
approachRate: -0.595211 m/s,
rangeRepo size: 4
2025-06-11T21:13:37.335Z,1749676417.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.767501 m,
bearing: 264.712109 deg,
lat: 36.906689 deg,
lon: -122.115719 deg,
deltaT: 14.113105 s,
deltaX: -6.048083 m,
approachRate: -0.428544 m/s,
posRepo size: 4
2025-06-11T21:13:37.341Z,1749676417.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.77 m. 9.82 m.
2025-06-11T21:13:37.343Z,1749676417.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 3.472427 m,
bearing: 260.337766 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 279.171715 deg,
new cmd heading: 279.598038 deg.
2025-06-11T21:13:37.352Z,1749676417.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.879906 target range: 9.815584 and range: 3.80 m.
2025-06-11T21:13:37.537Z,1749676417.537 [DAT](INFO): DAT read: Rx Time:21:13:38.9508
2025-06-11T21:13:37.538Z,1749676417.538 [DAT](INFO): Rx dataTimestamp_ set to:1749676417.537659
2025-06-11T21:13:37.539Z,1749676417.539 [DAT](INFO): DAT read: Bearing 343.9, 2.6 (Local)
2025-06-11T21:13:37.540Z,1749676417.540 [DAT](INFO): Local bearing/azimuth received:
Bearing 343.9, 2.6 (Local)
2025-06-11T21:13:37.542Z,1749676417.542 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4
2025-06-11T21:13:37.551Z,1749676417.551 [DAT](INFO): DAT read: 21:13:38.9508 LVL= 21760, 29297, 15666, 32275, AGC= 45, IDX= 500, 0.03,-0.105,-1.398, 0.531,-0.087, PHS= 0.070,-1.263, 0.615, RAW= 166.4, 7.0, CAL= 166.1, -2.6, ROT= 343.9, 2.6
2025-06-11T21:13:37.565Z,1749676417.565 [DAT](INFO): got valid direction response:
21:13:38.9508 LVL= 21760, 29297, 15666, 32275, AGC= 45, IDX= 500, 0.03,-0.105,-1.398, 0.531,-0.087, PHS= 0.070,-1.263, 0.615, RAW= 166.4, 7.0, CAL= 166.1, -2.6, ROT= 343.9, 2.6
2025-06-11T21:13:37.565Z,1749676417.565 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-11T21:13:37.566Z,1749676417.566 [DAT](INFO): direction in FSK: [0.959790,-0.277029,-0.045363]
2025-06-11T21:13:37.567Z,1749676417.567 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:37.578Z,1749676417.578 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.075625
2025-06-11T21:13:37.789Z,1749676417.789 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.286316
2025-06-11T21:13:38.001Z,1749676418.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.600000 m,
deltaT: 0.502861 s,
deltaX: -0.200000 m,
approachRate: -0.397724 m/s,
rangeRepo size: 4
2025-06-11T21:13:38.003Z,1749676418.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.569221 m,
bearing: 265.354726 deg,
lat: 36.906689 deg,
lon: -122.115719 deg,
deltaT: 14.615966 s,
deltaX: -6.246363 m,
approachRate: -0.427366 m/s,
posRepo size: 4
2025-06-11T21:13:38.008Z,1749676418.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.57 m. 9.82 m.
2025-06-11T21:13:38.010Z,1749676418.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 3.159638 m,
bearing: 259.464680 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 279.598028 deg,
new cmd heading: 280.422904 deg.
2025-06-11T21:13:38.011Z,1749676418.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894303 target range: 9.815584 and range: 3.60 m.
2025-06-11T21:13:38.041Z,1749676418.041 [DAT](INFO): DAT read: Rx Time:21:13:39.4505
2025-06-11T21:13:38.042Z,1749676418.042 [DAT](INFO): Rx dataTimestamp_ set to:1749676418.041658
2025-06-11T21:13:38.043Z,1749676418.043 [DAT](INFO): DAT read: Bearing 345.0, 1.6 (Local)
2025-06-11T21:13:38.044Z,1749676418.044 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.0, 1.6 (Local)
2025-06-11T21:13:38.046Z,1749676418.046 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4
2025-06-11T21:13:38.051Z,1749676418.051 [DAT](INFO): DAT read: 21:13:39.4505 LVL= 22848, 28817, 13490, 32755, AGC= 44, IDX= 498,-0.42, 3.084, 1.807,-2.600, 3.125, PHS= 0.048,-1.271, 0.556, RAW= 165.6, 8.2, CAL= 165.0, -1.6, ROT= 345.0, 1.6
2025-06-11T21:13:38.052Z,1749676418.052 [DAT](INFO): got valid direction response:
21:13:39.4505 LVL= 22848, 28817, 13490, 32755, AGC= 44, IDX= 498,-0.42, 3.084, 1.807,-2.600, 3.125, PHS= 0.048,-1.271, 0.556, RAW= 165.6, 8.2, CAL= 165.0, -1.6, ROT= 345.0, 1.6
2025-06-11T21:13:38.053Z,1749676418.053 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-11T21:13:38.054Z,1749676418.054 [DAT](INFO): direction in FSK: [0.965549,-0.258718,-0.027922]
2025-06-11T21:13:38.054Z,1749676418.054 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:38.057Z,1749676418.057 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.554820
2025-06-11T21:13:38.294Z,1749676418.294 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.790569
2025-06-11T21:13:38.366Z,1749676418.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.503999 s,
deltaX: -0.400000 m,
approachRate: -0.793652 m/s,
rangeRepo size: 4
2025-06-11T21:13:38.372Z,1749676418.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.172641 m,
bearing: 266.351762 deg,
lat: 36.906689 deg,
lon: -122.115719 deg,
deltaT: 15.119965 s,
deltaX: -6.642943 m,
approachRate: -0.439349 m/s,
posRepo size: 4
2025-06-11T21:13:38.373Z,1749676418.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.17 m. 9.82 m.
2025-06-11T21:13:38.391Z,1749676418.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 2.995815 m,
bearing: 258.934217 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 280.422897 deg,
new cmd heading: 280.874812 deg.
2025-06-11T21:13:38.404Z,1749676418.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.902190 target range: 9.815584 and range: 3.20 m.
2025-06-11T21:13:38.546Z,1749676418.546 [DAT](INFO): DAT read: Rx Time:21:13:39.9505
2025-06-11T21:13:38.547Z,1749676418.547 [DAT](INFO): Rx dataTimestamp_ set to:1749676418.546169
2025-06-11T21:13:38.549Z,1749676418.549 [DAT](INFO): DAT read: Bearing 346.2, 0.5 (Local)
2025-06-11T21:13:38.550Z,1749676418.550 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.2, 0.5 (Local)
2025-06-11T21:13:38.554Z,1749676418.554 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4
2025-06-11T21:13:38.560Z,1749676418.560 [DAT](INFO): DAT read: 21:13:39.9505 LVL= 22896, 30689, 15522, 32755, AGC= 45, IDX= 497, 0.04,-1.027,-2.329,-0.454,-0.967, PHS= 0.028,-1.315, 0.511, RAW= 164.8, 9.5, CAL= 163.8, -0.5, ROT= 346.2, 0.5
2025-06-11T21:13:38.561Z,1749676418.561 [DAT](INFO): got valid direction response:
21:13:39.9505 LVL= 22896, 30689, 15522, 32755, AGC= 45, IDX= 497, 0.04,-1.027,-2.329,-0.454,-0.967, PHS= 0.028,-1.315, 0.511, RAW= 164.8, 9.5, CAL= 163.8, -0.5, ROT= 346.2, 0.5
2025-06-11T21:13:38.561Z,1749676418.561 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-11T21:13:38.562Z,1749676418.562 [DAT](INFO): direction in FSK: [0.971097,-0.238524,-0.008727]
2025-06-11T21:13:38.563Z,1749676418.563 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:38.567Z,1749676418.567 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.064052
2025-06-11T21:13:38.797Z,1749676418.797 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.294168
2025-06-11T21:13:38.873Z,1749676418.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.504511 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:38.882Z,1749676418.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.172684 m,
bearing: 267.419399 deg,
lat: 36.906690 deg,
lon: -122.115721 deg,
deltaT: 15.624476 s,
deltaX: -6.642900 m,
approachRate: -0.425160 m/s,
posRepo size: 4
2025-06-11T21:13:38.891Z,1749676418.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.17 m. 9.82 m.
2025-06-11T21:13:38.926Z,1749676418.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.815584 m,
nav range: 2.778064 m,
bearing: 257.934745 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.407637 deg/s,
cmd heading: 280.874809 deg,
new cmd heading: 281.489197 deg.
2025-06-11T21:13:38.933Z,1749676418.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912913 target range: 9.815584 and range: 3.20 m.
2025-06-11T21:13:39.050Z,1749676419.050 [DAT](INFO): DAT read: Rx Time:21:13:40.4502
2025-06-11T21:13:39.050Z,1749676419.050 [DAT](INFO): Rx dataTimestamp_ set to:1749676419.049874
2025-06-11T21:13:39.051Z,1749676419.051 [DAT](INFO): DAT read: Bearing 346.6, -3.1 (Local)
2025-06-11T21:13:39.052Z,1749676419.052 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.6, -3.1 (Local)
2025-06-11T21:13:39.054Z,1749676419.054 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4
2025-06-11T21:13:39.059Z,1749676419.059 [DAT](INFO): DAT read: 21:13:40.4502 LVL= 24336, 28145, 15810, 32755, AGC= 46, IDX= 495,-0.39, 2.781, 1.504,-2.964, 2.899, PHS=-0.031,-1.348, 0.417, RAW= 164.1, 12.1, CAL= 163.4, 3.1, ROT= 346.6, -3.1
2025-06-11T21:13:39.060Z,1749676419.060 [DAT](INFO): got valid direction response:
21:13:40.4502 LVL= 24336, 28145, 15810, 32755, AGC= 46, IDX= 495,-0.39, 2.781, 1.504,-2.964, 2.899, PHS=-0.031,-1.348, 0.417, RAW= 164.1, 12.1, CAL= 163.4, 3.1, ROT= 346.6, -3.1
2025-06-11T21:13:39.061Z,1749676419.061 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-11T21:13:39.062Z,1749676419.062 [DAT](INFO): direction in FSK: [0.971352,-0.231409,0.054079]
2025-06-11T21:13:39.062Z,1749676419.062 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:39.070Z,1749676419.070 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.567060
2025-06-11T21:13:39.286Z,1749676419.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.503705 s,
deltaX: -0.500000 m,
approachRate: -0.992644 m/s,
rangeRepo size: 4
2025-06-11T21:13:39.292Z,1749676419.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.676952 m,
bearing: 267.520319 deg,
lat: 36.906691 deg,
lon: -122.115719 deg,
deltaT: 16.128181 s,
deltaX: -7.138632 m,
approachRate: -0.442619 m/s,
posRepo size: 4
2025-06-11T21:13:39.293Z,1749676419.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-06-11T21:13:39.293Z,1749676419.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-11T21:13:39.301Z,1749676419.301 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.798260
2025-06-11T21:13:39.553Z,1749676419.553 [DAT](INFO): DAT read: Rx Time:21:13:40.9502
2025-06-11T21:13:39.554Z,1749676419.554 [DAT](INFO): Rx dataTimestamp_ set to:1749676419.553550
2025-06-11T21:13:39.555Z,1749676419.555 [DAT](INFO): DAT read: Bearing 346.4, -6.1 (Local)
2025-06-11T21:13:39.555Z,1749676419.555 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.4, -6.1 (Local)
2025-06-11T21:13:39.558Z,1749676419.558 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4
2025-06-11T21:13:39.563Z,1749676419.563 [DAT](INFO): DAT read: 21:13:40.9502 LVL= 24672, 29889, 16978, 32755, AGC= 49, IDX= 510, 0.11,-1.110,-2.409,-0.577,-0.945, PHS=-0.078,-1.417, 0.365, RAW= 163.8, 14.0, CAL= 163.6, 6.1, ROT= 346.4, -6.1
2025-06-11T21:13:39.564Z,1749676419.564 [DAT](INFO): got valid direction response:
21:13:40.9502 LVL= 24672, 29889, 16978, 32755, AGC= 49, IDX= 510, 0.11,-1.110,-2.409,-0.577,-0.945, PHS=-0.078,-1.417, 0.365, RAW= 163.8, 14.0, CAL= 163.6, 6.1, ROT= 346.4, -6.1
2025-06-11T21:13:39.564Z,1749676419.564 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-11T21:13:39.565Z,1749676419.565 [DAT](INFO): direction in FSK: [0.966458,-0.233811,0.106264]
2025-06-11T21:13:39.565Z,1749676419.565 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:39.613Z,1749676419.613 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.110734
2025-06-11T21:13:39.757Z,1749676419.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.503676 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:39.759Z,1749676419.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.676952 m,
bearing: 267.077630 deg,
lat: 36.906691 deg,
lon: -122.115719 deg,
deltaT: 0.503676 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:13:39.806Z,1749676419.806 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.303045
2025-06-11T21:13:40.058Z,1749676420.058 [DAT](INFO): DAT read: Rx Time:21:13:41.4500
2025-06-11T21:13:40.058Z,1749676420.058 [DAT](INFO): Rx dataTimestamp_ set to:1749676420.057759
2025-06-11T21:13:40.059Z,1749676420.059 [DAT](INFO): DAT read: Bearing 346.0, -9.6 (Local)
2025-06-11T21:13:40.060Z,1749676420.060 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.0, -9.6 (Local)
2025-06-11T21:13:40.062Z,1749676420.062 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.4
2025-06-11T21:13:40.067Z,1749676420.067 [DAT](INFO): DAT read: 21:13:41.4500 LVL= 27072, 23185, 13954, 32755, AGC= 49, IDX= 508,-0.23, 2.447, 1.089, 2.996, 2.682, PHS=-0.147,-1.546, 0.311, RAW= 163.7, 16.3, CAL= 164.0, 9.6, ROT= 346.0, -9.6
2025-06-11T21:13:40.068Z,1749676420.068 [DAT](INFO): got valid direction response:
21:13:41.4500 LVL= 27072, 23185, 13954, 32755, AGC= 49, IDX= 508,-0.23, 2.447, 1.089, 2.996, 2.682, PHS=-0.147,-1.546, 0.311, RAW= 163.7, 16.3, CAL= 164.0, 9.6, ROT= 346.0, -9.6
2025-06-11T21:13:40.068Z,1749676420.068 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-11T21:13:40.069Z,1749676420.069 [DAT](INFO): direction in FSK: [0.956708,-0.238534,0.166769]
2025-06-11T21:13:40.069Z,1749676420.069 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:40.081Z,1749676420.081 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.578443
2025-06-11T21:13:40.137Z,1749676420.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 0.504209 s,
deltaX: -0.300000 m,
approachRate: -0.594991 m/s,
rangeRepo size: 4
2025-06-11T21:13:40.139Z,1749676420.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.379517 m,
bearing: 266.388652 deg,
lat: 36.906691 deg,
lon: -122.115718 deg,
deltaT: 0.504209 s,
deltaX: -0.297435 m,
approachRate: -0.589905 m/s,
posRepo size: 4
2025-06-11T21:13:40.311Z,1749676420.311 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.807490
2025-06-11T21:13:40.466Z,1749676420.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:40.564Z,1749676420.564 [DAT](INFO): DAT read: Rx Time:21:13:41.9500
2025-06-11T21:13:40.565Z,1749676420.565 [DAT](INFO): Rx dataTimestamp_ set to:1749676420.564394
2025-06-11T21:13:40.567Z,1749676420.567 [DAT](INFO): DAT read: Bearing 340.4, -7.6 (Local)
2025-06-11T21:13:40.567Z,1749676420.567 [DAT](INFO): Local bearing/azimuth received:
Bearing 340.4, -7.6 (Local)
2025-06-11T21:13:40.570Z,1749676420.570 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.4
2025-06-11T21:13:40.575Z,1749676420.575 [DAT](INFO): DAT read: 21:13:41.9500 LVL= 28496, 32753, 16914, 32755, AGC= 50, IDX= 507, 0.27,-0.303,-1.763, 0.576, 0.047, PHS=-0.262,-1.763, 0.526, RAW= 169.8, 14.7, CAL= 169.6, 7.6, ROT= 340.4, -7.6
2025-06-11T21:13:40.576Z,1749676420.576 [DAT](INFO): got valid direction response:
21:13:41.9500 LVL= 28496, 32753, 16914, 32755, AGC= 50, IDX= 507, 0.27,-0.303,-1.763, 0.576, 0.047, PHS=-0.262,-1.763, 0.526, RAW= 169.8, 14.7, CAL= 169.6, 7.6, ROT= 340.4, -7.6
2025-06-11T21:13:40.577Z,1749676420.577 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-11T21:13:40.578Z,1749676420.578 [DAT](INFO): direction in FSK: [0.933782,-0.332505,0.132256]
2025-06-11T21:13:40.578Z,1749676420.578 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:40.586Z,1749676420.586 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.083323
2025-06-11T21:13:40.813Z,1749676420.813 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.310150
2025-06-11T21:13:40.965Z,1749676420.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 0.506635 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:40.967Z,1749676420.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.379519 m,
bearing: 261.006933 deg,
lat: 36.906691 deg,
lon: -122.115719 deg,
deltaT: 0.506635 s,
deltaX: 0.000003 m,
approachRate: 0.000005 m/s,
posRepo size: 4
2025-06-11T21:13:41.065Z,1749676421.065 [DAT](INFO): DAT read: Rx Time:21:13:42.4500
2025-06-11T21:13:41.066Z,1749676421.066 [DAT](INFO): Rx dataTimestamp_ set to:1749676421.065596
2025-06-11T21:13:41.067Z,1749676421.067 [DAT](INFO): DAT read: Bearing 347.3, -23.4 (Local)
2025-06-11T21:13:41.068Z,1749676421.068 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.3, -23.4 (Local)
2025-06-11T21:13:41.070Z,1749676421.070 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.4
2025-06-11T21:13:41.075Z,1749676421.075 [DAT](INFO): DAT read: 21:13:42.4500 LVL= 18096, 25137, 24562, 32755, AGC= 47, IDX= 505, 0.49,-0.483,-2.124,-0.034,-0.026, PHS=-0.369,-2.051,-0.010, RAW= 159.5, 24.5, CAL= 162.7, 23.4, ROT= 347.3, -23.4
2025-06-11T21:13:41.076Z,1749676421.076 [DAT](INFO): got valid direction response:
21:13:42.4500 LVL= 18096, 25137, 24562, 32755, AGC= 47, IDX= 505, 0.49,-0.483,-2.124,-0.034,-0.026, PHS=-0.369,-2.051,-0.010, RAW= 159.5, 24.5, CAL= 162.7, 23.4, ROT= 347.3, -23.4
2025-06-11T21:13:41.076Z,1749676421.076 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-11T21:13:41.077Z,1749676421.077 [DAT](INFO): direction in FSK: [0.895301,-0.201765,0.397148]
2025-06-11T21:13:41.077Z,1749676421.077 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:41.081Z,1749676421.081 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.578113
2025-06-11T21:13:41.287Z,1749676421.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.501202 s,
deltaX: -0.100000 m,
approachRate: -0.199521 m/s,
rangeRepo size: 4
2025-06-11T21:13:41.290Z,1749676421.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.280372 m,
bearing: 266.628558 deg,
lat: 36.906691 deg,
lon: -122.115719 deg,
deltaT: 0.501202 s,
deltaX: -0.099147 m,
approachRate: -0.197818 m/s,
posRepo size: 4
2025-06-11T21:13:41.290Z,1749676421.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m.
2025-06-11T21:13:41.317Z,1749676421.317 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.814013
2025-06-11T21:13:41.569Z,1749676421.569 [DAT](INFO): DAT read: Rx Time:21:13:42.9497
2025-06-11T21:13:41.570Z,1749676421.570 [DAT](INFO): Rx dataTimestamp_ set to:1749676421.569622
2025-06-11T21:13:41.571Z,1749676421.571 [DAT](INFO): DAT read: Bearing 41.3, -46.3 (Local)
2025-06-11T21:13:41.572Z,1749676421.572 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.3, -46.3 (Local)
2025-06-11T21:13:41.575Z,1749676421.575 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.3
2025-06-11T21:13:41.579Z,1749676421.579 [DAT](INFO): DAT read: 21:13:42.9497 LVL= 9408, 13169, 17106, 16691, AGC= 44, IDX= 505, 0.12, 2.282, 0.621, 1.122, 2.438, PHS=-0.068,-1.770,-1.320, RAW= 104.8, 36.2, CAL= 108.7, 46.3, ROT= 41.3, -46.3
2025-06-11T21:13:41.581Z,1749676421.581 [DAT](INFO): got valid direction response:
21:13:42.9497 LVL= 9408, 13169, 17106, 16691, AGC= 44, IDX= 505, 0.12, 2.282, 0.621, 1.122, 2.438, PHS=-0.068,-1.770,-1.320, RAW= 104.8, 36.2, CAL= 108.7, 46.3, ROT= 41.3, -46.3
2025-06-11T21:13:41.581Z,1749676421.581 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-11T21:13:41.582Z,1749676421.582 [DAT](INFO): direction in FSK: [0.519035,0.455984,0.722967]
2025-06-11T21:13:41.582Z,1749676421.582 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:41.586Z,1749676421.586 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.082990
2025-06-11T21:13:41.783Z,1749676421.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 0.504026 s,
deltaX: -0.500000 m,
approachRate: -0.992012 m/s,
rangeRepo size: 4
2025-06-11T21:13:41.794Z,1749676421.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.784639 m,
bearing: 318.619093 deg,
lat: 36.906691 deg,
lon: -122.115719 deg,
deltaT: 0.504026 s,
deltaX: -0.495733 m,
approachRate: -0.983547 m/s,
posRepo size: 4
2025-06-11T21:13:41.794Z,1749676421.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m.
2025-06-11T21:13:41.821Z,1749676421.821 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.318168
2025-06-11T21:13:42.073Z,1749676422.073 [DAT](INFO): DAT read: Rx Time:21:13:43.4496
2025-06-11T21:13:42.074Z,1749676422.074 [DAT](INFO): Rx dataTimestamp_ set to:1749676422.073679
2025-06-11T21:13:42.075Z,1749676422.075 [DAT](INFO): DAT read: Bearing 99.1, -29.6 (Local)
2025-06-11T21:13:42.076Z,1749676422.076 [DAT](INFO): Local bearing/azimuth received:
Bearing 99.1, -29.6 (Local)
2025-06-11T21:13:42.078Z,1749676422.078 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.4
2025-06-11T21:13:42.083Z,1749676422.083 [DAT](INFO): DAT read: 21:13:43.4496 LVL= 16368, 32753, 21490, 28835, AGC= 44, IDX= 502, 0.42,-0.201,-0.898,-1.899,-0.354, PHS= 0.241,-0.497,-1.548, RAW= 54.2, 22.3, CAL= 50.9, 29.6, ROT= 99.1, -29.6
2025-06-11T21:13:42.084Z,1749676422.084 [DAT](INFO): got valid direction response:
21:13:43.4496 LVL= 16368, 32753, 21490, 28835, AGC= 44, IDX= 502, 0.42,-0.201,-0.898,-1.899,-0.354, PHS= 0.241,-0.497,-1.548, RAW= 54.2, 22.3, CAL= 50.9, 29.6, ROT= 99.1, -29.6
2025-06-11T21:13:42.084Z,1749676422.084 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-11T21:13:42.085Z,1749676422.085 [DAT](INFO): direction in FSK: [-0.137518,0.858551,0.493942]
2025-06-11T21:13:42.086Z,1749676422.086 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:42.089Z,1749676422.089 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.586724
2025-06-11T21:13:42.197Z,1749676422.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.504057 s,
deltaX: -0.100000 m,
approachRate: -0.198390 m/s,
rangeRepo size: 4
2025-06-11T21:13:42.199Z,1749676422.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.685483 m,
bearing: 21.461988 deg,
lat: 36.906692 deg,
lon: -122.115718 deg,
deltaT: 0.504057 s,
deltaX: -0.099156 m,
approachRate: -0.196716 m/s,
posRepo size: 4
2025-06-11T21:13:42.325Z,1749676422.325 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.822426
2025-06-11T21:13:42.490Z,1749676422.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:42.578Z,1749676422.578 [DAT](INFO): DAT read: Rx Time:21:13:43.9495
2025-06-11T21:13:42.578Z,1749676422.578 [DAT](INFO): Rx dataTimestamp_ set to:1749676422.577919
2025-06-11T21:13:42.581Z,1749676422.581 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.1
2025-06-11T21:13:42.582Z,1749676422.582 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-11T21:13:42.583Z,1749676422.583 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.080060
2025-06-11T21:13:42.831Z,1749676422.831 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.327957
2025-06-11T21:13:42.957Z,1749676422.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.504240 s,
deltaX: -0.200000 m,
approachRate: -0.396637 m/s,
rangeRepo size: 4
2025-06-11T21:13:43.081Z,1749676423.081 [DAT](INFO): DAT read: Rx Time:21:13:44.4495
2025-06-11T21:13:43.082Z,1749676423.082 [DAT](INFO): Rx dataTimestamp_ set to:1749676423.081246
2025-06-11T21:13:43.083Z,1749676423.083 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.2
2025-06-11T21:13:43.083Z,1749676423.083 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-11T21:13:43.086Z,1749676423.086 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.583668
2025-06-11T21:13:43.326Z,1749676423.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.503327 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:43.333Z,1749676423.333 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.830170
2025-06-11T21:13:43.585Z,1749676423.585 [DAT](INFO): DAT read: Rx Time:21:13:44.9495
2025-06-11T21:13:43.586Z,1749676423.586 [DAT](INFO): Rx dataTimestamp_ set to:1749676423.585432
2025-06-11T21:13:43.587Z,1749676423.587 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.3
2025-06-11T21:13:43.588Z,1749676423.588 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-06-11T21:13:43.589Z,1749676423.589 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.085904
2025-06-11T21:13:43.702Z,1749676423.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.504186 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:43.703Z,1749676423.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.50 m.
2025-06-11T21:13:43.837Z,1749676423.837 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.334270
2025-06-11T21:13:44.089Z,1749676424.089 [DAT](INFO): DAT read: Rx Time:21:13:45.4492
2025-06-11T21:13:44.090Z,1749676424.090 [DAT](INFO): Rx dataTimestamp_ set to:1749676424.089655
2025-06-11T21:13:44.091Z,1749676424.091 [DAT](INFO): DAT read: Bearing 209.2, -39.8 (Local)
2025-06-11T21:13:44.092Z,1749676424.092 [DAT](INFO): Local bearing/azimuth received:
Bearing 209.2, -39.8 (Local)
2025-06-11T21:13:44.094Z,1749676424.094 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.2
2025-06-11T21:13:44.099Z,1749676424.099 [DAT](INFO): DAT read: 21:13:45.4492 LVL= 14528, 12945, 13506, 15091, AGC= 32, IDX= 500, 0.04, 2.553,-2.485,-2.839,-2.185, PHS=-1.457,-0.253,-0.657, RAW= 289.2, 38.2, CAL= 300.8, 39.8, ROT= 209.2, -39.8
2025-06-11T21:13:44.100Z,1749676424.100 [DAT](INFO): got valid direction response:
21:13:45.4492 LVL= 14528, 12945, 13506, 15091, AGC= 32, IDX= 500, 0.04, 2.553,-2.485,-2.839,-2.185, PHS=-1.457,-0.253,-0.657, RAW= 289.2, 38.2, CAL= 300.8, 39.8, ROT= 209.2, -39.8
2025-06-11T21:13:44.100Z,1749676424.100 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-11T21:13:44.101Z,1749676424.101 [DAT](INFO): direction in FSK: [-0.670652,-0.374814,0.640110]
2025-06-11T21:13:44.102Z,1749676424.102 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:44.105Z,1749676424.105 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.602682
2025-06-11T21:13:44.222Z,1749676424.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.504223 s,
deltaX: -0.400000 m,
approachRate: -0.793300 m/s,
rangeRepo size: 4
2025-06-11T21:13:44.228Z,1749676424.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.090600 m,
bearing: 134.703285 deg,
lat: 36.906692 deg,
lon: -122.115707 deg,
deltaT: 2.015976 s,
deltaX: -0.594883 m,
approachRate: -0.295084 m/s,
posRepo size: 4
2025-06-11T21:13:44.228Z,1749676424.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.10 m.
2025-06-11T21:13:44.341Z,1749676424.341 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.838228
2025-06-11T21:13:44.511Z,1749676424.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:44.594Z,1749676424.594 [DAT](INFO): DAT read: Rx Time:21:13:45.9493
2025-06-11T21:13:44.595Z,1749676424.595 [DAT](INFO): Rx dataTimestamp_ set to:1749676424.594681
2025-06-11T21:13:44.597Z,1749676424.597 [DAT](INFO): DAT read: Bearing 90.0, -45.3 (Local)
2025-06-11T21:13:44.598Z,1749676424.598 [DAT](INFO): Local bearing/azimuth received:
Bearing 90.0, -45.3 (Local)
2025-06-11T21:13:44.601Z,1749676424.601 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.1
2025-06-11T21:13:44.606Z,1749676424.606 [DAT](INFO): DAT read: 21:13:45.9493 LVL= 20544, 21313, 15778, 25955, AGC= 36, IDX= 500, 0.43, 0.072,-0.844,-1.616, 0.397, PHS=-0.237,-1.194,-2.016, RAW= 62.5, 38.3, CAL= 60.0, 45.3, ROT= 90.0, -45.3
2025-06-11T21:13:44.607Z,1749676424.607 [DAT](INFO): got valid direction response:
21:13:45.9493 LVL= 20544, 21313, 15778, 25955, AGC= 36, IDX= 500, 0.43, 0.072,-0.844,-1.616, 0.397, PHS=-0.237,-1.194,-2.016, RAW= 62.5, 38.3, CAL= 60.0, 45.3, ROT= 90.0, -45.3
2025-06-11T21:13:44.607Z,1749676424.607 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-11T21:13:44.608Z,1749676424.608 [DAT](INFO): direction in FSK: [-0.000000,0.703395,0.710799]
2025-06-11T21:13:44.608Z,1749676424.608 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:44.612Z,1749676424.612 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.109347
2025-06-11T21:13:44.845Z,1749676424.845 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.342079
2025-06-11T21:13:44.963Z,1749676424.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.505026 s,
deltaX: 0.100000 m,
approachRate: 0.198010 m/s,
rangeRepo size: 4
2025-06-11T21:13:44.966Z,1749676424.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.189745 m,
bearing: 13.237644 deg,
lat: 36.906701 deg,
lon: -122.115707 deg,
deltaT: 0.505026 s,
deltaX: 0.099145 m,
approachRate: 0.196316 m/s,
posRepo size: 4
2025-06-11T21:13:45.097Z,1749676425.097 [DAT](INFO): DAT read: Rx Time:21:13:46.4491
2025-06-11T21:13:45.098Z,1749676425.098 [DAT](INFO): Rx dataTimestamp_ set to:1749676425.097255
2025-06-11T21:13:45.099Z,1749676425.099 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-11T21:13:45.099Z,1749676425.099 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-06-11T21:13:45.100Z,1749676425.100 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.597739
2025-06-11T21:13:45.349Z,1749676425.349 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.846155
2025-06-11T21:13:45.394Z,1749676425.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.502574 s,
deltaX: -0.300000 m,
approachRate: -0.596927 m/s,
rangeRepo size: 4
2025-06-11T21:13:45.601Z,1749676425.601 [DAT](INFO): DAT read: Rx Time:21:13:46.9492
2025-06-11T21:13:45.601Z,1749676425.601 [DAT](INFO): Rx dataTimestamp_ set to:1749676425.601058
2025-06-11T21:13:45.603Z,1749676425.603 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed -0.2
2025-06-11T21:13:45.603Z,1749676425.603 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-06-11T21:13:45.604Z,1749676425.604 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.101578
2025-06-11T21:13:45.704Z,1749676425.704 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:13:45.770Z,1749676425.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503803 s,
deltaX: 0.200000 m,
approachRate: 0.396981 m/s,
rangeRepo size: 4
2025-06-11T21:13:45.776Z,1749676425.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.10 m.
2025-06-11T21:13:45.853Z,1749676425.853 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.350322
2025-06-11T21:13:46.105Z,1749676426.105 [DAT](INFO): DAT read: Rx Time:21:13:47.4494
2025-06-11T21:13:46.106Z,1749676426.106 [DAT](INFO): Rx dataTimestamp_ set to:1749676426.105297
2025-06-11T21:13:46.107Z,1749676426.107 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed -0.1
2025-06-11T21:13:46.107Z,1749676426.107 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-06-11T21:13:46.109Z,1749676426.109 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.605812
2025-06-11T21:13:46.221Z,1749676426.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.400000 m,
deltaT: 0.504239 s,
deltaX: 0.300000 m,
approachRate: 0.594956 m/s,
rangeRepo size: 4
2025-06-11T21:13:46.221Z,1749676426.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.40 m.
2025-06-11T21:13:46.357Z,1749676426.357 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.854031
2025-06-11T21:13:46.546Z,1749676426.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:46.548Z,1749676426.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.40 m.
2025-06-11T21:13:46.610Z,1749676426.610 [DAT](INFO): DAT read: Rx Time:21:13:47.9493
2025-06-11T21:13:46.610Z,1749676426.610 [DAT](INFO): Rx dataTimestamp_ set to:1749676426.609702
2025-06-11T21:13:46.611Z,1749676426.611 [DAT](INFO): DAT read: Bearing 223.0, -30.5 (Local)
2025-06-11T21:13:46.612Z,1749676426.612 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.0, -30.5 (Local)
2025-06-11T21:13:46.614Z,1749676426.614 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed -0.3
2025-06-11T21:13:46.629Z,1749676426.629 [DAT](INFO): DAT read: 21:13:47.9493 LVL= 24048, 14449, 14098, 20243, AGC= 35, IDX= 500, 0.11,-0.167, 1.875, 1.654, 2.000, PHS=-2.080,-0.078,-0.349, RAW= 277.2, 25.2, CAL= 287.0, 30.5, ROT= 223.0, -30.5
2025-06-11T21:13:46.631Z,1749676426.631 [DAT](INFO): got valid direction response:
21:13:47.9493 LVL= 24048, 14449, 14098, 20243, AGC= 35, IDX= 500, 0.11,-0.167, 1.875, 1.654, 2.000, PHS=-2.080,-0.078,-0.349, RAW= 277.2, 25.2, CAL= 287.0, 30.5, ROT= 223.0, -30.5
2025-06-11T21:13:46.631Z,1749676426.631 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-11T21:13:46.637Z,1749676426.637 [DAT](INFO): direction in FSK: [-0.630156,-0.587630,0.507538]
2025-06-11T21:13:46.638Z,1749676426.638 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:46.646Z,1749676426.646 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.143743
2025-06-11T21:13:46.861Z,1749676426.861 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.358233
2025-06-11T21:13:46.991Z,1749676426.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.504405 s,
deltaX: -0.200000 m,
approachRate: -0.396507 m/s,
rangeRepo size: 4
2025-06-11T21:13:47.009Z,1749676427.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.189746 m,
bearing: 147.529347 deg,
lat: 36.906701 deg,
lon: -122.115707 deg,
deltaT: 2.015021 s,
deltaX: 0.000001 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:13:47.010Z,1749676427.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.20 m.
2025-06-11T21:13:47.114Z,1749676427.114 [DAT](INFO): DAT read: Rx Time:21:13:48.4494
2025-06-11T21:13:47.114Z,1749676427.114 [DAT](INFO): Rx dataTimestamp_ set to:1749676427.114127
2025-06-11T21:13:47.116Z,1749676427.116 [DAT](INFO): DAT read: Bearing 254.7, -27.0 (Local)
2025-06-11T21:13:47.116Z,1749676427.116 [DAT](INFO): Local bearing/azimuth received:
Bearing 254.7, -27.0 (Local)
2025-06-11T21:13:47.118Z,1749676427.118 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed -0.4
2025-06-11T21:13:47.126Z,1749676427.126 [DAT](INFO): DAT read: 21:13:48.4494 LVL= 12944, 13569, 11634, 11379, AGC= 33, IDX= 502,-0.05,-2.315,-1.458,-0.686,-0.927, PHS=-1.301,-0.484, 0.237, RAW= 242.0, 22.3, CAL= 255.3, 27.0, ROT= 254.7, -27.0
2025-06-11T21:13:47.127Z,1749676427.127 [DAT](INFO): got valid direction response:
21:13:48.4494 LVL= 12944, 13569, 11634, 11379, AGC= 33, IDX= 502,-0.05,-2.315,-1.458,-0.686,-0.927, PHS=-1.301,-0.484, 0.237, RAW= 242.0, 22.3, CAL= 255.3, 27.0, ROT= 254.7, -27.0
2025-06-11T21:13:47.127Z,1749676427.127 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-11T21:13:47.128Z,1749676427.128 [DAT](INFO): direction in FSK: [-0.235113,-0.859427,0.453991]
2025-06-11T21:13:47.129Z,1749676427.129 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:47.140Z,1749676427.140 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.637618
2025-06-11T21:13:47.365Z,1749676427.365 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.862206
2025-06-11T21:13:47.419Z,1749676427.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.400000 m,
deltaT: 0.504425 s,
deltaX: 0.200000 m,
approachRate: 0.396491 m/s,
rangeRepo size: 4
2025-06-11T21:13:47.440Z,1749676427.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.388037 m,
bearing: 177.826062 deg,
lat: 36.906689 deg,
lon: -122.115710 deg,
deltaT: 0.504425 s,
deltaX: 0.198291 m,
approachRate: 0.393103 m/s,
posRepo size: 4
2025-06-11T21:13:47.617Z,1749676427.617 [DAT](INFO): DAT read: Rx Time:21:13:48.9496
2025-06-11T21:13:47.618Z,1749676427.618 [DAT](INFO): Rx dataTimestamp_ set to:1749676427.617669
2025-06-11T21:13:47.619Z,1749676427.619 [DAT](INFO): DAT read: Bearing 159.6, -26.9 (Local)
2025-06-11T21:13:47.620Z,1749676427.620 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.6, -26.9 (Local)
2025-06-11T21:13:47.622Z,1749676427.622 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed -0.3
2025-06-11T21:13:47.627Z,1749676427.627 [DAT](INFO): DAT read: 21:13:48.9496 LVL= 15392, 15185, 11602, 12883, AGC= 38, IDX= 501, 0.31, 2.722,-2.155, 2.009,-2.555, PHS=-0.918, 0.447,-1.722, RAW= 351.5, 22.2, CAL= 350.4, 26.9, ROT= 159.6, -26.9
2025-06-11T21:13:47.628Z,1749676427.628 [DAT](INFO): got valid direction response:
21:13:48.9496 LVL= 15392, 15185, 11602, 12883, AGC= 38, IDX= 501, 0.31, 2.722,-2.155, 2.009,-2.555, PHS=-0.918, 0.447,-1.722, RAW= 351.5, 22.2, CAL= 350.4, 26.9, ROT= 159.6, -26.9
2025-06-11T21:13:47.628Z,1749676427.628 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-11T21:13:47.629Z,1749676427.629 [DAT](INFO): direction in FSK: [-0.835866,0.310856,0.452435]
2025-06-11T21:13:47.629Z,1749676427.629 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:47.678Z,1749676427.678 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.175393
2025-06-11T21:13:47.815Z,1749676427.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.503542 s,
deltaX: 0.300000 m,
approachRate: 0.595780 m/s,
rangeRepo size: 4
2025-06-11T21:13:47.830Z,1749676427.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.685473 m,
bearing: 84.932863 deg,
lat: 36.906689 deg,
lon: -122.115710 deg,
deltaT: 0.503542 s,
deltaX: 0.297436 m,
approachRate: 0.590689 m/s,
posRepo size: 4
2025-06-11T21:13:47.869Z,1749676427.869 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.366175
2025-06-11T21:13:48.121Z,1749676428.121 [DAT](INFO): DAT read: Rx Time:21:13:49.4497
2025-06-11T21:13:48.122Z,1749676428.122 [DAT](INFO): Rx dataTimestamp_ set to:1749676428.121261
2025-06-11T21:13:48.123Z,1749676428.123 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed -0.2
2025-06-11T21:13:48.123Z,1749676428.123 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-06-11T21:13:48.124Z,1749676428.124 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.621781
2025-06-11T21:13:48.235Z,1749676428.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 0.503592 s,
deltaX: 0.100000 m,
approachRate: 0.198573 m/s,
rangeRepo size: 4
2025-06-11T21:13:48.373Z,1749676428.373 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.870117
2025-06-11T21:13:48.549Z,1749676428.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:48.551Z,1749676428.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.80 m.
2025-06-11T21:13:48.626Z,1749676428.626 [DAT](INFO): DAT read: Rx Time:21:13:49.9502
2025-06-11T21:13:48.626Z,1749676428.626 [DAT](INFO): Rx dataTimestamp_ set to:1749676428.625737
2025-06-11T21:13:48.627Z,1749676428.627 [DAT](INFO): DAT read: Bearing 205.3, -22.2 (Local)
2025-06-11T21:13:48.628Z,1749676428.628 [DAT](INFO): Local bearing/azimuth received:
Bearing 205.3, -22.2 (Local)
2025-06-11T21:13:48.630Z,1749676428.630 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3
2025-06-11T21:13:48.638Z,1749676428.638 [DAT](INFO): DAT read: 21:13:49.9502 LVL= 29776, 21809, 22578, 29251, AGC= 47, IDX= 505, 0.03,-2.664,-0.641,-1.577,-1.132, PHS=-1.444, 0.538,-0.448, RAW= 299.8, 15.6, CAL= 304.7, 22.2, ROT= 205.3, -22.2
2025-06-11T21:13:48.639Z,1749676428.639 [DAT](INFO): got valid direction response:
21:13:49.9502 LVL= 29776, 21809, 22578, 29251, AGC= 47, IDX= 505, 0.03,-2.664,-0.641,-1.577,-1.132, PHS=-1.444, 0.538,-0.448, RAW= 299.8, 15.6, CAL= 304.7, 22.2, ROT= 205.3, -22.2
2025-06-11T21:13:48.644Z,1749676428.644 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-11T21:13:48.645Z,1749676428.645 [DAT](INFO): direction in FSK: [-0.837063,-0.395678,0.377841]
2025-06-11T21:13:48.646Z,1749676428.646 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:48.650Z,1749676428.650 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.147034
2025-06-11T21:13:48.885Z,1749676428.885 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.381630
2025-06-11T21:13:49.014Z,1749676429.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.504476 s,
deltaX: 0.900000 m,
approachRate: 1.784030 m/s,
rangeRepo size: 4
2025-06-11T21:13:49.020Z,1749676429.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.676904 m,
bearing: 129.580615 deg,
lat: 36.906688 deg,
lon: -122.115710 deg,
deltaT: 1.008068 s,
deltaX: 0.991431 m,
approachRate: 0.983496 m/s,
posRepo size: 4
2025-06-11T21:13:49.021Z,1749676429.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m.
2025-06-11T21:13:49.130Z,1749676429.130 [DAT](INFO): DAT read: Rx Time:21:13:50.4498
2025-06-11T21:13:49.130Z,1749676429.130 [DAT](INFO): Rx dataTimestamp_ set to:1749676429.130008
2025-06-11T21:13:49.132Z,1749676429.132 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed -0.4
2025-06-11T21:13:49.133Z,1749676429.133 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-06-11T21:13:49.134Z,1749676429.134 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.631483
2025-06-11T21:13:49.374Z,1749676429.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.000000 m,
deltaT: 0.504271 s,
deltaX: -0.700000 m,
approachRate: -1.388143 m/s,
rangeRepo size: 4
2025-06-11T21:13:49.385Z,1749676429.385 [DAT](INFO): DAT read: Rx Time:21:13:50.9499
2025-06-11T21:13:49.387Z,1749676429.387 [DAT](INFO): Rx dataTimestamp_ set to:1749676429.385647
2025-06-11T21:13:49.391Z,1749676429.391 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.887304
2025-06-11T21:13:49.634Z,1749676429.634 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:13:49.634Z,1749676429.634 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-06-11T21:13:49.635Z,1749676429.635 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.132616
2025-06-11T21:13:49.766Z,1749676429.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 0.502502 s,
deltaX: 0.100000 m,
approachRate: 0.199004 m/s,
rangeRepo size: 4
2025-06-11T21:13:49.766Z,1749676429.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-06-11T21:13:49.889Z,1749676429.889 [DAT](INFO): DAT read: Rx Time:21:13:51.4498
2025-06-11T21:13:49.891Z,1749676429.891 [DAT](INFO): Rx dataTimestamp_ set to:1749676429.890251
2025-06-11T21:13:49.892Z,1749676429.892 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:13:49.893Z,1749676429.893 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-06-11T21:13:49.894Z,1749676429.894 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.391363
2025-06-11T21:13:50.137Z,1749676430.137 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.634083
2025-06-11T21:13:50.203Z,1749676430.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.000000 m,
deltaT: 0.257741 s,
deltaX: -0.100000 m,
approachRate: -0.387986 m/s,
rangeRepo size: 4
2025-06-11T21:13:50.204Z,1749676430.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-06-11T21:13:50.392Z,1749676430.392 [DAT](INFO): DAT read: Rx Time:21:13:51.9499
2025-06-11T21:13:50.392Z,1749676430.392 [DAT](INFO): Rx dataTimestamp_ set to:1749676430.391869
2025-06-11T21:13:50.393Z,1749676430.393 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed -0.1
2025-06-11T21:13:50.394Z,1749676430.394 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-06-11T21:13:50.395Z,1749676430.395 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.892282
2025-06-11T21:13:50.569Z,1749676430.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:50.577Z,1749676430.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 0.501618 s,
deltaX: 0.100000 m,
approachRate: 0.199355 m/s,
rangeRepo size: 4
2025-06-11T21:13:50.641Z,1749676430.641 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.138348
2025-06-11T21:13:50.898Z,1749676430.898 [DAT](INFO): DAT read: Rx Time:21:13:52.4500
2025-06-11T21:13:50.901Z,1749676430.901 [DAT](INFO): Rx dataTimestamp_ set to:1749676430.900016
2025-06-11T21:13:50.906Z,1749676430.906 [DAT](INFO): DAT read: Bearing 178.4, -20.5 (Local)
2025-06-11T21:13:50.908Z,1749676430.908 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.4, -20.5 (Local)
2025-06-11T21:13:50.929Z,1749676430.929 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed -0.2
2025-06-11T21:13:50.936Z,1749676430.936 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-06-11T21:13:50.937Z,1749676430.937 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.434086
2025-06-11T21:13:51.059Z,1749676431.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.508147 s,
deltaX: 0.200000 m,
approachRate: 0.393587 m/s,
rangeRepo size: 4
2025-06-11T21:13:51.064Z,1749676431.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m.
2025-06-11T21:13:51.149Z,1749676431.149 [DAT](INFO): DAT read: 21:13:52.4500 LVL= 23200, 19761, 11682, 18979, AGC= 44, IDX= 506,-0.02, 2.748,-1.871, 2.890,-2.504, PHS=-0.942, 0.680,-0.891, RAW= 328.4, 14.3, CAL= 331.6, 20.5, ROT= 178.4, -20.5
2025-06-11T21:13:51.150Z,1749676431.150 [DAT](INFO): got valid direction response:
21:13:52.4500 LVL= 23200, 19761, 11682, 18979, AGC= 44, IDX= 506,-0.02, 2.748,-1.871, 2.890,-2.504, PHS=-0.942, 0.680,-0.891, RAW= 328.4, 14.3, CAL= 331.6, 20.5, ROT= 178.4, -20.5
2025-06-11T21:13:51.151Z,1749676431.151 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-06-11T21:13:51.152Z,1749676431.152 [DAT](INFO): direction in FSK: [-0.936307,0.026154,0.350207]
2025-06-11T21:13:51.155Z,1749676431.155 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.652624
2025-06-11T21:13:51.397Z,1749676431.397 [DAT](INFO): DAT read: Rx Time:21:13:52.9500
2025-06-11T21:13:51.397Z,1749676431.397 [DAT](INFO): Rx dataTimestamp_ set to:1749676431.397169
2025-06-11T21:13:51.399Z,1749676431.399 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed -0.1
2025-06-11T21:13:51.399Z,1749676431.399 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-06-11T21:13:51.400Z,1749676431.400 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.897682
2025-06-11T21:13:51.426Z,1749676431.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.497153 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:51.432Z,1749676431.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.280324 m,
bearing: 89.494412 deg,
lat: 36.906688 deg,
lon: -122.115715 deg,
deltaT: 2.771432 s,
deltaX: -0.396581 m,
approachRate: -0.143096 m/s,
posRepo size: 4
2025-06-11T21:13:51.649Z,1749676431.649 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.146107
2025-06-11T21:13:51.904Z,1749676431.904 [DAT](INFO): DAT read: Rx Time:21:13:53.4499
2025-06-11T21:13:51.906Z,1749676431.906 [DAT](INFO): Rx dataTimestamp_ set to:1749676431.904886
2025-06-11T21:13:51.912Z,1749676431.912 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed -0.1
2025-06-11T21:13:51.914Z,1749676431.914 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-06-11T21:13:51.915Z,1749676431.915 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.412109
2025-06-11T21:13:52.013Z,1749676432.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 0.507717 s,
deltaX: -0.200000 m,
approachRate: -0.393920 m/s,
rangeRepo size: 4
2025-06-11T21:13:52.156Z,1749676432.156 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.653017
2025-06-11T21:13:52.406Z,1749676432.406 [DAT](INFO): DAT read: Rx Time:21:13:53.9500
2025-06-11T21:13:52.406Z,1749676432.406 [DAT](INFO): Rx dataTimestamp_ set to:1749676432.406093
2025-06-11T21:13:52.408Z,1749676432.408 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed -0.2
2025-06-11T21:13:52.408Z,1749676432.408 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-06-11T21:13:52.409Z,1749676432.409 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.906624
2025-06-11T21:13:52.610Z,1749676432.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:52.629Z,1749676432.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 0.501207 s,
deltaX: 0.300000 m,
approachRate: 0.598555 m/s,
rangeRepo size: 4
2025-06-11T21:13:52.657Z,1749676432.657 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.154533
2025-06-11T21:13:52.913Z,1749676432.913 [DAT](INFO): DAT read: Rx Time:21:13:54.4500
2025-06-11T21:13:52.915Z,1749676432.915 [DAT](INFO): Rx dataTimestamp_ set to:1749676432.913651
2025-06-11T21:13:52.919Z,1749676432.919 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed -0.2
2025-06-11T21:13:52.922Z,1749676432.922 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-06-11T21:13:52.926Z,1749676432.926 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.422594
2025-06-11T21:13:53.076Z,1749676433.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 0.507558 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:53.161Z,1749676433.161 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.658163
2025-06-11T21:13:53.413Z,1749676433.413 [DAT](INFO): DAT read: Rx Time:21:13:54.9501
2025-06-11T21:13:53.413Z,1749676433.413 [DAT](INFO): Rx dataTimestamp_ set to:1749676433.413200
2025-06-11T21:13:53.415Z,1749676433.415 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed -0.3
2025-06-11T21:13:53.415Z,1749676433.415 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-06-11T21:13:53.416Z,1749676433.416 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.913736
2025-06-11T21:13:53.456Z,1749676433.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.499549 s,
deltaX: 0.200000 m,
approachRate: 0.400361 m/s,
rangeRepo size: 4
2025-06-11T21:13:53.665Z,1749676433.665 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.162180
2025-06-11T21:13:53.923Z,1749676433.923 [DAT](INFO): DAT read: Rx Time:21:13:55.4502
2025-06-11T21:13:53.926Z,1749676433.926 [DAT](INFO): Rx dataTimestamp_ set to:1749676433.924324
2025-06-11T21:13:53.933Z,1749676433.933 [DAT](INFO): DAT read: Bearing 183.3, -20.5 (Local)
2025-06-11T21:13:53.935Z,1749676433.935 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.3, -20.5 (Local)
2025-06-11T21:13:53.957Z,1749676433.957 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed -0.4
2025-06-11T21:13:53.967Z,1749676433.967 [DAT](INFO): DAT read: 21:13:55.4502 LVL= 12864, 19377, 14034, 13027, AGC= 50, IDX= 506,-0.03, 2.195,-1.956, 2.556,-2.741, PHS=-1.259, 0.832,-0.989, RAW= 323.2, 14.3, CAL= 326.7, 20.5, ROT= 183.3, -20.5
2025-06-11T21:13:53.979Z,1749676433.979 [DAT](INFO): got valid direction response:
21:13:55.4502 LVL= 12864, 19377, 14034, 13027, AGC= 50, IDX= 506,-0.03, 2.195,-1.956, 2.556,-2.741, PHS=-1.259, 0.832,-0.989, RAW= 323.2, 14.3, CAL= 326.7, 20.5, ROT= 183.3, -20.5
2025-06-11T21:13:53.979Z,1749676433.979 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-11T21:13:53.984Z,1749676433.984 [DAT](INFO): direction in FSK: [-0.935119,-0.053919,0.350207]
2025-06-11T21:13:53.985Z,1749676433.985 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:53.995Z,1749676433.995 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.492643
2025-06-11T21:13:54.169Z,1749676434.169 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.665974
2025-06-11T21:13:54.264Z,1749676434.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.511124 s,
deltaX: 0.100000 m,
approachRate: 0.195648 m/s,
rangeRepo size: 4
2025-06-11T21:13:54.266Z,1749676434.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.676880 m,
bearing: 88.783911 deg,
lat: 36.906691 deg,
lon: -122.115715 deg,
deltaT: 2.527155 s,
deltaX: 0.396556 m,
approachRate: 0.156918 m/s,
posRepo size: 4
2025-06-11T21:13:54.267Z,1749676434.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m.
2025-06-11T21:13:54.421Z,1749676434.421 [DAT](INFO): DAT read: Rx Time:21:13:55.9504
2025-06-11T21:13:54.422Z,1749676434.422 [DAT](INFO): Rx dataTimestamp_ set to:1749676434.421281
2025-06-11T21:13:54.423Z,1749676434.423 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4
2025-06-11T21:13:54.423Z,1749676434.423 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-06-11T21:13:54.425Z,1749676434.425 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.922005
2025-06-11T21:13:54.619Z,1749676434.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:54.622Z,1749676434.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.496957 s,
deltaX: 0.300000 m,
approachRate: 0.603674 m/s,
rangeRepo size: 4
2025-06-11T21:13:54.674Z,1749676434.674 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.170769
2025-06-11T21:13:54.931Z,1749676434.931 [DAT](INFO): DAT read: Rx Time:21:13:56.4505
2025-06-11T21:13:54.934Z,1749676434.934 [DAT](INFO): Rx dataTimestamp_ set to:1749676434.932623
2025-06-11T21:13:54.938Z,1749676434.938 [DAT](INFO): DAT read: Bearing 225.2, 54.8 (Local)
2025-06-11T21:13:54.939Z,1749676434.939 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.2, 54.8 (Local)
2025-06-11T21:13:54.948Z,1749676434.948 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.4
2025-06-11T21:13:54.962Z,1749676434.962 [DAT](INFO): DAT read: 21:13:56.4505 LVL= 10480, 15201, 9362, 12835, AGC= 47, IDX= 512,-0.16,-2.191,-0.300,-1.080,-2.610, PHS= 0.507, 2.357, 1.527, RAW= 296.6, -44.0, CAL= 284.8, -54.8, ROT= 225.2, 54.8
2025-06-11T21:13:55.005Z,1749676435.005 [DAT](INFO): got valid direction response:
21:13:56.4505 LVL= 10480, 15201, 9362, 12835, AGC= 47, IDX= 512,-0.16,-2.191,-0.300,-1.080,-2.610, PHS= 0.507, 2.357, 1.527, RAW= 296.6, -44.0, CAL= 284.8, -54.8, ROT= 225.2, 54.8
2025-06-11T21:13:55.005Z,1749676435.005 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-11T21:13:55.007Z,1749676435.007 [DAT](INFO): direction in FSK: [-0.406174,-0.409020,-0.817145]
2025-06-11T21:13:55.007Z,1749676435.007 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:55.015Z,1749676435.015 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.512497
2025-06-11T21:13:55.119Z,1749676435.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.511342 s,
deltaX: 0.200000 m,
approachRate: 0.391128 m/s,
rangeRepo size: 4
2025-06-11T21:13:55.126Z,1749676435.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.172599 m,
bearing: 119.583656 deg,
lat: 36.906691 deg,
lon: -122.115715 deg,
deltaT: 1.008299 s,
deltaX: 0.495719 m,
approachRate: 0.491639 m/s,
posRepo size: 4
2025-06-11T21:13:55.178Z,1749676435.178 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.675087
2025-06-11T21:13:55.429Z,1749676435.429 [DAT](INFO): DAT read: Rx Time:21:13:56.9507
2025-06-11T21:13:55.430Z,1749676435.430 [DAT](INFO): Rx dataTimestamp_ set to:1749676435.429242
2025-06-11T21:13:55.431Z,1749676435.431 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3
2025-06-11T21:13:55.431Z,1749676435.431 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-06-11T21:13:55.433Z,1749676435.433 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.929808
2025-06-11T21:13:55.474Z,1749676435.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.496619 s,
deltaX: 0.300000 m,
approachRate: 0.604085 m/s,
rangeRepo size: 4
2025-06-11T21:13:55.681Z,1749676435.681 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.178125
2025-06-11T21:13:55.937Z,1749676435.937 [DAT](INFO): DAT read: Rx Time:21:13:57.4507
2025-06-11T21:13:55.939Z,1749676435.939 [DAT](INFO): Rx dataTimestamp_ set to:1749676435.937416
2025-06-11T21:13:55.945Z,1749676435.945 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3
2025-06-11T21:13:55.972Z,1749676435.972 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-06-11T21:13:55.974Z,1749676435.974 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.471554
2025-06-11T21:13:56.008Z,1749676436.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:13:56.185Z,1749676436.185 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.682062
2025-06-11T21:13:56.258Z,1749676436.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.508174 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:56.437Z,1749676436.437 [DAT](INFO): DAT read: Rx Time:21:13:57.9510
2025-06-11T21:13:56.438Z,1749676436.438 [DAT](INFO): Rx dataTimestamp_ set to:1749676436.437522
2025-06-11T21:13:56.439Z,1749676436.439 [DAT](INFO): DAT read: Bearing 173.8, -9.2 (Local)
2025-06-11T21:13:56.439Z,1749676436.439 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.8, -9.2 (Local)
2025-06-11T21:13:56.442Z,1749676436.442 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed -0.3
2025-06-11T21:13:56.446Z,1749676436.446 [DAT](INFO): DAT read: 21:13:57.9510 LVL= 20624, 22337, 20466, 30387, AGC= 56, IDX= 4, 0.28, 0.945, 2.668, 0.879, 1.731, PHS=-0.698, 0.984,-0.855, RAW= 334.4, 6.5, CAL= 336.2, 9.2, ROT= 173.8, -9.2
2025-06-11T21:13:56.447Z,1749676436.447 [DAT](INFO): got valid direction response:
21:13:57.9510 LVL= 20624, 22337, 20466, 30387, AGC= 56, IDX= 4, 0.28, 0.945, 2.668, 0.879, 1.731, PHS=-0.698, 0.984,-0.855, RAW= 334.4, 6.5, CAL= 336.2, 9.2, ROT= 173.8, -9.2
2025-06-11T21:13:56.448Z,1749676436.448 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-11T21:13:56.449Z,1749676436.449 [DAT](INFO): direction in FSK: [-0.981362,0.106610,0.159881]
2025-06-11T21:13:56.449Z,1749676436.449 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:56.453Z,1749676436.453 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.950005
2025-06-11T21:13:56.662Z,1749676436.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.900000 m,
deltaT: 0.500106 s,
deltaX: 0.400000 m,
approachRate: 0.799831 m/s,
rangeRepo size: 4
2025-06-11T21:13:56.668Z,1749676436.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.866632 m,
bearing: 79.912970 deg,
lat: 36.906691 deg,
lon: -122.115715 deg,
deltaT: 1.504899 s,
deltaX: 0.694033 m,
approachRate: 0.461183 m/s,
posRepo size: 4
2025-06-11T21:13:56.689Z,1749676436.689 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.186304
2025-06-11T21:13:56.946Z,1749676436.946 [DAT](INFO): DAT read: Rx Time:21:13:58.4510
2025-06-11T21:13:56.947Z,1749676436.947 [DAT](INFO): Rx dataTimestamp_ set to:1749676436.946255
2025-06-11T21:13:56.952Z,1749676436.952 [DAT](INFO): DAT read: Bearing 167.0, 2.2 (Local)
2025-06-11T21:13:56.953Z,1749676436.953 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.0, 2.2 (Local)
2025-06-11T21:13:56.960Z,1749676436.960 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed -0.3
2025-06-11T21:13:57.001Z,1749676437.001 [DAT](INFO): DAT read: 21:13:58.4510 LVL= 29136, 27281, 24674, 32755, AGC= 52, IDX= 501,-0.46,-0.894, 0.840,-1.266,-0.439, PHS=-0.367, 1.325,-0.830, RAW= 341.8, -1.3, CAL= 343.0, -2.2, ROT= 167.0, 2.2
2025-06-11T21:13:57.012Z,1749676437.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:13:57.024Z,1749676437.024 [DAT](INFO): got valid direction response:
21:13:58.4510 LVL= 29136, 27281, 24674, 32755, AGC= 52, IDX= 501,-0.46,-0.894, 0.840,-1.266,-0.439, PHS=-0.367, 1.325,-0.830, RAW= 341.8, -1.3, CAL= 343.0, -2.2, ROT= 167.0, 2.2
2025-06-11T21:13:57.025Z,1749676437.025 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-11T21:13:57.026Z,1749676437.026 [DAT](INFO): direction in FSK: [-0.973652,0.224785,-0.038388]
2025-06-11T21:13:57.026Z,1749676437.026 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:57.038Z,1749676437.038 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.535063
2025-06-11T21:13:57.173Z,1749676437.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.900000 m,
deltaT: 0.508733 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:57.175Z,1749676437.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.866637 m,
bearing: 71.434330 deg,
lat: 36.906694 deg,
lon: -122.115715 deg,
deltaT: 0.508733 s,
deltaX: 0.000005 m,
approachRate: 0.000009 m/s,
posRepo size: 4
2025-06-11T21:13:57.193Z,1749676437.193 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.690161
2025-06-11T21:13:57.447Z,1749676437.447 [DAT](INFO): DAT read: Rx Time:21:13:58.9512
2025-06-11T21:13:57.447Z,1749676437.447 [DAT](INFO): Rx dataTimestamp_ set to:1749676437.446712
2025-06-11T21:13:57.449Z,1749676437.449 [DAT](INFO): DAT read: Bearing 162.2, 2.3 (Local)
2025-06-11T21:13:57.450Z,1749676437.450 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.2, 2.3 (Local)
2025-06-11T21:13:57.452Z,1749676437.452 [DAT](INFO): DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed -0.3
2025-06-11T21:13:57.475Z,1749676437.475 [DAT](INFO): DAT read: 21:13:58.9512 LVL= 28128, 21617, 31314, 32755, AGC= 54, IDX= 501, 0.49, 2.817,-1.759, 2.202,-3.105, PHS=-0.273, 1.394,-0.979, RAW= 346.9, -1.4, CAL= 347.8, -2.3, ROT= 162.2, 2.3
2025-06-11T21:13:57.481Z,1749676437.481 [DAT](INFO): got valid direction response:
21:13:58.9512 LVL= 28128, 21617, 31314, 32755, AGC= 54, IDX= 501, 0.49, 2.817,-1.759, 2.202,-3.105, PHS=-0.273, 1.394,-0.979, RAW= 346.9, -1.4, CAL= 347.8, -2.3, ROT= 162.2, 2.3
2025-06-11T21:13:57.482Z,1749676437.482 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-11T21:13:57.483Z,1749676437.483 [DAT](INFO): direction in FSK: [-0.951362,0.305449,-0.040132]
2025-06-11T21:13:57.500Z,1749676437.500 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:57.503Z,1749676437.503 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.000780
2025-06-11T21:13:57.594Z,1749676437.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.500457 s,
deltaX: 0.300000 m,
approachRate: 0.599452 m/s,
rangeRepo size: 4
2025-06-11T21:13:57.600Z,1749676437.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.164070 m,
bearing: 68.408902 deg,
lat: 36.906694 deg,
lon: -122.115710 deg,
deltaT: 0.500457 s,
deltaX: 0.297433 m,
approachRate: 0.594323 m/s,
posRepo size: 4
2025-06-11T21:13:57.697Z,1749676437.697 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.194307
2025-06-11T21:13:57.958Z,1749676437.958 [DAT](INFO): DAT read: Rx Time:21:13:59.4512
2025-06-11T21:13:57.961Z,1749676437.961 [DAT](INFO): Rx dataTimestamp_ set to:1749676437.959007
2025-06-11T21:13:57.965Z,1749676437.965 [DAT](INFO): DAT read: Bearing 162.8, -3.9 (Local)
2025-06-11T21:13:57.966Z,1749676437.966 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.8, -3.9 (Local)
2025-06-11T21:13:57.975Z,1749676437.975 [DAT](INFO): DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed -0.3
2025-06-11T21:13:58.011Z,1749676438.011 [DAT](INFO): DAT read: 21:13:59.4512 LVL= 29984, 16481, 32754, 32755, AGC= 54, IDX= 502,-0.49, 1.591,-3.006, 1.019, 2.109, PHS=-0.429, 1.216,-1.092, RAW= 346.2, 3.0, CAL= 347.2, 3.9, ROT= 162.8, -3.9
2025-06-11T21:13:58.020Z,1749676438.020 [DAT](INFO): got valid direction response:
21:13:59.4512 LVL= 29984, 16481, 32754, 32755, AGC= 54, IDX= 502,-0.49, 1.591,-3.006, 1.019, 2.109, PHS=-0.429, 1.216,-1.092, RAW= 346.2, 3.0, CAL= 347.2, 3.9, ROT= 162.8, -3.9
2025-06-11T21:13:58.021Z,1749676438.021 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-11T21:13:58.022Z,1749676438.022 [DAT](INFO): direction in FSK: [-0.953066,0.295023,0.068015]
2025-06-11T21:13:58.022Z,1749676438.022 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:58.045Z,1749676438.045 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.542629
2025-06-11T21:13:58.205Z,1749676438.205 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.702297
2025-06-11T21:13:58.237Z,1749676438.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.512295 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:58.239Z,1749676438.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.164070 m,
bearing: 71.141281 deg,
lat: 36.906698 deg,
lon: -122.115710 deg,
deltaT: 0.512295 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:13:58.451Z,1749676438.451 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:13:58.457Z,1749676438.457 [DAT](INFO): DAT read: Rx Time:21:13:59.9515
2025-06-11T21:13:58.458Z,1749676438.458 [DAT](INFO): Rx dataTimestamp_ set to:1749676438.457649
2025-06-11T21:13:58.459Z,1749676438.459 [DAT](INFO): DAT read: Bearing 161.6, -5.6 (Local)
2025-06-11T21:13:58.460Z,1749676438.460 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.6, -5.6 (Local)
2025-06-11T21:13:58.462Z,1749676438.462 [DAT](INFO): DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed -0.3
2025-06-11T21:13:58.477Z,1749676438.477 [DAT](INFO): DAT read: 21:13:59.9515 LVL= 28512, 16737, 32754, 32755, AGC= 52, IDX= 504,-0.37, 1.829,-2.870, 1.237, 2.336, PHS=-0.419, 1.124,-1.103, RAW= 347.4, 4.1, CAL= 348.4, 5.6, ROT= 161.6, -5.6
2025-06-11T21:13:58.478Z,1749676438.478 [DAT](INFO): got valid direction response:
21:13:59.9515 LVL= 28512, 16737, 32754, 32755, AGC= 52, IDX= 504,-0.37, 1.829,-2.870, 1.237, 2.336, PHS=-0.419, 1.124,-1.103, RAW= 347.4, 4.1, CAL= 348.4, 5.6, ROT= 161.6, -5.6
2025-06-11T21:13:58.479Z,1749676438.479 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-11T21:13:58.484Z,1749676438.484 [DAT](INFO): direction in FSK: [-0.944347,0.314142,0.097583]
2025-06-11T21:13:58.484Z,1749676438.484 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:58.497Z,1749676438.497 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.993944
2025-06-11T21:13:58.546Z,1749676438.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.700000 m,
deltaT: 0.498642 s,
deltaX: 0.500000 m,
approachRate: 1.002723 m/s,
rangeRepo size: 4
2025-06-11T21:13:58.557Z,1749676438.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.659792 m,
bearing: 71.420396 deg,
lat: 36.906698 deg,
lon: -122.115709 deg,
deltaT: 0.498642 s,
deltaX: 0.495723 m,
approachRate: 0.994146 m/s,
posRepo size: 4
2025-06-11T21:13:58.709Z,1749676438.709 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.206600
2025-06-11T21:13:58.884Z,1749676438.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:13:58.962Z,1749676438.962 [DAT](INFO): DAT read: Rx Time:21:14:00.4515
2025-06-11T21:13:58.962Z,1749676438.962 [DAT](INFO): Rx dataTimestamp_ set to:1749676438.961843
2025-06-11T21:13:58.964Z,1749676438.964 [DAT](INFO): DAT read: Bearing 158.2, -5.2 (Local)
2025-06-11T21:13:58.965Z,1749676438.965 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.2, -5.2 (Local)
2025-06-11T21:13:58.972Z,1749676438.972 [DAT](INFO): DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed -0.3
2025-06-11T21:13:59.007Z,1749676439.007 [DAT](INFO): DAT read: 21:14:00.4515 LVL= 27104, 16257, 32754, 32755, AGC= 51, IDX= 504,-0.37, 0.440, 1.884,-0.270, 0.851, PHS=-0.323, 1.080,-1.124, RAW= 351.0, 3.8, CAL= 351.8, 5.2, ROT= 158.2, -5.2
2025-06-11T21:13:59.026Z,1749676439.026 [DAT](INFO): got valid direction response:
21:14:00.4515 LVL= 27104, 16257, 32754, 32755, AGC= 51, IDX= 504,-0.37, 0.440, 1.884,-0.270, 0.851, PHS=-0.323, 1.080,-1.124, RAW= 351.0, 3.8, CAL= 351.8, 5.2, ROT= 158.2, -5.2
2025-06-11T21:13:59.027Z,1749676439.027 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-11T21:13:59.034Z,1749676439.034 [DAT](INFO): direction in FSK: [-0.924665,0.369840,0.090633]
2025-06-11T21:13:59.035Z,1749676439.035 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:59.055Z,1749676439.055 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.551479
2025-06-11T21:13:59.213Z,1749676439.213 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.710222
2025-06-11T21:13:59.307Z,1749676439.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.700000 m,
deltaT: 0.504194 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:13:59.313Z,1749676439.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.659778 m,
bearing: 70.449228 deg,
lat: 36.906699 deg,
lon: -122.115709 deg,
deltaT: 0.504194 s,
deltaX: -0.000015 m,
approachRate: -0.000029 m/s,
posRepo size: 4
2025-06-11T21:13:59.466Z,1749676439.466 [DAT](INFO): DAT read: Rx Time:21:14:00.9517
2025-06-11T21:13:59.466Z,1749676439.466 [DAT](INFO): Rx dataTimestamp_ set to:1749676439.465885
2025-06-11T21:13:59.467Z,1749676439.467 [DAT](INFO): DAT read: Bearing 156.7, -5.2 (Local)
2025-06-11T21:13:59.468Z,1749676439.468 [DAT](INFO): Local bearing/azimuth received:
Bearing 156.7, -5.2 (Local)
2025-06-11T21:13:59.470Z,1749676439.470 [DAT](INFO): DAT read: Range 10 to 50 : 5.0 m (trip time 3.3 ms) speed -0.3
2025-06-11T21:13:59.475Z,1749676439.475 [DAT](INFO): DAT read: 21:14:00.9517 LVL= 29104, 22129, 32754, 32755, AGC= 52, IDX= 505, 0.42,-1.349, 0.074,-2.136,-0.966, PHS=-0.295, 1.088,-1.173, RAW= 352.7, 3.9, CAL= 353.3, 5.2, ROT= 156.7, -5.2
2025-06-11T21:13:59.476Z,1749676439.476 [DAT](INFO): got valid direction response:
21:14:00.9517 LVL= 29104, 22129, 32754, 32755, AGC= 52, IDX= 505, 0.42,-1.349, 0.074,-2.136,-0.966, PHS=-0.295, 1.088,-1.173, RAW= 352.7, 3.9, CAL= 353.3, 5.2, ROT= 156.7, -5.2
2025-06-11T21:13:59.476Z,1749676439.476 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-11T21:13:59.477Z,1749676439.477 [DAT](INFO): direction in FSK: [-0.914666,0.393918,0.090633]
2025-06-11T21:13:59.478Z,1749676439.478 [DAT](INFO): publishing direction and range info
2025-06-11T21:13:59.481Z,1749676439.481 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.978376
2025-06-11T21:13:59.687Z,1749676439.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.000000 m,
deltaT: 0.504042 s,
deltaX: 0.300000 m,
approachRate: 0.595189 m/s,
rangeRepo size: 4
2025-06-11T21:13:59.689Z,1749676439.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.957210 m,
bearing: 70.213611 deg,
lat: 36.906700 deg,
lon: -122.115709 deg,
deltaT: 0.504042 s,
deltaX: 0.297432 m,
approachRate: 0.590095 m/s,
posRepo size: 4
2025-06-11T21:13:59.719Z,1749676439.719 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.216326
2025-06-11T21:13:59.974Z,1749676439.974 [DAT](INFO): DAT read: Rx Time:21:14:01.4516
2025-06-11T21:13:59.984Z,1749676439.984 [DAT](INFO): Rx dataTimestamp_ set to:1749676439.974771
2025-06-11T21:13:59.989Z,1749676439.989 [DAT](INFO): DAT read: Bearing 156.1, -3.1 (Local)
2025-06-11T21:13:59.990Z,1749676439.990 [DAT](INFO): Local bearing/azimuth received:
Bearing 156.1, -3.1 (Local)
2025-06-11T21:13:59.999Z,1749676439.999 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.3
2025-06-11T21:14:00.049Z,1749676440.049 [DAT](INFO): DAT read: 21:14:01.4516 LVL= 24224, 23281, 32754, 32755, AGC= 52, IDX= 505, 0.38,-2.750,-1.366, 2.736,-2.429, PHS=-0.232, 1.110,-1.121, RAW= 353.3, 2.5, CAL= 353.9, 3.1, ROT= 156.1, -3.1
2025-06-11T21:14:00.051Z,1749676440.051 [DAT](INFO): got valid direction response:
21:14:01.4516 LVL= 24224, 23281, 32754, 32755, AGC= 52, IDX= 505, 0.38,-2.750,-1.366, 2.736,-2.429, PHS=-0.232, 1.110,-1.121, RAW= 353.3, 2.5, CAL= 353.9, 3.1, ROT= 156.1, -3.1
2025-06-11T21:14:00.051Z,1749676440.051 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-11T21:14:00.076Z,1749676440.076 [DAT](INFO): direction in FSK: [-0.912916,0.404549,0.054079]
2025-06-11T21:14:00.077Z,1749676440.077 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:00.088Z,1749676440.088 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.585632
2025-06-11T21:14:00.187Z,1749676440.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 0.508886 s,
deltaX: -0.200000 m,
approachRate: -0.393015 m/s,
rangeRepo size: 4
2025-06-11T21:14:00.195Z,1749676440.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.758915 m,
bearing: 71.474454 deg,
lat: 36.906699 deg,
lon: -122.115709 deg,
deltaT: 0.508886 s,
deltaX: -0.198295 m,
approachRate: -0.389665 m/s,
posRepo size: 4
2025-06-11T21:14:00.221Z,1749676440.221 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.718176
2025-06-11T21:14:00.473Z,1749676440.473 [DAT](INFO): DAT read: Rx Time:21:14:01.9518
2025-06-11T21:14:00.474Z,1749676440.474 [DAT](INFO): Rx dataTimestamp_ set to:1749676440.473575
2025-06-11T21:14:00.475Z,1749676440.475 [DAT](INFO): DAT read: Bearing 157.8, -4.6 (Local)
2025-06-11T21:14:00.475Z,1749676440.475 [DAT](INFO): Local bearing/azimuth received:
Bearing 157.8, -4.6 (Local)
2025-06-11T21:14:00.478Z,1749676440.478 [DAT](INFO): DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed -0.3
2025-06-11T21:14:00.482Z,1749676440.482 [DAT](INFO): DAT read: 21:14:01.9518 LVL= 24368, 25633, 32754, 32755, AGC= 51, IDX= 507, 0.44,-1.390, 0.056,-2.122,-0.995, PHS=-0.307, 1.098,-1.130, RAW= 351.4, 3.5, CAL= 352.2, 4.6, ROT= 157.8, -4.6
2025-06-11T21:14:00.483Z,1749676440.483 [DAT](INFO): got valid direction response:
21:14:01.9518 LVL= 24368, 25633, 32754, 32755, AGC= 51, IDX= 507, 0.44,-1.390, 0.056,-2.122,-0.995, PHS=-0.307, 1.098,-1.130, RAW= 351.4, 3.5, CAL= 352.2, 4.6, ROT= 157.8, -4.6
2025-06-11T21:14:00.484Z,1749676440.484 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-11T21:14:00.485Z,1749676440.485 [DAT](INFO): direction in FSK: [-0.922888,0.376624,0.080199]
2025-06-11T21:14:00.485Z,1749676440.485 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:00.489Z,1749676440.489 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.986723
2025-06-11T21:14:00.573Z,1749676440.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.100000 m,
deltaT: 0.498804 s,
deltaX: 0.300000 m,
approachRate: 0.601438 m/s,
rangeRepo size: 4
2025-06-11T21:14:00.575Z,1749676440.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.056347 m,
bearing: 74.545906 deg,
lat: 36.906699 deg,
lon: -122.115707 deg,
deltaT: 0.498804 s,
deltaX: 0.297432 m,
approachRate: 0.596290 m/s,
posRepo size: 4
2025-06-11T21:14:00.725Z,1749676440.725 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.222645
2025-06-11T21:14:00.981Z,1749676440.981 [DAT](INFO): DAT read: Rx Time:21:14:02.4518
2025-06-11T21:14:00.981Z,1749676440.981 [DAT](INFO): Rx dataTimestamp_ set to:1749676440.980877
2025-06-11T21:14:00.982Z,1749676440.982 [DAT](INFO): DAT read: Bearing 158.4, -4.6 (Local)
2025-06-11T21:14:00.983Z,1749676440.983 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.4, -4.6 (Local)
2025-06-11T21:14:00.985Z,1749676440.985 [DAT](INFO): DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed -0.2
2025-06-11T21:14:00.990Z,1749676440.990 [DAT](INFO): DAT read: 21:14:02.4518 LVL= 21216, 25393, 31122, 32755, AGC= 49, IDX= 508,-0.36, 0.245, 1.640,-0.424, 0.637, PHS=-0.303, 1.050,-1.063, RAW= 350.8, 3.5, CAL= 351.6, 4.6, ROT= 158.4, -4.6
2025-06-11T21:14:00.991Z,1749676440.991 [DAT](INFO): got valid direction response:
21:14:02.4518 LVL= 21216, 25393, 31122, 32755, AGC= 49, IDX= 508,-0.36, 0.245, 1.640,-0.424, 0.637, PHS=-0.303, 1.050,-1.063, RAW= 350.8, 3.5, CAL= 351.6, 4.6, ROT= 158.4, -4.6
2025-06-11T21:14:00.992Z,1749676440.992 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-11T21:14:00.993Z,1749676440.993 [DAT](INFO): direction in FSK: [-0.926782,0.366939,0.080199]
2025-06-11T21:14:00.994Z,1749676440.994 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:01.007Z,1749676441.007 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.504152
2025-06-11T21:14:01.104Z,1749676441.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.100000 m,
deltaT: 0.507302 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:01.106Z,1749676441.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.056346 m,
bearing: 76.183494 deg,
lat: 36.906699 deg,
lon: -122.115708 deg,
deltaT: 0.507302 s,
deltaX: -0.000001 m,
approachRate: -0.000002 m/s,
posRepo size: 4
2025-06-11T21:14:01.233Z,1749676441.233 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.730156
2025-06-11T21:14:01.447Z,1749676441.447 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -39, +302, -BE, -39, +302,
2025-06-11T21:14:01.461Z,1749676441.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:14:01.482Z,1749676441.482 [DAT](INFO): DAT read: Rx Time:21:14:02.9519
2025-06-11T21:14:01.482Z,1749676441.482 [DAT](INFO): Rx dataTimestamp_ set to:1749676441.482073
2025-06-11T21:14:01.484Z,1749676441.484 [DAT](INFO): DAT read: Bearing 159.9, -5.5 (Local)
2025-06-11T21:14:01.484Z,1749676441.484 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.9, -5.5 (Local)
2025-06-11T21:14:01.486Z,1749676441.486 [DAT](INFO): DAT read: Range 10 to 50 : 5.3 m (trip time 3.5 ms) speed -0.3
2025-06-11T21:14:01.513Z,1749676441.513 [DAT](INFO): DAT read: 21:14:02.9519 LVL= 22336, 21313, 32754, 32755, AGC= 49, IDX= 509,-0.38, 0.854, 2.338, 0.221, 1.308, PHS=-0.366, 1.077,-1.089, RAW= 349.2, 4.0, CAL= 350.1, 5.5, ROT= 159.9, -5.5
2025-06-11T21:14:01.514Z,1749676441.514 [DAT](INFO): got valid direction response:
21:14:02.9519 LVL= 22336, 21313, 32754, 32755, AGC= 49, IDX= 509,-0.38, 0.854, 2.338, 0.221, 1.308, PHS=-0.366, 1.077,-1.089, RAW= 349.2, 4.0, CAL= 350.1, 5.5, ROT= 159.9, -5.5
2025-06-11T21:14:01.515Z,1749676441.515 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-11T21:14:01.518Z,1749676441.518 [DAT](INFO): direction in FSK: [-0.934771,0.342078,0.095846]
2025-06-11T21:14:01.518Z,1749676441.518 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:01.522Z,1749676441.522 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.019650
2025-06-11T21:14:01.733Z,1749676441.733 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.230118
2025-06-11T21:14:01.806Z,1749676441.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.501196 s,
deltaX: 0.200000 m,
approachRate: 0.399046 m/s,
rangeRepo size: 4
2025-06-11T21:14:01.821Z,1749676441.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.254634 m,
bearing: 79.733637 deg,
lat: 36.906697 deg,
lon: -122.115708 deg,
deltaT: 0.501196 s,
deltaX: 0.198288 m,
approachRate: 0.395631 m/s,
posRepo size: 4
2025-06-11T21:14:01.821Z,1749676441.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.30 m.
2025-06-11T21:14:01.987Z,1749676441.987 [DAT](INFO): DAT read: Rx Time:21:14:03.4520
2025-06-11T21:14:01.987Z,1749676441.987 [DAT](INFO): Rx dataTimestamp_ set to:1749676441.986861
2025-06-11T21:14:01.990Z,1749676441.990 [DAT](INFO): DAT read: Bearing 160.6, -4.7 (Local)
2025-06-11T21:14:01.990Z,1749676441.990 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.6, -4.7 (Local)
2025-06-11T21:14:01.998Z,1749676441.998 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed -0.3
2025-06-11T21:14:02.012Z,1749676442.012 [DAT](INFO): DAT read: 21:14:03.4520 LVL= 24144, 20913, 31346, 32755, AGC= 49, IDX= 509,-0.32,-0.896, 0.615,-1.507,-0.440, PHS=-0.367, 1.102,-1.070, RAW= 348.5, 3.5, CAL= 349.4, 4.7, ROT= 160.6, -4.7
2025-06-11T21:14:02.017Z,1749676442.017 [DAT](INFO): got valid direction response:
21:14:03.4520 LVL= 24144, 20913, 31346, 32755, AGC= 49, IDX= 509,-0.32,-0.896, 0.615,-1.507,-0.440, PHS=-0.367, 1.102,-1.070, RAW= 348.5, 3.5, CAL= 349.4, 4.7, ROT= 160.6, -4.7
2025-06-11T21:14:02.018Z,1749676442.018 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-11T21:14:02.023Z,1749676442.023 [DAT](INFO): direction in FSK: [-0.940051,0.331044,0.081939]
2025-06-11T21:14:02.035Z,1749676442.035 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:02.065Z,1749676442.065 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.562439
2025-06-11T21:14:02.231Z,1749676442.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.504788 s,
deltaX: 0.100000 m,
approachRate: 0.198103 m/s,
rangeRepo size: 4
2025-06-11T21:14:02.233Z,1749676442.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.353747 m,
bearing: 81.118898 deg,
lat: 36.906696 deg,
lon: -122.115708 deg,
deltaT: 0.504788 s,
deltaX: 0.099113 m,
approachRate: 0.196346 m/s,
posRepo size: 4
2025-06-11T21:14:02.234Z,1749676442.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.40 m.
2025-06-11T21:14:02.237Z,1749676442.237 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.734201
2025-06-11T21:14:02.490Z,1749676442.490 [DAT](INFO): DAT read: Rx Time:21:14:03.9522
2025-06-11T21:14:02.490Z,1749676442.490 [DAT](INFO): Rx dataTimestamp_ set to:1749676442.489985
2025-06-11T21:14:02.492Z,1749676442.492 [DAT](INFO): DAT read: Bearing 160.8, -4.7 (Local)
2025-06-11T21:14:02.492Z,1749676442.492 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.8, -4.7 (Local)
2025-06-11T21:14:02.494Z,1749676442.494 [DAT](INFO): DAT read: Range 10 to 50 : 5.7 m (trip time 3.8 ms) speed -0.3
2025-06-11T21:14:02.499Z,1749676442.499 [DAT](INFO): DAT read: 21:14:03.9522 LVL= 23952, 20641, 31938, 32755, AGC= 47, IDX= 511,-0.20,-0.352, 1.168,-0.958, 0.108, PHS=-0.373, 1.106,-1.069, RAW= 348.3, 3.5, CAL= 349.2, 4.7, ROT= 160.8, -4.7
2025-06-11T21:14:02.500Z,1749676442.500 [DAT](INFO): got valid direction response:
21:14:03.9522 LVL= 23952, 20641, 31938, 32755, AGC= 47, IDX= 511,-0.20,-0.352, 1.168,-0.958, 0.108, PHS=-0.373, 1.106,-1.069, RAW= 348.3, 3.5, CAL= 349.2, 4.7, ROT= 160.8, -4.7
2025-06-11T21:14:02.501Z,1749676442.501 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-11T21:14:02.502Z,1749676442.502 [DAT](INFO): direction in FSK: [-0.941201,0.327761,0.081939]
2025-06-11T21:14:02.502Z,1749676442.502 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:02.511Z,1749676442.511 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.008739
2025-06-11T21:14:02.661Z,1749676442.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 0.503124 s,
deltaX: 0.300000 m,
approachRate: 0.596274 m/s,
rangeRepo size: 4
2025-06-11T21:14:02.663Z,1749676442.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.651177 m,
bearing: 82.068554 deg,
lat: 36.906694 deg,
lon: -122.115708 deg,
deltaT: 0.503124 s,
deltaX: 0.297430 m,
approachRate: 0.591166 m/s,
posRepo size: 4
2025-06-11T21:14:02.741Z,1749676442.741 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.238401
2025-06-11T21:14:02.993Z,1749676442.993 [DAT](INFO): DAT read: Rx Time:21:14:04.4522
2025-06-11T21:14:02.994Z,1749676442.994 [DAT](INFO): Rx dataTimestamp_ set to:1749676442.993486
2025-06-11T21:14:02.995Z,1749676442.995 [DAT](INFO): DAT read: Bearing 160.4, -3.5 (Local)
2025-06-11T21:14:02.995Z,1749676442.995 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.4, -3.5 (Local)
2025-06-11T21:14:02.998Z,1749676442.998 [DAT](INFO): DAT read: Range 10 to 50 : 5.7 m (trip time 3.8 ms) speed -0.3
2025-06-11T21:14:03.002Z,1749676443.002 [DAT](INFO): DAT read: 21:14:04.4522 LVL= 24816, 20881, 28722, 32755, AGC= 46, IDX= 511,-0.03,-2.374,-0.873,-2.990,-1.948, PHS=-0.337, 1.122,-1.044, RAW= 348.7, 2.7, CAL= 349.6, 3.5, ROT= 160.4, -3.5
2025-06-11T21:14:03.003Z,1749676443.003 [DAT](INFO): got valid direction response:
21:14:04.4522 LVL= 24816, 20881, 28722, 32755, AGC= 46, IDX= 511,-0.03,-2.374,-0.873,-2.990,-1.948, PHS=-0.337, 1.122,-1.044, RAW= 348.7, 2.7, CAL= 349.6, 3.5, ROT= 160.4, -3.5
2025-06-11T21:14:03.004Z,1749676443.004 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-11T21:14:03.005Z,1749676443.005 [DAT](INFO): direction in FSK: [-0.940300,0.334826,0.061049]
2025-06-11T21:14:03.006Z,1749676443.006 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:03.013Z,1749676443.013 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.510464
2025-06-11T21:14:03.138Z,1749676443.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 0.503501 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:03.144Z,1749676443.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.651163 m,
bearing: 82.072815 deg,
lat: 36.906693 deg,
lon: -122.115708 deg,
deltaT: 0.503501 s,
deltaX: -0.000015 m,
approachRate: -0.000029 m/s,
posRepo size: 4
2025-06-11T21:14:03.245Z,1749676443.245 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.742584
2025-06-11T21:14:03.476Z,1749676443.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:14:03.497Z,1749676443.497 [DAT](INFO): DAT read: Rx Time:21:14:04.9524
2025-06-11T21:14:03.498Z,1749676443.498 [DAT](INFO): Rx dataTimestamp_ set to:1749676443.497528
2025-06-11T21:14:03.499Z,1749676443.499 [DAT](INFO): DAT read: Bearing 157.5, -3.4 (Local)
2025-06-11T21:14:03.499Z,1749676443.499 [DAT](INFO): Local bearing/azimuth received:
Bearing 157.5, -3.4 (Local)
2025-06-11T21:14:03.502Z,1749676443.502 [DAT](INFO): DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4
2025-06-11T21:14:03.507Z,1749676443.507 [DAT](INFO): DAT read: 21:14:04.9524 LVL= 26832, 20097, 30098, 32755, AGC= 46, IDX= 513, 0.11,-2.133,-0.958,-2.724,-1.823, PHS=-0.223, 0.912,-0.905, RAW= 351.8, 2.7, CAL= 352.5, 3.4, ROT= 157.5, -3.4
2025-06-11T21:14:03.508Z,1749676443.508 [DAT](INFO): got valid direction response:
21:14:04.9524 LVL= 26832, 20097, 30098, 32755, AGC= 46, IDX= 513, 0.11,-2.133,-0.958,-2.724,-1.823, PHS=-0.223, 0.912,-0.905, RAW= 351.8, 2.7, CAL= 352.5, 3.4, ROT= 157.5, -3.4
2025-06-11T21:14:03.509Z,1749676443.509 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-11T21:14:03.510Z,1749676443.510 [DAT](INFO): direction in FSK: [-0.922253,0.382010,0.059306]
2025-06-11T21:14:03.510Z,1749676443.510 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:03.514Z,1749676443.514 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.011356
2025-06-11T21:14:03.749Z,1749676443.749 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.246603
2025-06-11T21:14:03.842Z,1749676443.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.000000 m,
deltaT: 0.504042 s,
deltaX: 0.300000 m,
approachRate: 0.595189 m/s,
rangeRepo size: 4
2025-06-11T21:14:03.868Z,1749676443.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.948592 m,
bearing: 79.724543 deg,
lat: 36.906693 deg,
lon: -122.115708 deg,
deltaT: 0.504042 s,
deltaX: 0.297430 m,
approachRate: 0.590089 m/s,
posRepo size: 4
2025-06-11T21:14:04.002Z,1749676444.002 [DAT](INFO): DAT read: Rx Time:21:14:05.4525
2025-06-11T21:14:04.003Z,1749676444.003 [DAT](INFO): Rx dataTimestamp_ set to:1749676444.002666
2025-06-11T21:14:04.006Z,1749676444.006 [DAT](INFO): DAT read: Bearing 159.6, -1.9 (Local)
2025-06-11T21:14:04.007Z,1749676444.007 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.6, -1.9 (Local)
2025-06-11T21:14:04.017Z,1749676444.017 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.3
2025-06-11T21:14:04.055Z,1749676444.055 [DAT](INFO): DAT read: 21:14:05.4525 LVL= 12272, 16609, 14130, 19651, AGC= 51, IDX= 1, 0.24,-0.581, 0.951,-1.263,-0.199, PHS=-0.294, 1.197,-1.067, RAW= 349.6, 1.7, CAL= 350.4, 1.9, ROT= 159.6, -1.9
2025-06-11T21:14:04.069Z,1749676444.069 [DAT](INFO): got valid direction response:
21:14:05.4525 LVL= 12272, 16609, 14130, 19651, AGC= 51, IDX= 1, 0.24,-0.581, 0.951,-1.263,-0.199, PHS=-0.294, 1.197,-1.067, RAW= 349.6, 1.7, CAL= 350.4, 1.9, ROT= 159.6, -1.9
2025-06-11T21:14:04.071Z,1749676444.071 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-11T21:14:04.094Z,1749676444.094 [DAT](INFO): direction in FSK: [-0.936767,0.348380,0.033155]
2025-06-11T21:14:04.094Z,1749676444.094 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:04.106Z,1749676444.106 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.603165
2025-06-11T21:14:04.253Z,1749676444.253 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.750696
2025-06-11T21:14:04.294Z,1749676444.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.505138 s,
deltaX: 0.200000 m,
approachRate: 0.395931 m/s,
rangeRepo size: 4
2025-06-11T21:14:04.300Z,1749676444.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.146872 m,
bearing: 82.363398 deg,
lat: 36.906693 deg,
lon: -122.115708 deg,
deltaT: 0.505138 s,
deltaX: 0.198279 m,
approachRate: 0.392525 m/s,
posRepo size: 4
2025-06-11T21:14:04.505Z,1749676444.505 [DAT](INFO): DAT read: Rx Time:21:14:05.9526
2025-06-11T21:14:04.506Z,1749676444.506 [DAT](INFO): Rx dataTimestamp_ set to:1749676444.505656
2025-06-11T21:14:04.507Z,1749676444.507 [DAT](INFO): DAT read: Bearing 159.3, -3.8 (Local)
2025-06-11T21:14:04.508Z,1749676444.508 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.3, -3.8 (Local)
2025-06-11T21:14:04.510Z,1749676444.510 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4
2025-06-11T21:14:04.515Z,1749676444.515 [DAT](INFO): DAT read: 21:14:05.9526 LVL= 28720, 18897, 32498, 32755, AGC= 49, IDX= 498, 0.35, 0.139, 1.682,-0.560, 0.561, PHS=-0.334, 1.168,-1.124, RAW= 349.8, 2.9, CAL= 350.7, 3.8, ROT= 159.3, -3.8
2025-06-11T21:14:04.516Z,1749676444.516 [DAT](INFO): got valid direction response:
21:14:05.9526 LVL= 28720, 18897, 32498, 32755, AGC= 49, IDX= 498, 0.35, 0.139, 1.682,-0.560, 0.561, PHS=-0.334, 1.168,-1.124, RAW= 349.8, 2.9, CAL= 350.7, 3.8, ROT= 159.3, -3.8
2025-06-11T21:14:04.516Z,1749676444.516 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-11T21:14:04.517Z,1749676444.517 [DAT](INFO): direction in FSK: [-0.933387,0.352698,0.066274]
2025-06-11T21:14:04.517Z,1749676444.517 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:04.522Z,1749676444.522 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.019154
2025-06-11T21:14:04.646Z,1749676444.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.502990 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:04.653Z,1749676444.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.146872 m,
bearing: 82.673029 deg,
lat: 36.906693 deg,
lon: -122.115708 deg,
deltaT: 0.502990 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-11T21:14:04.757Z,1749676444.757 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.254181
2025-06-11T21:14:05.010Z,1749676445.010 [DAT](INFO): DAT read: Rx Time:21:14:06.4526
2025-06-11T21:14:05.010Z,1749676445.010 [DAT](INFO): Rx dataTimestamp_ set to:1749676445.009708
2025-06-11T21:14:05.011Z,1749676445.011 [DAT](INFO): DAT read: Bearing 159.0, -4.6 (Local)
2025-06-11T21:14:05.012Z,1749676445.012 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.0, -4.6 (Local)
2025-06-11T21:14:05.014Z,1749676445.014 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4
2025-06-11T21:14:05.023Z,1749676445.023 [DAT](INFO): DAT read: 21:14:06.4526 LVL= 29936, 19345, 32754, 32755, AGC= 48, IDX= 499,-0.36,-2.474,-0.991, 3.121,-2.053, PHS=-0.332, 1.109,-1.112, RAW= 350.2, 3.5, CAL= 351.0, 4.6, ROT= 159.0, -4.6
2025-06-11T21:14:05.028Z,1749676445.028 [DAT](INFO): got valid direction response:
21:14:06.4526 LVL= 29936, 19345, 32754, 32755, AGC= 48, IDX= 499,-0.36,-2.474,-0.991, 3.121,-2.053, PHS=-0.332, 1.109,-1.112, RAW= 350.2, 3.5, CAL= 351.0, 4.6, ROT= 159.0, -4.6
2025-06-11T21:14:05.028Z,1749676445.028 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-11T21:14:05.030Z,1749676445.030 [DAT](INFO): direction in FSK: [-0.930573,0.357214,0.080199]
2025-06-11T21:14:05.030Z,1749676445.030 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:05.033Z,1749676445.033 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.530666
2025-06-11T21:14:05.160Z,1749676445.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.504052 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:05.162Z,1749676445.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.146868 m,
bearing: 82.709459 deg,
lat: 36.906693 deg,
lon: -122.115708 deg,
deltaT: 0.504052 s,
deltaX: -0.000004 m,
approachRate: -0.000008 m/s,
posRepo size: 4
2025-06-11T21:14:05.261Z,1749676445.261 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.758221
2025-06-11T21:14:05.513Z,1749676445.513 [DAT](INFO): DAT read: Rx Time:21:14:06.9528
2025-06-11T21:14:05.514Z,1749676445.514 [DAT](INFO): Rx dataTimestamp_ set to:1749676445.513596
2025-06-11T21:14:05.515Z,1749676445.515 [DAT](INFO): DAT read: Bearing 158.5, -2.8 (Local)
2025-06-11T21:14:05.516Z,1749676445.516 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.5, -2.8 (Local)
2025-06-11T21:14:05.518Z,1749676445.518 [DAT](INFO): DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed -0.4
2025-06-11T21:14:05.523Z,1749676445.523 [DAT](INFO): DAT read: 21:14:06.9528 LVL= 26176, 18609, 29554, 32755, AGC= 50, IDX= 501,-0.06,-1.510,-0.038,-2.218,-1.137, PHS=-0.285, 1.147,-1.084, RAW= 350.7, 2.3, CAL= 351.5, 2.8, ROT= 158.5, -2.8
2025-06-11T21:14:05.524Z,1749676445.524 [DAT](INFO): got valid direction response:
21:14:06.9528 LVL= 26176, 18609, 29554, 32755, AGC= 50, IDX= 501,-0.06,-1.510,-0.038,-2.218,-1.137, PHS=-0.285, 1.147,-1.084, RAW= 350.7, 2.3, CAL= 351.5, 2.8, ROT= 158.5, -2.8
2025-06-11T21:14:05.524Z,1749676445.524 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-11T21:14:05.525Z,1749676445.525 [DAT](INFO): direction in FSK: [-0.929307,0.366064,0.048850]
2025-06-11T21:14:05.525Z,1749676445.525 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:05.575Z,1749676445.575 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.071129
2025-06-11T21:14:05.655Z,1749676445.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.503888 s,
deltaX: 0.300000 m,
approachRate: 0.595371 m/s,
rangeRepo size: 4
2025-06-11T21:14:05.662Z,1749676445.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.444297 m,
bearing: 82.125512 deg,
lat: 36.906693 deg,
lon: -122.115708 deg,
deltaT: 0.503888 s,
deltaX: 0.297430 m,
approachRate: 0.590269 m/s,
posRepo size: 4
2025-06-11T21:14:05.766Z,1749676445.766 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.263069
2025-06-11T21:14:05.991Z,1749676445.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:14:06.017Z,1749676446.017 [DAT](INFO): DAT read: Rx Time:21:14:07.4529
2025-06-11T21:14:06.018Z,1749676446.018 [DAT](INFO): Rx dataTimestamp_ set to:1749676446.017570
2025-06-11T21:14:06.019Z,1749676446.019 [DAT](INFO): DAT read: Bearing 158.5, -1.6 (Local)
2025-06-11T21:14:06.019Z,1749676446.019 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.5, -1.6 (Local)
2025-06-11T21:14:06.022Z,1749676446.022 [DAT](INFO): DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4
2025-06-11T21:14:06.027Z,1749676446.027 [DAT](INFO): DAT read: 21:14:07.4529 LVL= 25488, 19425, 29266, 32755, AGC= 49, IDX= 501, 0.18,-0.304, 1.215,-1.043, 0.051, PHS=-0.267, 1.211,-1.097, RAW= 350.8, 1.5, CAL= 351.5, 1.6, ROT= 158.5, -1.6
2025-06-11T21:14:06.028Z,1749676446.028 [DAT](INFO): got valid direction response:
21:14:07.4529 LVL= 25488, 19425, 29266, 32755, AGC= 49, IDX= 501, 0.18,-0.304, 1.215,-1.043, 0.051, PHS=-0.267, 1.211,-1.097, RAW= 350.8, 1.5, CAL= 351.5, 1.6, ROT= 158.5, -1.6
2025-06-11T21:14:06.028Z,1749676446.028 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-11T21:14:06.029Z,1749676446.029 [DAT](INFO): direction in FSK: [-0.930055,0.366358,0.027922]
2025-06-11T21:14:06.029Z,1749676446.029 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:06.033Z,1749676446.033 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.530327
2025-06-11T21:14:06.269Z,1749676446.269 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.766190
2025-06-11T21:14:06.483Z,1749676446.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.600000 m,
deltaT: 0.503974 s,
deltaX: 0.100000 m,
approachRate: 0.198423 m/s,
rangeRepo size: 4
2025-06-11T21:14:06.491Z,1749676446.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.543430 m,
bearing: 82.214444 deg,
lat: 36.906693 deg,
lon: -122.115709 deg,
deltaT: 0.503974 s,
deltaX: 0.099133 m,
approachRate: 0.196703 m/s,
posRepo size: 4
2025-06-11T21:14:06.522Z,1749676446.522 [DAT](INFO): DAT read: Rx Time:21:14:07.9531
2025-06-11T21:14:06.522Z,1749676446.522 [DAT](INFO): Rx dataTimestamp_ set to:1749676446.521730
2025-06-11T21:14:06.523Z,1749676446.523 [DAT](INFO): DAT read: Bearing 158.4, -4.9 (Local)
2025-06-11T21:14:06.524Z,1749676446.524 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.4, -4.9 (Local)
2025-06-11T21:14:06.526Z,1749676446.526 [DAT](INFO): DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4
2025-06-11T21:14:06.531Z,1749676446.531 [DAT](INFO): DAT read: 21:14:07.9531 LVL= 29472, 18577, 32754, 32755, AGC= 49, IDX= 504,-0.44, 0.459, 1.977,-0.283, 0.883, PHS=-0.336, 1.141,-1.170, RAW= 350.9, 3.6, CAL= 351.6, 4.9, ROT= 158.4, -4.9
2025-06-11T21:14:06.532Z,1749676446.532 [DAT](INFO): got valid direction response:
21:14:07.9531 LVL= 29472, 18577, 32754, 32755, AGC= 49, IDX= 504,-0.44, 0.459, 1.977,-0.283, 0.883, PHS=-0.336, 1.141,-1.170, RAW= 350.9, 3.6, CAL= 351.6, 4.9, ROT= 158.4, -4.9
2025-06-11T21:14:06.533Z,1749676446.533 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-11T21:14:06.534Z,1749676446.534 [DAT](INFO): direction in FSK: [-0.926378,0.366779,0.085417]
2025-06-11T21:14:06.534Z,1749676446.534 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:06.538Z,1749676446.538 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.035435
2025-06-11T21:14:06.774Z,1749676446.774 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.270931
2025-06-11T21:14:06.872Z,1749676446.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.504160 s,
deltaX: 0.300000 m,
approachRate: 0.595050 m/s,
rangeRepo size: 4
2025-06-11T21:14:06.874Z,1749676446.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.840859 m,
bearing: 82.519310 deg,
lat: 36.906694 deg,
lon: -122.115710 deg,
deltaT: 0.504160 s,
deltaX: 0.297429 m,
approachRate: 0.589950 m/s,
posRepo size: 4
2025-06-11T21:14:07.026Z,1749676447.026 [DAT](INFO): DAT read: Rx Time:21:14:08.4531
2025-06-11T21:14:07.026Z,1749676447.026 [DAT](INFO): Rx dataTimestamp_ set to:1749676447.026118
2025-06-11T21:14:07.028Z,1749676447.028 [DAT](INFO): DAT read: Bearing 158.1, -1.6 (Local)
2025-06-11T21:14:07.028Z,1749676447.028 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.1, -1.6 (Local)
2025-06-11T21:14:07.030Z,1749676447.030 [DAT](INFO): DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4
2025-06-11T21:14:07.049Z,1749676447.049 [DAT](INFO): DAT read: 21:14:08.4531 LVL= 24928, 18593, 29874, 32755, AGC= 49, IDX= 504, 0.05,-0.914, 0.593,-1.668,-0.568, PHS=-0.258, 1.208,-1.103, RAW= 351.2, 1.5, CAL= 351.9, 1.6, ROT= 158.1, -1.6
2025-06-11T21:14:07.051Z,1749676447.051 [DAT](INFO): got valid direction response:
21:14:08.4531 LVL= 24928, 18593, 29874, 32755, AGC= 49, IDX= 504, 0.05,-0.914, 0.593,-1.668,-0.568, PHS=-0.258, 1.208,-1.103, RAW= 351.2, 1.5, CAL= 351.9, 1.6, ROT= 158.1, -1.6
2025-06-11T21:14:07.051Z,1749676447.051 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-11T21:14:07.057Z,1749676447.057 [DAT](INFO): direction in FSK: [-0.927475,0.372842,0.027922]
2025-06-11T21:14:07.058Z,1749676447.058 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:07.076Z,1749676447.076 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.573502
2025-06-11T21:14:07.277Z,1749676447.277 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.774269
2025-06-11T21:14:07.289Z,1749676447.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.504388 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:07.291Z,1749676447.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.840845 m,
bearing: 81.871822 deg,
lat: 36.906694 deg,
lon: -122.115710 deg,
deltaT: 0.504388 s,
deltaX: -0.000014 m,
approachRate: -0.000028 m/s,
posRepo size: 4
2025-06-11T21:14:07.529Z,1749676447.529 [DAT](INFO): DAT read: Rx Time:21:14:08.9534
2025-06-11T21:14:07.530Z,1749676447.530 [DAT](INFO): Rx dataTimestamp_ set to:1749676447.529502
2025-06-11T21:14:07.531Z,1749676447.531 [DAT](INFO): DAT read: Bearing 158.2, -2.8 (Local)
2025-06-11T21:14:07.531Z,1749676447.531 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.2, -2.8 (Local)
2025-06-11T21:14:07.534Z,1749676447.534 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4
2025-06-11T21:14:07.538Z,1749676447.538 [DAT](INFO): DAT read: 21:14:08.9534 LVL= 29296, 18721, 32754, 32755, AGC= 49, IDX= 506, 0.49, 0.417, 1.954,-0.345, 0.799, PHS=-0.294, 1.202,-1.147, RAW= 351.0, 2.3, CAL= 351.8, 2.8, ROT= 158.2, -2.8
2025-06-11T21:14:07.539Z,1749676447.539 [DAT](INFO): got valid direction response:
21:14:08.9534 LVL= 29296, 18721, 32754, 32755, AGC= 49, IDX= 506, 0.49, 0.417, 1.954,-0.345, 0.799, PHS=-0.294, 1.202,-1.147, RAW= 351.0, 2.3, CAL= 351.8, 2.8, ROT= 158.2, -2.8
2025-06-11T21:14:07.540Z,1749676447.540 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-11T21:14:07.541Z,1749676447.541 [DAT](INFO): direction in FSK: [-0.927377,0.370925,0.048850]
2025-06-11T21:14:07.541Z,1749676447.541 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:07.550Z,1749676447.550 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.047104
2025-06-11T21:14:07.668Z,1749676447.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.503384 s,
deltaX: 0.500000 m,
approachRate: 0.993277 m/s,
rangeRepo size: 4
2025-06-11T21:14:07.670Z,1749676447.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.336559 m,
bearing: 82.073523 deg,
lat: 36.906694 deg,
lon: -122.115710 deg,
deltaT: 0.503384 s,
deltaX: 0.495714 m,
approachRate: 0.984763 m/s,
posRepo size: 4
2025-06-11T21:14:07.782Z,1749676447.782 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.279045
2025-06-11T21:14:08.034Z,1749676448.034 [DAT](INFO): DAT read: Rx Time:21:14:09.4534
2025-06-11T21:14:08.034Z,1749676448.034 [DAT](INFO): Rx dataTimestamp_ set to:1749676448.033909
2025-06-11T21:14:08.036Z,1749676448.036 [DAT](INFO): DAT read: Bearing 158.2, -1.7 (Local)
2025-06-11T21:14:08.036Z,1749676448.036 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.2, -1.7 (Local)
2025-06-11T21:14:08.038Z,1749676448.038 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4
2025-06-11T21:14:08.063Z,1749676448.063 [DAT](INFO): DAT read: 21:14:09.4534 LVL= 27088, 18801, 32306, 32755, AGC= 50, IDX= 507, 0.04,-1.637,-0.115,-2.396,-1.285, PHS=-0.264, 1.216,-1.114, RAW= 351.1, 1.6, CAL= 351.8, 1.7, ROT= 158.2, -1.7
2025-06-11T21:14:08.107Z,1749676448.107 [DAT](INFO): got valid direction response:
21:14:09.4534 LVL= 27088, 18801, 32306, 32755, AGC= 50, IDX= 507, 0.04,-1.637,-0.115,-2.396,-1.285, PHS=-0.264, 1.216,-1.114, RAW= 351.1, 1.6, CAL= 351.8, 1.7, ROT= 158.2, -1.7
2025-06-11T21:14:08.125Z,1749676448.125 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-11T21:14:08.129Z,1749676448.129 [DAT](INFO): direction in FSK: [-0.928077,0.371204,0.029666]
2025-06-11T21:14:08.130Z,1749676448.130 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:08.162Z,1749676448.162 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.659092
2025-06-11T21:14:08.170Z,1749676448.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.504407 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:08.176Z,1749676448.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.336414 m,
bearing: 81.944059 deg,
lat: 36.906695 deg,
lon: -122.115710 deg,
deltaT: 0.504407 s,
deltaX: -0.000144 m,
approachRate: -0.000286 m/s,
posRepo size: 4
2025-06-11T21:14:08.285Z,1749676448.285 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.782230
2025-06-11T21:14:08.502Z,1749676448.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:14:08.539Z,1749676448.539 [DAT](INFO): DAT read: Rx Time:21:14:09.9536
2025-06-11T21:14:08.539Z,1749676448.539 [DAT](INFO): Rx dataTimestamp_ set to:1749676448.538695
2025-06-11T21:14:08.541Z,1749676448.541 [DAT](INFO): DAT read: Bearing 157.9, -0.9 (Local)
2025-06-11T21:14:08.542Z,1749676448.542 [DAT](INFO): Local bearing/azimuth received:
Bearing 157.9, -0.9 (Local)
2025-06-11T21:14:08.546Z,1749676448.546 [DAT](INFO): DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4
2025-06-11T21:14:08.553Z,1749676448.553 [DAT](INFO): DAT read: 21:14:09.9536 LVL= 23280, 19665, 27234, 32755, AGC= 48, IDX= 509,-0.32, 2.466,-2.349, 1.724, 2.788, PHS=-0.234, 1.193,-1.067, RAW= 351.4, 1.1, CAL= 352.1, 0.9, ROT= 157.9, -0.9
2025-06-11T21:14:08.555Z,1749676448.555 [DAT](INFO): got valid direction response:
21:14:09.9536 LVL= 23280, 19665, 27234, 32755, AGC= 48, IDX= 509,-0.32, 2.466,-2.349, 1.724, 2.788, PHS=-0.234, 1.193,-1.067, RAW= 351.4, 1.1, CAL= 352.1, 0.9, ROT= 157.9, -0.9
2025-06-11T21:14:08.570Z,1749676448.570 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-11T21:14:08.576Z,1749676448.576 [DAT](INFO): direction in FSK: [-0.926414,0.376178,0.015707]
2025-06-11T21:14:08.577Z,1749676448.577 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:08.589Z,1749676448.589 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.086212
2025-06-11T21:14:08.789Z,1749676448.789 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.286175
2025-06-11T21:14:08.881Z,1749676448.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.504786 s,
deltaX: 0.300000 m,
approachRate: 0.594311 m/s,
rangeRepo size: 4
2025-06-11T21:14:08.909Z,1749676448.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.633836 m,
bearing: 81.586175 deg,
lat: 36.906695 deg,
lon: -122.115710 deg,
deltaT: 0.504786 s,
deltaX: 0.297422 m,
approachRate: 0.589204 m/s,
posRepo size: 4
2025-06-11T21:14:09.042Z,1749676449.042 [DAT](INFO): DAT read: Rx Time:21:14:10.4537
2025-06-11T21:14:09.042Z,1749676449.042 [DAT](INFO): Rx dataTimestamp_ set to:1749676449.041737
2025-06-11T21:14:09.043Z,1749676449.043 [DAT](INFO): DAT read: Bearing 157.7, 1.2 (Local)
2025-06-11T21:14:09.044Z,1749676449.044 [DAT](INFO): Local bearing/azimuth received:
Bearing 157.7, 1.2 (Local)
2025-06-11T21:14:09.046Z,1749676449.046 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4
2025-06-11T21:14:09.051Z,1749676449.051 [DAT](INFO): DAT read: 21:14:10.4537 LVL= 20576, 19361, 23922, 32755, AGC= 49, IDX= 509, 0.13, 2.061,-2.727, 1.291, 2.334, PHS=-0.185, 1.269,-1.046, RAW= 351.6, -0.4, CAL= 352.3, -1.2, ROT= 157.7, 1.2
2025-06-11T21:14:09.052Z,1749676449.052 [DAT](INFO): got valid direction response:
21:14:10.4537 LVL= 20576, 19361, 23922, 32755, AGC= 49, IDX= 509, 0.13, 2.061,-2.727, 1.291, 2.334, PHS=-0.185, 1.269,-1.046, RAW= 351.6, -0.4, CAL= 352.3, -1.2, ROT= 157.7, 1.2
2025-06-11T21:14:09.053Z,1749676449.053 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-11T21:14:09.054Z,1749676449.054 [DAT](INFO): direction in FSK: [-0.925007,0.379373,-0.020942]
2025-06-11T21:14:09.054Z,1749676449.054 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:09.058Z,1749676449.058 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.554947
2025-06-11T21:14:09.294Z,1749676449.294 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.791206
2025-06-11T21:14:09.462Z,1749676449.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.503042 s,
deltaX: 0.100000 m,
approachRate: 0.198791 m/s,
rangeRepo size: 4
2025-06-11T21:14:09.481Z,1749676449.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.732913 m,
bearing: 81.222591 deg,
lat: 36.906695 deg,
lon: -122.115710 deg,
deltaT: 0.503042 s,
deltaX: 0.099077 m,
approachRate: 0.196956 m/s,
posRepo size: 4
2025-06-11T21:14:09.546Z,1749676449.546 [DAT](INFO): DAT read: Rx Time:21:14:10.9540
2025-06-11T21:14:09.546Z,1749676449.546 [DAT](INFO): Rx dataTimestamp_ set to:1749676449.545801
2025-06-11T21:14:09.547Z,1749676449.547 [DAT](INFO): DAT read: Bearing 141.4, 3.4 (Local)
2025-06-11T21:14:09.548Z,1749676449.548 [DAT](INFO): Local bearing/azimuth received:
Bearing 141.4, 3.4 (Local)
2025-06-11T21:14:09.550Z,1749676449.550 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed -0.4
2025-06-11T21:14:09.556Z,1749676449.556 [DAT](INFO): DAT read: 21:14:10.9540 LVL= 21936, 22001, 26322, 32755, AGC= 51, IDX= 512,-0.28,-0.381, 0.593,-1.901,-0.576, PHS= 0.283, 1.216,-1.329, RAW= 8.8, -1.5, CAL= 8.6, -3.4, ROT= 141.4, 3.4
2025-06-11T21:14:09.557Z,1749676449.557 [DAT](INFO): got valid direction response:
21:14:10.9540 LVL= 21936, 22001, 26322, 32755, AGC= 51, IDX= 512,-0.28,-0.381, 0.593,-1.901,-0.576, PHS= 0.283, 1.216,-1.329, RAW= 8.8, -1.5, CAL= 8.6, -3.4, ROT= 141.4, 3.4
2025-06-11T21:14:09.557Z,1749676449.557 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-11T21:14:09.558Z,1749676449.558 [DAT](INFO): direction in FSK: [-0.780145,0.622782,-0.059306]
2025-06-11T21:14:09.559Z,1749676449.559 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:09.562Z,1749676449.562 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.059582
2025-06-11T21:14:09.797Z,1749676449.797 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.294373
2025-06-11T21:14:09.958Z,1749676449.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.504064 s,
deltaX: 0.500000 m,
approachRate: 0.991938 m/s,
rangeRepo size: 4
2025-06-11T21:14:09.965Z,1749676449.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.228613 m,
bearing: 64.917917 deg,
lat: 36.906696 deg,
lon: -122.115710 deg,
deltaT: 0.504064 s,
deltaX: 0.495699 m,
approachRate: 0.983406 m/s,
posRepo size: 4
2025-06-11T21:14:10.050Z,1749676450.050 [DAT](INFO): DAT read: Rx Time:21:14:11.4540
2025-06-11T21:14:10.050Z,1749676450.050 [DAT](INFO): Rx dataTimestamp_ set to:1749676450.049702
2025-06-11T21:14:10.051Z,1749676450.051 [DAT](INFO): DAT read: Bearing 150.5, 2.1 (Local)
2025-06-11T21:14:10.052Z,1749676450.052 [DAT](INFO): Local bearing/azimuth received:
Bearing 150.5, 2.1 (Local)
2025-06-11T21:14:10.054Z,1749676450.054 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed -0.4
2025-06-11T21:14:10.059Z,1749676450.059 [DAT](INFO): DAT read: 21:14:11.4540 LVL= 24432, 19041, 29666, 32755, AGC= 49, IDX= 512, 0.11, 0.830, 2.099,-0.245, 0.911, PHS= 0.007, 1.235,-1.159, RAW= 359.1, -0.8, CAL= 359.5, -2.1, ROT= 150.5, 2.1
2025-06-11T21:14:10.060Z,1749676450.060 [DAT](INFO): got valid direction response:
21:14:11.4540 LVL= 24432, 19041, 29666, 32755, AGC= 49, IDX= 512, 0.11, 0.830, 2.099,-0.245, 0.911, PHS= 0.007, 1.235,-1.159, RAW= 359.1, -0.8, CAL= 359.5, -2.1, ROT= 150.5, 2.1
2025-06-11T21:14:10.060Z,1749676450.060 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-11T21:14:10.061Z,1749676450.061 [DAT](INFO): direction in FSK: [-0.869771,0.492093,-0.036644]
2025-06-11T21:14:10.062Z,1749676450.062 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:10.074Z,1749676450.074 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.571304
2025-06-11T21:14:10.302Z,1749676450.302 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.799225
2025-06-11T21:14:10.486Z,1749676450.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.503901 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:10.490Z,1749676450.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.228711 m,
bearing: 74.196166 deg,
lat: 36.906697 deg,
lon: -122.115712 deg,
deltaT: 0.503901 s,
deltaX: 0.000098 m,
approachRate: 0.000195 m/s,
posRepo size: 4
2025-06-11T21:14:10.554Z,1749676450.554 [DAT](INFO): DAT read: Rx Time:21:14:11.9542
2025-06-11T21:14:10.554Z,1749676450.554 [DAT](INFO): Rx dataTimestamp_ set to:1749676450.553717
2025-06-11T21:14:10.555Z,1749676450.555 [DAT](INFO): DAT read: Bearing 158.0, -2.5 (Local)
2025-06-11T21:14:10.556Z,1749676450.556 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.0, -2.5 (Local)
2025-06-11T21:14:10.559Z,1749676450.559 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.4
2025-06-11T21:14:10.566Z,1749676450.566 [DAT](INFO): DAT read: 21:14:11.9542 LVL= 15920, 18801, 20962, 27219, AGC= 54, IDX= 3,-0.40,-2.463,-0.978, 3.075,-2.102, PHS=-0.272, 1.172,-1.109, RAW= 351.3, 2.1, CAL= 352.0, 2.5, ROT= 158.0, -2.5
2025-06-11T21:14:10.569Z,1749676450.569 [DAT](INFO): got valid direction response:
21:14:11.9542 LVL= 15920, 18801, 20962, 27219, AGC= 54, IDX= 3,-0.40,-2.463,-0.978, 3.075,-2.102, PHS=-0.272, 1.172,-1.109, RAW= 351.3, 2.1, CAL= 352.0, 2.5, ROT= 158.0, -2.5
2025-06-11T21:14:10.570Z,1749676450.570 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-11T21:14:10.571Z,1749676450.571 [DAT](INFO): direction in FSK: [-0.926301,0.374250,0.043619]
2025-06-11T21:14:10.572Z,1749676450.572 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:10.601Z,1749676450.601 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.098110
2025-06-11T21:14:10.805Z,1749676450.805 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.302402
2025-06-11T21:14:10.853Z,1749676450.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.504015 s,
deltaX: 0.400000 m,
approachRate: 0.793626 m/s,
rangeRepo size: 4
2025-06-11T21:14:10.854Z,1749676450.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.625276 m,
bearing: 82.087955 deg,
lat: 36.906697 deg,
lon: -122.115712 deg,
deltaT: 0.504015 s,
deltaX: 0.396564 m,
approachRate: 0.786811 m/s,
posRepo size: 4
2025-06-11T21:14:11.061Z,1749676451.061 [DAT](INFO): DAT read: Rx Time:21:14:12.4542
2025-06-11T21:14:11.062Z,1749676451.062 [DAT](INFO): Rx dataTimestamp_ set to:1749676451.061288
2025-06-11T21:14:11.063Z,1749676451.063 [DAT](INFO): DAT read: Bearing 157.9, 0.9 (Local)
2025-06-11T21:14:11.063Z,1749676451.063 [DAT](INFO): Local bearing/azimuth received:
Bearing 157.9, 0.9 (Local)
2025-06-11T21:14:11.072Z,1749676451.072 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.4
2025-06-11T21:14:11.081Z,1749676451.081 [DAT](INFO): DAT read: 21:14:12.4542 LVL= 22592, 17905, 27778, 32755, AGC= 50, IDX= 499, 0.09,-2.973,-1.488, 2.558,-2.691, PHS=-0.193, 1.251,-1.037, RAW= 351.4, -0.2, CAL= 352.1, -0.9, ROT= 157.9, 0.9
2025-06-11T21:14:11.082Z,1749676451.082 [DAT](INFO): got valid direction response:
21:14:12.4542 LVL= 22592, 17905, 27778, 32755, AGC= 50, IDX= 499, 0.09,-2.973,-1.488, 2.558,-2.691, PHS=-0.193, 1.251,-1.037, RAW= 351.4, -0.2, CAL= 352.1, -0.9, ROT= 157.9, 0.9
2025-06-11T21:14:11.083Z,1749676451.083 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-11T21:14:11.088Z,1749676451.088 [DAT](INFO): direction in FSK: [-0.926414,0.376178,-0.015707]
2025-06-11T21:14:11.088Z,1749676451.088 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:11.098Z,1749676451.098 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.594467
2025-06-11T21:14:11.249Z,1749676451.249 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:14:11.309Z,1749676451.309 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.806190
2025-06-11T21:14:11.347Z,1749676451.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.507571 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:11.353Z,1749676451.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.625351 m,
bearing: 81.755451 deg,
lat: 36.906697 deg,
lon: -122.115712 deg,
deltaT: 0.507571 s,
deltaX: 0.000075 m,
approachRate: 0.000148 m/s,
posRepo size: 4
2025-06-11T21:14:11.562Z,1749676451.562 [DAT](INFO): DAT read: Rx Time:21:14:12.9545
2025-06-11T21:14:11.562Z,1749676451.562 [DAT](INFO): Rx dataTimestamp_ set to:1749676451.561822
2025-06-11T21:14:11.564Z,1749676451.564 [DAT](INFO): DAT read: Bearing 158.3, -1.5 (Local)
2025-06-11T21:14:11.564Z,1749676451.564 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.3, -1.5 (Local)
2025-06-11T21:14:11.567Z,1749676451.567 [DAT](INFO): DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed -0.4
2025-06-11T21:14:11.606Z,1749676451.606 [DAT](INFO): DAT read: 21:14:12.9545 LVL= 25360, 18289, 30962, 32755, AGC= 50, IDX= 501, 0.44,-0.145, 1.360,-0.888, 0.201, PHS=-0.258, 1.206,-1.092, RAW= 351.0, 1.5, CAL= 351.7, 1.5, ROT= 158.3, -1.5
2025-06-11T21:14:11.607Z,1749676451.607 [DAT](INFO): got valid direction response:
21:14:12.9545 LVL= 25360, 18289, 30962, 32755, AGC= 50, IDX= 501, 0.44,-0.145, 1.360,-0.888, 0.201, PHS=-0.258, 1.206,-1.092, RAW= 351.0, 1.5, CAL= 351.7, 1.5, ROT= 158.3, -1.5
2025-06-11T21:14:11.607Z,1749676451.607 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-11T21:14:11.625Z,1749676451.625 [DAT](INFO): direction in FSK: [-0.928814,0.369620,0.026177]
2025-06-11T21:14:11.625Z,1749676451.625 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:11.657Z,1749676451.657 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.154663
2025-06-11T21:14:11.714Z,1749676451.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.500534 s,
deltaX: 0.500000 m,
approachRate: 0.998933 m/s,
rangeRepo size: 4
2025-06-11T21:14:11.720Z,1749676451.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.121060 m,
bearing: 82.516216 deg,
lat: 36.906697 deg,
lon: -122.115710 deg,
deltaT: 0.500534 s,
deltaX: 0.495709 m,
approachRate: 0.990361 m/s,
posRepo size: 4
2025-06-11T21:14:11.813Z,1749676451.813 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.310333
2025-06-11T21:14:12.046Z,1749676452.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:14:12.065Z,1749676452.065 [DAT](INFO): DAT read: Rx Time:21:14:13.4545
2025-06-11T21:14:12.066Z,1749676452.066 [DAT](INFO): Rx dataTimestamp_ set to:1749676452.065664
2025-06-11T21:14:12.067Z,1749676452.067 [DAT](INFO): DAT read: Bearing 158.3, -2.3 (Local)
2025-06-11T21:14:12.068Z,1749676452.068 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.3, -2.3 (Local)
2025-06-11T21:14:12.070Z,1749676452.070 [DAT](INFO): DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed -0.4
2025-06-11T21:14:12.076Z,1749676452.076 [DAT](INFO): DAT read: 21:14:13.4545 LVL= 28144, 17809, 32754, 32755, AGC= 52, IDX= 502,-0.09,-2.729,-1.249, 2.828,-2.369, PHS=-0.272, 1.168,-1.089, RAW= 350.9, 2.0, CAL= 351.7, 2.3, ROT= 158.3, -2.3
2025-06-11T21:14:12.077Z,1749676452.077 [DAT](INFO): got valid direction response:
21:14:13.4545 LVL= 28144, 17809, 32754, 32755, AGC= 52, IDX= 502,-0.09,-2.729,-1.249, 2.828,-2.369, PHS=-0.272, 1.168,-1.089, RAW= 350.9, 2.0, CAL= 351.7, 2.3, ROT= 158.3, -2.3
2025-06-11T21:14:12.077Z,1749676452.077 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-11T21:14:12.078Z,1749676452.078 [DAT](INFO): direction in FSK: [-0.928384,0.369449,0.040132]
2025-06-11T21:14:12.078Z,1749676452.078 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:12.082Z,1749676452.082 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.579445
2025-06-11T21:14:12.317Z,1749676452.317 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.814117
2025-06-11T21:14:12.510Z,1749676452.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.503842 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:12.512Z,1749676452.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.121130 m,
bearing: 82.797043 deg,
lat: 36.906697 deg,
lon: -122.115710 deg,
deltaT: 0.503842 s,
deltaX: 0.000070 m,
approachRate: 0.000138 m/s,
posRepo size: 4
2025-06-11T21:14:12.570Z,1749676452.570 [DAT](INFO): DAT read: Rx Time:21:14:13.9547
2025-06-11T21:14:12.571Z,1749676452.571 [DAT](INFO): Rx dataTimestamp_ set to:1749676452.570889
2025-06-11T21:14:12.573Z,1749676452.573 [DAT](INFO): DAT read: Bearing 158.5, -1.5 (Local)
2025-06-11T21:14:12.574Z,1749676452.574 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.5, -1.5 (Local)
2025-06-11T21:14:12.577Z,1749676452.577 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed -0.4
2025-06-11T21:14:12.584Z,1749676452.584 [DAT](INFO): DAT read: 21:14:13.9547 LVL= 26304, 17601, 31026, 32755, AGC= 52, IDX= 503, 0.25,-1.773,-0.288,-2.491,-1.426, PHS=-0.259, 1.186,-1.068, RAW= 350.8, 1.4, CAL= 351.5, 1.5, ROT= 158.5, -1.5
2025-06-11T21:14:12.585Z,1749676452.585 [DAT](INFO): got valid direction response:
21:14:13.9547 LVL= 26304, 17601, 31026, 32755, AGC= 52, IDX= 503, 0.25,-1.773,-0.288,-2.491,-1.426, PHS=-0.259, 1.186,-1.068, RAW= 350.8, 1.4, CAL= 351.5, 1.5, ROT= 158.5, -1.5
2025-06-11T21:14:12.586Z,1749676452.586 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-11T21:14:12.587Z,1749676452.587 [DAT](INFO): direction in FSK: [-0.930099,0.366376,0.026177]
2025-06-11T21:14:12.592Z,1749676452.592 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:12.595Z,1749676452.595 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.092724
2025-06-11T21:14:12.821Z,1749676452.821 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.318016
2025-06-11T21:14:12.871Z,1749676452.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.505225 s,
deltaX: 0.300000 m,
approachRate: 0.593795 m/s,
rangeRepo size: 4
2025-06-11T21:14:12.873Z,1749676452.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.418558 m,
bearing: 83.060851 deg,
lat: 36.906697 deg,
lon: -122.115709 deg,
deltaT: 0.505225 s,
deltaX: 0.297428 m,
approachRate: 0.588704 m/s,
posRepo size: 4
2025-06-11T21:14:13.077Z,1749676453.077 [DAT](INFO): DAT read: Rx Time:21:14:14.4547
2025-06-11T21:14:13.077Z,1749676453.077 [DAT](INFO): Rx dataTimestamp_ set to:1749676453.076769
2025-06-11T21:14:13.078Z,1749676453.078 [DAT](INFO): DAT read: Bearing 158.4, -2.4 (Local)
2025-06-11T21:14:13.079Z,1749676453.079 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.4, -2.4 (Local)
2025-06-11T21:14:13.081Z,1749676453.081 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed -0.4
2025-06-11T21:14:13.086Z,1749676453.086 [DAT](INFO): DAT read: 21:14:14.4547 LVL= 26192, 19137, 31010, 32755, AGC= 53, IDX= 504,-0.26, 1.858,-2.956, 1.143, 2.219, PHS=-0.273, 1.155,-1.079, RAW= 350.9, 2.0, CAL= 351.6, 2.4, ROT= 158.4, -2.4
2025-06-11T21:14:13.087Z,1749676453.087 [DAT](INFO): got valid direction response:
21:14:14.4547 LVL= 26192, 19137, 31010, 32755, AGC= 53, IDX= 504,-0.26, 1.858,-2.956, 1.143, 2.219, PHS=-0.273, 1.155,-1.079, RAW= 350.9, 2.0, CAL= 351.6, 2.4, ROT= 158.4, -2.4
2025-06-11T21:14:13.087Z,1749676453.087 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-11T21:14:13.088Z,1749676453.088 [DAT](INFO): direction in FSK: [-0.928961,0.367802,0.041876]
2025-06-11T21:14:13.089Z,1749676453.089 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:13.092Z,1749676453.092 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.589588
2025-06-11T21:14:13.325Z,1749676453.325 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.822266
2025-06-11T21:14:13.338Z,1749676453.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.505880 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:13.344Z,1749676453.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.418621 m,
bearing: 83.127367 deg,
lat: 36.906697 deg,
lon: -122.115710 deg,
deltaT: 0.505880 s,
deltaX: 0.000063 m,
approachRate: 0.000124 m/s,
posRepo size: 4
2025-06-11T21:14:13.579Z,1749676453.579 [DAT](INFO): DAT read: Rx Time:21:14:14.9550
2025-06-11T21:14:13.579Z,1749676453.579 [DAT](INFO): Rx dataTimestamp_ set to:1749676453.578718
2025-06-11T21:14:13.581Z,1749676453.581 [DAT](INFO): DAT read: Bearing 158.9, -1.2 (Local)
2025-06-11T21:14:13.582Z,1749676453.582 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.9, -1.2 (Local)
2025-06-11T21:14:13.584Z,1749676453.584 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4
2025-06-11T21:14:13.595Z,1749676453.595 [DAT](INFO): DAT read: 21:14:14.9550 LVL= 28016, 18673, 30738, 32755, AGC= 51, IDX= 506, 0.11,-2.957,-1.470, 2.629,-2.609, PHS=-0.259, 1.186,-1.048, RAW= 350.4, 1.2, CAL= 351.1, 1.2, ROT= 158.9, -1.2
2025-06-11T21:14:13.596Z,1749676453.596 [DAT](INFO): got valid direction response:
21:14:14.9550 LVL= 28016, 18673, 30738, 32755, AGC= 51, IDX= 506, 0.11,-2.957,-1.470, 2.629,-2.609, PHS=-0.259, 1.186,-1.048, RAW= 350.4, 1.2, CAL= 351.1, 1.2, ROT= 158.9, -1.2
2025-06-11T21:14:13.596Z,1749676453.596 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-11T21:14:13.597Z,1749676453.597 [DAT](INFO): direction in FSK: [-0.932749,0.359918,0.020942]
2025-06-11T21:14:13.598Z,1749676453.598 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:13.601Z,1749676453.601 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.098717
2025-06-11T21:14:13.708Z,1749676453.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.501949 s,
deltaX: 0.400000 m,
approachRate: 0.796893 m/s,
rangeRepo size: 4
2025-06-11T21:14:13.710Z,1749676453.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.815194 m,
bearing: 83.663572 deg,
lat: 36.906697 deg,
lon: -122.115708 deg,
deltaT: 0.501949 s,
deltaX: 0.396573 m,
approachRate: 0.790066 m/s,
posRepo size: 4
2025-06-11T21:14:13.829Z,1749676453.829 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.326260
2025-06-11T21:14:14.082Z,1749676454.082 [DAT](INFO): DAT read: Rx Time:21:14:15.4550
2025-06-11T21:14:14.082Z,1749676454.082 [DAT](INFO): Rx dataTimestamp_ set to:1749676454.081704
2025-06-11T21:14:14.083Z,1749676454.083 [DAT](INFO): DAT read: Bearing 158.6, 1.1 (Local)
2025-06-11T21:14:14.084Z,1749676454.084 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.6, 1.1 (Local)
2025-06-11T21:14:14.086Z,1749676454.086 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4
2025-06-11T21:14:14.091Z,1749676454.091 [DAT](INFO): DAT read: 21:14:15.4550 LVL= 21280, 18417, 24434, 32755, AGC= 51, IDX= 507,-0.44, 0.143, 1.609,-0.560, 0.430, PHS=-0.199, 1.225,-0.993, RAW= 350.7, -0.3, CAL= 351.4, -1.1, ROT= 158.6, 1.1
2025-06-11T21:14:14.092Z,1749676454.092 [DAT](INFO): got valid direction response:
21:14:15.4550 LVL= 21280, 18417, 24434, 32755, AGC= 51, IDX= 507,-0.44, 0.143, 1.609,-0.560, 0.430, PHS=-0.199, 1.225,-0.993, RAW= 350.7, -0.3, CAL= 351.4, -1.1, ROT= 158.6, 1.1
2025-06-11T21:14:14.092Z,1749676454.092 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-11T21:14:14.093Z,1749676454.093 [DAT](INFO): direction in FSK: [-0.930884,0.364809,-0.019197]
2025-06-11T21:14:14.094Z,1749676454.094 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:14.098Z,1749676454.098 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.595226
2025-06-11T21:14:14.112Z,1749676454.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.502986 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:14.114Z,1749676454.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.815274 m,
bearing: 83.335732 deg,
lat: 36.906697 deg,
lon: -122.115709 deg,
deltaT: 0.502986 s,
deltaX: 0.000080 m,
approachRate: 0.000159 m/s,
posRepo size: 4
2025-06-11T21:14:14.333Z,1749676454.333 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.830376
2025-06-11T21:14:14.498Z,1749676454.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:14:14.586Z,1749676454.586 [DAT](INFO): DAT read: Rx Time:21:14:15.9552
2025-06-11T21:14:14.587Z,1749676454.587 [DAT](INFO): Rx dataTimestamp_ set to:1749676454.586308
2025-06-11T21:14:14.588Z,1749676454.588 [DAT](INFO): DAT read: Bearing 158.9, -0.2 (Local)
2025-06-11T21:14:14.588Z,1749676454.588 [DAT](INFO): Local bearing/azimuth received:
Bearing 158.9, -0.2 (Local)
2025-06-11T21:14:14.590Z,1749676454.590 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4
2025-06-11T21:14:14.595Z,1749676454.595 [DAT](INFO): DAT read: 21:14:15.9552 LVL= 24560, 19153, 28898, 32755, AGC= 51, IDX= 509,-0.16, 1.177, 2.644, 0.491, 1.500, PHS=-0.235, 1.191,-1.012, RAW= 350.3, 0.6, CAL= 351.1, 0.2, ROT= 158.9, -0.2
2025-06-11T21:14:14.602Z,1749676454.602 [DAT](INFO): got valid direction response:
21:14:15.9552 LVL= 24560, 19153, 28898, 32755, AGC= 51, IDX= 509,-0.16, 1.177, 2.644, 0.491, 1.500, PHS=-0.235, 1.191,-1.012, RAW= 350.3, 0.6, CAL= 351.1, 0.2, ROT= 158.9, -0.2
2025-06-11T21:14:14.602Z,1749676454.602 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-11T21:14:14.603Z,1749676454.603 [DAT](INFO): direction in FSK: [-0.932948,0.359995,0.003491]
2025-06-11T21:14:14.603Z,1749676454.603 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:14.635Z,1749676454.635 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.132401
2025-06-11T21:14:14.837Z,1749676454.837 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.334175
2025-06-11T21:14:14.949Z,1749676454.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.504604 s,
deltaX: 0.300000 m,
approachRate: 0.594526 m/s,
rangeRepo size: 4
2025-06-11T21:14:14.957Z,1749676454.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.112707 m,
bearing: 83.914121 deg,
lat: 36.906697 deg,
lon: -122.115709 deg,
deltaT: 0.504604 s,
deltaX: 0.297433 m,
approachRate: 0.589438 m/s,
posRepo size: 4
2025-06-11T21:14:15.089Z,1749676455.089 [DAT](INFO): DAT read: Rx Time:21:14:16.4552
2025-06-11T21:14:15.090Z,1749676455.090 [DAT](INFO): Rx dataTimestamp_ set to:1749676455.089614
2025-06-11T21:14:15.091Z,1749676455.091 [DAT](INFO): DAT read: Bearing 159.0, 0.8 (Local)
2025-06-11T21:14:15.092Z,1749676455.092 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.0, 0.8 (Local)
2025-06-11T21:14:15.094Z,1749676455.094 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4
2025-06-11T21:14:15.100Z,1749676455.100 [DAT](INFO): DAT read: 21:14:16.4552 LVL= 21952, 18929, 25698, 32755, AGC= 52, IDX= 509, 0.00, 1.769,-3.028, 1.079, 2.075, PHS=-0.218, 1.227,-0.999, RAW= 350.2, -0.1, CAL= 351.0, -0.8, ROT= 159.0, 0.8
2025-06-11T21:14:15.101Z,1749676455.101 [DAT](INFO): got valid direction response:
21:14:16.4552 LVL= 21952, 18929, 25698, 32755, AGC= 52, IDX= 509, 0.00, 1.769,-3.028, 1.079, 2.075, PHS=-0.218, 1.227,-0.999, RAW= 350.2, -0.1, CAL= 351.0, -0.8, ROT= 159.0, 0.8
2025-06-11T21:14:15.102Z,1749676455.102 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-11T21:14:15.103Z,1749676455.103 [DAT](INFO): direction in FSK: [-0.933489,0.358333,-0.013962]
2025-06-11T21:14:15.103Z,1749676455.103 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:15.107Z,1749676455.107 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.604134
2025-06-11T21:14:15.330Z,1749676455.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.503306 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:15.341Z,1749676455.341 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.838001
2025-06-11T21:14:15.348Z,1749676455.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.112758 m,
bearing: 84.027604 deg,
lat: 36.906698 deg,
lon: -122.115709 deg,
deltaT: 0.503306 s,
deltaX: 0.000051 m,
approachRate: 0.000100 m/s,
posRepo size: 4
2025-06-11T21:14:15.594Z,1749676455.594 [DAT](INFO): DAT read: Rx Time:21:14:16.9555
2025-06-11T21:14:15.594Z,1749676455.594 [DAT](INFO): Rx dataTimestamp_ set to:1749676455.593737
2025-06-11T21:14:15.595Z,1749676455.595 [DAT](INFO): DAT read: Bearing 159.5, 0.5 (Local)
2025-06-11T21:14:15.596Z,1749676455.596 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.5, 0.5 (Local)
2025-06-11T21:14:15.599Z,1749676455.599 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4
2025-06-11T21:14:15.606Z,1749676455.606 [DAT](INFO): DAT read: 21:14:16.9555 LVL= 23856, 18417, 27858, 32755, AGC= 53, IDX= 511, 0.12,-1.059, 0.467,-1.743,-0.733, PHS=-0.237, 1.247,-1.013, RAW= 349.7, 0.0, CAL= 350.5, -0.5, ROT= 159.5, 0.5
2025-06-11T21:14:15.608Z,1749676455.608 [DAT](INFO): got valid direction response:
21:14:16.9555 LVL= 23856, 18417, 27858, 32755, AGC= 53, IDX= 511, 0.12,-1.059, 0.467,-1.743,-0.733, PHS=-0.237, 1.247,-1.013, RAW= 349.7, 0.0, CAL= 350.5, -0.5, ROT= 159.5, 0.5
2025-06-11T21:14:15.608Z,1749676455.608 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-11T21:14:15.609Z,1749676455.609 [DAT](INFO): direction in FSK: [-0.936637,0.350194,-0.008727]
2025-06-11T21:14:15.610Z,1749676455.610 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:15.613Z,1749676455.613 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.110649
2025-06-11T21:14:15.726Z,1749676455.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.504123 s,
deltaX: 0.500000 m,
approachRate: 0.991821 m/s,
rangeRepo size: 4
2025-06-11T21:14:15.737Z,1749676455.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.608481 m,
bearing: 84.544850 deg,
lat: 36.906698 deg,
lon: -122.115709 deg,
deltaT: 0.504123 s,
deltaX: 0.495724 m,
approachRate: 0.983339 m/s,
posRepo size: 4
2025-06-11T21:14:15.845Z,1749676455.845 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.342201
2025-06-11T21:14:16.098Z,1749676456.098 [DAT](INFO): DAT read: Rx Time:21:14:17.4555
2025-06-11T21:14:16.098Z,1749676456.098 [DAT](INFO): Rx dataTimestamp_ set to:1749676456.097819
2025-06-11T21:14:16.099Z,1749676456.099 [DAT](INFO): DAT read: Bearing 159.3, 0.8 (Local)
2025-06-11T21:14:16.100Z,1749676456.100 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.3, 0.8 (Local)
2025-06-11T21:14:16.102Z,1749676456.102 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3
2025-06-11T21:14:16.108Z,1749676456.108 [DAT](INFO): DAT read: 21:14:17.4555 LVL= 23360, 22993, 28002, 32755, AGC= 55, IDX= 511, 0.30,-1.263, 0.272,-1.961,-0.945, PHS=-0.230, 1.264,-1.019, RAW= 349.9, -0.1, CAL= 350.7, -0.8, ROT= 159.3, 0.8
2025-06-11T21:14:16.109Z,1749676456.109 [DAT](INFO): got valid direction response:
21:14:17.4555 LVL= 23360, 22993, 28002, 32755, AGC= 55, IDX= 511, 0.30,-1.263, 0.272,-1.961,-0.945, PHS=-0.230, 1.264,-1.019, RAW= 349.9, -0.1, CAL= 350.7, -0.8, ROT= 159.3, 0.8
2025-06-11T21:14:16.109Z,1749676456.109 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-11T21:14:16.110Z,1749676456.110 [DAT](INFO): direction in FSK: [-0.935353,0.353440,-0.013962]
2025-06-11T21:14:16.110Z,1749676456.110 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:16.142Z,1749676456.142 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.639469
2025-06-11T21:14:16.174Z,1749676456.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.504082 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:16.175Z,1749676456.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.608501 m,
bearing: 84.396208 deg,
lat: 36.906698 deg,
lon: -122.115709 deg,
deltaT: 0.504082 s,
deltaX: 0.000020 m,
approachRate: 0.000040 m/s,
posRepo size: 4
2025-06-11T21:14:16.349Z,1749676456.349 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.846313
2025-06-11T21:14:16.601Z,1749676456.601 [DAT](INFO): DAT read: Rx Time:21:14:17.9556
2025-06-11T21:14:16.602Z,1749676456.602 [DAT](INFO): Rx dataTimestamp_ set to:1749676456.601523
2025-06-11T21:14:16.603Z,1749676456.603 [DAT](INFO): DAT read: Bearing 152.2, -8.2 (Local)
2025-06-11T21:14:16.603Z,1749676456.603 [DAT](INFO): Local bearing/azimuth received:
Bearing 152.2, -8.2 (Local)
2025-06-11T21:14:16.606Z,1749676456.606 [DAT](INFO): DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed -0.4
2025-06-11T21:14:16.610Z,1749676456.610 [DAT](INFO): DAT read: 21:14:17.9556 LVL= 31072, 20929, 32754, 32755, AGC= 55, IDX= 513,-0.43, 1.480, 2.595, 0.648, 1.785, PHS=-0.217, 0.857,-1.141, RAW= 357.5, 5.8, CAL= 357.8, 8.2, ROT= 152.2, -8.2
2025-06-11T21:14:16.611Z,1749676456.611 [DAT](INFO): got valid direction response:
21:14:17.9556 LVL= 31072, 20929, 32754, 32755, AGC= 55, IDX= 513,-0.43, 1.480, 2.595, 0.648, 1.785, PHS=-0.217, 0.857,-1.141, RAW= 357.5, 5.8, CAL= 357.8, 8.2, ROT= 152.2, -8.2
2025-06-11T21:14:16.612Z,1749676456.612 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-11T21:14:16.613Z,1749676456.613 [DAT](INFO): direction in FSK: [-0.875537,0.461618,0.142629]
2025-06-11T21:14:16.613Z,1749676456.613 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:16.631Z,1749676456.631 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.127197
2025-06-11T21:14:16.823Z,1749676456.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.800000 m,
deltaT: 0.503704 s,
deltaX: 0.100000 m,
approachRate: 0.198530 m/s,
rangeRepo size: 4
2025-06-11T21:14:16.829Z,1749676456.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.707646 m,
bearing: 77.618112 deg,
lat: 36.906698 deg,
lon: -122.115709 deg,
deltaT: 0.503704 s,
deltaX: 0.099145 m,
approachRate: 0.196832 m/s,
posRepo size: 4
2025-06-11T21:14:16.853Z,1749676456.853 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.350227
2025-06-11T21:14:17.105Z,1749676457.105 [DAT](INFO): DAT read: Rx Time:21:14:18.4557
2025-06-11T21:14:17.106Z,1749676457.106 [DAT](INFO): Rx dataTimestamp_ set to:1749676457.105623
2025-06-11T21:14:17.107Z,1749676457.107 [DAT](INFO): DAT read: Bearing 159.4, -0.9 (Local)
2025-06-11T21:14:17.108Z,1749676457.108 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.4, -0.9 (Local)
2025-06-11T21:14:17.111Z,1749676457.111 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4
2025-06-11T21:14:17.115Z,1749676457.115 [DAT](INFO): DAT read: 21:14:18.4557 LVL= 16112, 20977, 19314, 27011, AGC= 58, IDX= 1,-0.07, 2.580,-2.201, 1.903, 2.932, PHS=-0.264, 1.197,-1.032, RAW= 349.8, 1.0, CAL= 350.6, 0.9, ROT= 159.4, -0.9
2025-06-11T21:14:17.116Z,1749676457.116 [DAT](INFO): got valid direction response:
21:14:18.4557 LVL= 16112, 20977, 19314, 27011, AGC= 58, IDX= 1,-0.07, 2.580,-2.201, 1.903, 2.932, PHS=-0.264, 1.197,-1.032, RAW= 349.8, 1.0, CAL= 350.6, 0.9, ROT= 159.4, -0.9
2025-06-11T21:14:17.117Z,1749676457.117 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-11T21:14:17.118Z,1749676457.118 [DAT](INFO): direction in FSK: [-0.935944,0.351798,0.015707]
2025-06-11T21:14:17.118Z,1749676457.118 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:17.122Z,1749676457.122 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.618996
2025-06-11T21:14:17.329Z,1749676457.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.504100 s,
deltaX: 0.200000 m,
approachRate: 0.396746 m/s,
rangeRepo size: 4
2025-06-11T21:14:17.331Z,1749676457.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.905907 m,
bearing: 84.585514 deg,
lat: 36.906699 deg,
lon: -122.115710 deg,
deltaT: 0.504100 s,
deltaX: 0.198260 m,
approachRate: 0.393296 m/s,
posRepo size: 4
2025-06-11T21:14:17.357Z,1749676457.357 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.854168
2025-06-11T21:14:17.609Z,1749676457.609 [DAT](INFO): DAT read: Rx Time:21:14:18.9559
2025-06-11T21:14:17.610Z,1749676457.610 [DAT](INFO): Rx dataTimestamp_ set to:1749676457.609587
2025-06-11T21:14:17.611Z,1749676457.611 [DAT](INFO): DAT read: Bearing 159.8, -2.6 (Local)
2025-06-11T21:14:17.612Z,1749676457.612 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.8, -2.6 (Local)
2025-06-11T21:14:17.614Z,1749676457.614 [DAT](INFO): DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed -0.4
2025-06-11T21:14:17.619Z,1749676457.619 [DAT](INFO): DAT read: 21:14:18.9559 LVL= 29104, 22833, 32754, 32755, AGC= 56, IDX= 499, 0.11,-0.750, 0.799,-1.426,-0.345, PHS=-0.317, 1.191,-1.084, RAW= 349.4, 2.1, CAL= 350.2, 2.6, ROT= 159.8, -2.6
2025-06-11T21:14:17.628Z,1749676457.628 [DAT](INFO): got valid direction response:
21:14:18.9559 LVL= 29104, 22833, 32754, 32755, AGC= 56, IDX= 499, 0.11,-0.750, 0.799,-1.426,-0.345, PHS=-0.317, 1.191,-1.084, RAW= 349.4, 2.1, CAL= 350.2, 2.6, ROT= 159.8, -2.6
2025-06-11T21:14:17.629Z,1749676457.629 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-11T21:14:17.630Z,1749676457.630 [DAT](INFO): direction in FSK: [-0.937527,0.344943,0.045363]
2025-06-11T21:14:17.630Z,1749676457.630 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:17.642Z,1749676457.642 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.139118
2025-06-11T21:14:17.829Z,1749676457.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.503964 s,
deltaX: 0.300000 m,
approachRate: 0.595281 m/s,
rangeRepo size: 4
2025-06-11T21:14:17.831Z,1749676457.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.203341 m,
bearing: 85.069024 deg,
lat: 36.906700 deg,
lon: -122.115709 deg,
deltaT: 0.503964 s,
deltaX: 0.297434 m,
approachRate: 0.590189 m/s,
posRepo size: 4
2025-06-11T21:14:17.861Z,1749676457.861 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.358181
2025-06-11T21:14:18.114Z,1749676458.114 [DAT](INFO): DAT read: Rx Time:21:14:19.4560
2025-06-11T21:14:18.115Z,1749676458.115 [DAT](INFO): Rx dataTimestamp_ set to:1749676458.114409
2025-06-11T21:14:18.117Z,1749676458.117 [DAT](INFO): DAT read: Bearing 159.5, -1.7 (Local)
2025-06-11T21:14:18.117Z,1749676458.117 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.5, -1.7 (Local)
2025-06-11T21:14:18.119Z,1749676458.119 [DAT](INFO): DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4
2025-06-11T21:14:18.125Z,1749676458.125 [DAT](INFO): DAT read: 21:14:19.4560 LVL= 31216, 20113, 32754, 32755, AGC= 55, IDX= 500,-0.43, 1.601, 3.080, 0.943, 1.968, PHS=-0.279, 1.159,-1.028, RAW= 349.7, 1.6, CAL= 350.5, 1.7, ROT= 159.5, -1.7
2025-06-11T21:14:18.126Z,1749676458.126 [DAT](INFO): got valid direction response:
21:14:19.4560 LVL= 31216, 20113, 32754, 32755, AGC= 55, IDX= 500,-0.43, 1.601, 3.080, 0.943, 1.968, PHS=-0.279, 1.159,-1.028, RAW= 349.7, 1.6, CAL= 350.5, 1.7, ROT= 159.5, -1.7
2025-06-11T21:14:18.126Z,1749676458.126 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-11T21:14:18.127Z,1749676458.127 [DAT](INFO): direction in FSK: [-0.936260,0.350053,0.029666]
2025-06-11T21:14:18.127Z,1749676458.127 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:18.131Z,1749676458.131 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.628223
2025-06-11T21:14:18.339Z,1749676458.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.504822 s,
deltaX: 0.099999 m,
approachRate: 0.198088 m/s,
rangeRepo size: 4
2025-06-11T21:14:18.345Z,1749676458.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.302474 m,
bearing: 84.626303 deg,
lat: 36.906700 deg,
lon: -122.115710 deg,
deltaT: 0.504822 s,
deltaX: 0.099133 m,
approachRate: 0.196373 m/s,
posRepo size: 4
2025-06-11T21:14:18.365Z,1749676458.365 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.862240
2025-06-11T21:14:18.617Z,1749676458.617 [DAT](INFO): DAT read: Rx Time:21:14:19.9563
2025-06-11T21:14:18.618Z,1749676458.618 [DAT](INFO): Rx dataTimestamp_ set to:1749676458.617685
2025-06-11T21:14:18.619Z,1749676458.619 [DAT](INFO): DAT read: Bearing 159.5, -2.4 (Local)
2025-06-11T21:14:18.620Z,1749676458.620 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.5, -2.4 (Local)
2025-06-11T21:14:18.622Z,1749676458.622 [DAT](INFO): DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4
2025-06-11T21:14:18.627Z,1749676458.627 [DAT](INFO): DAT read: 21:14:19.9563 LVL= 28512, 24241, 32754, 32755, AGC= 56, IDX= 502,-0.05, 2.333,-2.479, 1.680, 2.713, PHS=-0.292, 1.137,-1.036, RAW= 349.7, 2.0, CAL= 350.5, 2.4, ROT= 159.5, -2.4
2025-06-11T21:14:18.628Z,1749676458.628 [DAT](INFO): got valid direction response:
21:14:19.9563 LVL= 28512, 24241, 32754, 32755, AGC= 56, IDX= 502,-0.05, 2.333,-2.479, 1.680, 2.713, PHS=-0.292, 1.137,-1.036, RAW= 349.7, 2.0, CAL= 350.5, 2.4, ROT= 159.5, -2.4
2025-06-11T21:14:18.628Z,1749676458.628 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-11T21:14:18.629Z,1749676458.629 [DAT](INFO): direction in FSK: [-0.935851,0.349900,0.041876]
2025-06-11T21:14:18.630Z,1749676458.630 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:18.637Z,1749676458.637 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.134487
2025-06-11T21:14:18.822Z,1749676458.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.503276 s,
deltaX: 0.500000 m,
approachRate: 0.993491 m/s,
rangeRepo size: 4
2025-06-11T21:14:18.824Z,1749676458.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.798197 m,
bearing: 84.587721 deg,
lat: 36.906701 deg,
lon: -122.115710 deg,
deltaT: 0.503276 s,
deltaX: 0.495723 m,
approachRate: 0.984992 m/s,
posRepo size: 4
2025-06-11T21:14:18.870Z,1749676458.870 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.367222
2025-06-11T21:14:19.111Z,1749676459.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:14:19.121Z,1749676459.121 [DAT](INFO): DAT read: Rx Time:21:14:20.4563
2025-06-11T21:14:19.122Z,1749676459.122 [DAT](INFO): Rx dataTimestamp_ set to:1749676459.121661
2025-06-11T21:14:19.123Z,1749676459.123 [DAT](INFO): DAT read: Bearing 159.9, -2.5 (Local)
2025-06-11T21:14:19.124Z,1749676459.124 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.9, -2.5 (Local)
2025-06-11T21:14:19.126Z,1749676459.126 [DAT](INFO): DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4
2025-06-11T21:14:19.131Z,1749676459.131 [DAT](INFO): DAT read: 21:14:20.4563 LVL= 32096, 23537, 32754, 32755, AGC= 56, IDX= 502, 0.26, 2.174,-2.612, 1.531, 2.569, PHS=-0.307, 1.150,-1.040, RAW= 349.2, 2.1, CAL= 350.1, 2.5, ROT= 159.9, -2.5
2025-06-11T21:14:19.133Z,1749676459.133 [DAT](INFO): got valid direction response:
21:14:20.4563 LVL= 32096, 23537, 32754, 32755, AGC= 56, IDX= 502, 0.26, 2.174,-2.612, 1.531, 2.569, PHS=-0.307, 1.150,-1.040, RAW= 349.2, 2.1, CAL= 350.1, 2.5, ROT= 159.9, -2.5
2025-06-11T21:14:19.134Z,1749676459.134 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-11T21:14:19.135Z,1749676459.135 [DAT](INFO): direction in FSK: [-0.938200,0.343333,0.043619]
2025-06-11T21:14:19.135Z,1749676459.135 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:19.138Z,1749676459.138 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.635742
2025-06-11T21:14:19.373Z,1749676459.373 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.870312
2025-06-11T21:14:19.558Z,1749676459.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.503976 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:19.560Z,1749676459.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.798231 m,
bearing: 84.935409 deg,
lat: 36.906701 deg,
lon: -122.115710 deg,
deltaT: 0.503976 s,
deltaX: 0.000034 m,
approachRate: 0.000068 m/s,
posRepo size: 4
2025-06-11T21:14:19.625Z,1749676459.625 [DAT](INFO): DAT read: Rx Time:21:14:20.9566
2025-06-11T21:14:19.626Z,1749676459.626 [DAT](INFO): Rx dataTimestamp_ set to:1749676459.625666
2025-06-11T21:14:19.627Z,1749676459.627 [DAT](INFO): DAT read: Bearing 159.8, -4.3 (Local)
2025-06-11T21:14:19.628Z,1749676459.628 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.8, -4.3 (Local)
2025-06-11T21:14:19.630Z,1749676459.630 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4
2025-06-11T21:14:19.637Z,1749676459.637 [DAT](INFO): DAT read: 21:14:20.9566 LVL= 32112, 27585, 32754, 32755, AGC= 56, IDX= 505,-0.25, 0.919, 2.353, 0.303, 1.335, PHS=-0.328, 1.065,-1.035, RAW= 349.3, 3.3, CAL= 350.2, 4.3, ROT= 159.8, -4.3
2025-06-11T21:14:19.638Z,1749676459.638 [DAT](INFO): got valid direction response:
21:14:20.9566 LVL= 32112, 27585, 32754, 32755, AGC= 56, IDX= 505,-0.25, 0.919, 2.353, 0.303, 1.335, PHS=-0.328, 1.065,-1.035, RAW= 349.3, 3.3, CAL= 350.2, 4.3, ROT= 159.8, -4.3
2025-06-11T21:14:19.639Z,1749676459.639 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-11T21:14:19.645Z,1749676459.645 [DAT](INFO): direction in FSK: [-0.935851,0.344326,0.074979]
2025-06-11T21:14:19.645Z,1749676459.645 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:19.653Z,1749676459.653 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.150223
2025-06-11T21:14:19.878Z,1749676459.878 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.374889
2025-06-11T21:14:19.998Z,1749676459.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.504005 s,
deltaX: 0.400001 m,
approachRate: 0.793644 m/s,
rangeRepo size: 4
2025-06-11T21:14:19.999Z,1749676459.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.194811 m,
bearing: 84.762469 deg,
lat: 36.906702 deg,
lon: -122.115709 deg,
deltaT: 0.504005 s,
deltaX: 0.396580 m,
approachRate: 0.786857 m/s,
posRepo size: 4
2025-06-11T21:14:20.130Z,1749676460.130 [DAT](INFO): DAT read: Rx Time:21:14:21.4566
2025-06-11T21:14:20.130Z,1749676460.130 [DAT](INFO): Rx dataTimestamp_ set to:1749676460.129919
2025-06-11T21:14:20.132Z,1749676460.132 [DAT](INFO): DAT read: Bearing 160.3, -4.2 (Local)
2025-06-11T21:14:20.132Z,1749676460.132 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.3, -4.2 (Local)
2025-06-11T21:14:20.134Z,1749676460.134 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed -0.5
2025-06-11T21:14:20.140Z,1749676460.140 [DAT](INFO): DAT read: 21:14:21.4566 LVL= 32752, 23633, 32754, 32755, AGC= 57, IDX= 505, 0.05, 1.776,-3.014, 1.155, 2.211, PHS=-0.347, 1.106,-1.058, RAW= 348.8, 3.2, CAL= 349.7, 4.2, ROT= 160.3, -4.2
2025-06-11T21:14:20.141Z,1749676460.141 [DAT](INFO): got valid direction response:
21:14:21.4566 LVL= 32752, 23633, 32754, 32755, AGC= 57, IDX= 505, 0.05, 1.776,-3.014, 1.155, 2.211, PHS=-0.347, 1.106,-1.058, RAW= 348.8, 3.2, CAL= 349.7, 4.2, ROT= 160.3, -4.2
2025-06-11T21:14:20.141Z,1749676460.141 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-11T21:14:20.142Z,1749676460.142 [DAT](INFO): direction in FSK: [-0.938942,0.336190,0.073238]
2025-06-11T21:14:20.143Z,1749676460.143 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:20.146Z,1749676460.146 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.643684
2025-06-11T21:14:20.381Z,1749676460.381 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.878239
2025-06-11T21:14:20.471Z,1749676460.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.504253 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:20.478Z,1749676460.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.194860 m,
bearing: 85.178532 deg,
lat: 36.906702 deg,
lon: -122.115710 deg,
deltaT: 0.504253 s,
deltaX: 0.000050 m,
approachRate: 0.000098 m/s,
posRepo size: 4
2025-06-11T21:14:20.633Z,1749676460.633 [DAT](INFO): DAT read: Rx Time:21:14:21.9567
2025-06-11T21:14:20.634Z,1749676460.634 [DAT](INFO): Rx dataTimestamp_ set to:1749676460.633526
2025-06-11T21:14:20.635Z,1749676460.635 [DAT](INFO): DAT read: Bearing 160.4, -3.8 (Local)
2025-06-11T21:14:20.635Z,1749676460.635 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.4, -3.8 (Local)
2025-06-11T21:14:20.638Z,1749676460.638 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4
2025-06-11T21:14:20.642Z,1749676460.642 [DAT](INFO): DAT read: 21:14:21.9567 LVL= 29360, 22065, 32754, 32755, AGC= 57, IDX= 506, 0.42, 2.049,-2.746, 1.437, 2.475, PHS=-0.339, 1.108,-1.041, RAW= 348.7, 2.9, CAL= 349.6, 3.8, ROT= 160.4, -3.8
2025-06-11T21:14:20.643Z,1749676460.643 [DAT](INFO): got valid direction response:
21:14:21.9567 LVL= 29360, 22065, 32754, 32755, AGC= 57, IDX= 506, 0.42, 2.049,-2.746, 1.437, 2.475, PHS=-0.339, 1.108,-1.041, RAW= 348.7, 2.9, CAL= 349.6, 3.8, ROT= 160.4, -3.8
2025-06-11T21:14:20.645Z,1749676460.645 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-11T21:14:20.646Z,1749676460.646 [DAT](INFO): direction in FSK: [-0.939986,0.334714,0.066274]
2025-06-11T21:14:20.646Z,1749676460.646 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:20.649Z,1749676460.649 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.146778
2025-06-11T21:14:20.832Z,1749676460.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.503607 s,
deltaX: 0.200000 m,
approachRate: 0.397135 m/s,
rangeRepo size: 4
2025-06-11T21:14:20.834Z,1749676460.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.393151 m,
bearing: 85.262411 deg,
lat: 36.906702 deg,
lon: -122.115710 deg,
deltaT: 0.503607 s,
deltaX: 0.198291 m,
approachRate: 0.393741 m/s,
posRepo size: 4
2025-06-11T21:14:20.890Z,1749676460.890 [DAT](INFO): DAT read: Rx Time:21:14:22.4568
2025-06-11T21:14:20.891Z,1749676460.891 [DAT](INFO): Rx dataTimestamp_ set to:1749676460.890170
2025-06-11T21:14:20.894Z,1749676460.894 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.390751
2025-06-11T21:14:21.138Z,1749676461.138 [DAT](INFO): DAT read: Bearing 160.6, -6.3 (Local)
2025-06-11T21:14:21.138Z,1749676461.138 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.6, -6.3 (Local)
2025-06-11T21:14:21.141Z,1749676461.141 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4
2025-06-11T21:14:21.150Z,1749676461.150 [DAT](INFO): DAT read: 21:14:22.4568 LVL= 28576, 22049, 32754, 32755, AGC= 58, IDX= 507,-0.10,-0.429, 1.035,-1.018, 0.046, PHS=-0.387, 1.037,-1.066, RAW= 348.5, 4.5, CAL= 349.4, 6.3, ROT= 160.6, -6.3
2025-06-11T21:14:21.152Z,1749676461.152 [DAT](INFO): got valid direction response:
21:14:22.4568 LVL= 28576, 22049, 32754, 32755, AGC= 58, IDX= 507,-0.10,-0.429, 1.035,-1.018, 0.046, PHS=-0.387, 1.037,-1.066, RAW= 348.5, 4.5, CAL= 349.4, 6.3, ROT= 160.6, -6.3
2025-06-11T21:14:21.153Z,1749676461.153 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-11T21:14:21.154Z,1749676461.154 [DAT](INFO): direction in FSK: [-0.937526,0.330155,0.109734]
2025-06-11T21:14:21.155Z,1749676461.155 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:21.203Z,1749676461.203 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.700142
2025-06-11T21:14:21.230Z,1749676461.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.502726 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:21.253Z,1749676461.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.393155 m,
bearing: 85.432030 deg,
lat: 36.906702 deg,
lon: -122.115710 deg,
deltaT: 0.502726 s,
deltaX: 0.000004 m,
approachRate: 0.000008 m/s,
posRepo size: 4
2025-06-11T21:14:21.393Z,1749676461.393 [DAT](INFO): DAT read: Rx Time:21:14:22.9570
2025-06-11T21:14:21.395Z,1749676461.395 [DAT](INFO): Rx dataTimestamp_ set to:1749676461.393809
2025-06-11T21:14:21.399Z,1749676461.399 [DAT](INFO): DAT read: Bearing 161.3, -5.6 (Local)
2025-06-11T21:14:21.401Z,1749676461.401 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.3, -5.6 (Local)
2025-06-11T21:14:21.404Z,1749676461.404 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.900162
2025-06-11T21:14:21.607Z,1749676461.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:14:21.643Z,1749676461.643 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4
2025-06-11T21:14:21.647Z,1749676461.647 [DAT](INFO): DAT read: 21:14:22.9570 LVL= 32752, 21089, 32754, 32755, AGC= 58, IDX= 509, 0.24,-3.092,-1.577, 2.613,-2.608, PHS=-0.396, 1.078,-1.065, RAW= 347.8, 4.1, CAL= 348.7, 5.6, ROT= 161.3, -5.6
2025-06-11T21:14:21.649Z,1749676461.649 [DAT](INFO): got valid direction response:
21:14:22.9570 LVL= 32752, 21089, 32754, 32755, AGC= 58, IDX= 509, 0.24,-3.092,-1.577, 2.613,-2.608, PHS=-0.396, 1.078,-1.065, RAW= 347.8, 4.1, CAL= 348.7, 5.6, ROT= 161.3, -5.6
2025-06-11T21:14:21.649Z,1749676461.649 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-11T21:14:21.650Z,1749676461.650 [DAT](INFO): direction in FSK: [-0.942690,0.319083,0.097583]
2025-06-11T21:14:21.650Z,1749676461.650 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:21.654Z,1749676461.654 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.151237
2025-06-11T21:14:21.897Z,1749676461.897 [DAT](INFO): DAT read: Rx Time:21:14:23.4571
2025-06-11T21:14:21.898Z,1749676461.898 [DAT](INFO): Rx dataTimestamp_ set to:1749676461.897391
2025-06-11T21:14:21.902Z,1749676461.902 [DAT](INFO): DAT read: Bearing 160.6, -5.8 (Local)
2025-06-11T21:14:21.903Z,1749676461.903 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.6, -5.8 (Local)
2025-06-11T21:14:21.929Z,1749676461.929 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.426067
2025-06-11T21:14:22.026Z,1749676462.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 0.504090 s,
deltaX: 0.300000 m,
approachRate: 0.595132 m/s,
rangeRepo size: 4
2025-06-11T21:14:22.028Z,1749676462.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.690607 m,
bearing: 86.066044 deg,
lat: 36.906702 deg,
lon: -122.115710 deg,
deltaT: 0.504090 s,
deltaX: 0.297452 m,
approachRate: 0.590077 m/s,
posRepo size: 4
2025-06-11T21:14:22.148Z,1749676462.148 [DAT](INFO): DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4
2025-06-11T21:14:22.157Z,1749676462.157 [DAT](INFO): DAT read: 21:14:23.4571 LVL= 31408, 22753, 32754, 32755, AGC= 59, IDX= 510,-0.15, 0.154, 1.631,-0.437, 0.623, PHS=-0.381, 1.055,-1.063, RAW= 348.4, 4.2, CAL= 349.4, 5.8, ROT= 160.6, -5.8
2025-06-11T21:14:22.158Z,1749676462.158 [DAT](INFO): got valid direction response:
21:14:23.4571 LVL= 31408, 22753, 32754, 32755, AGC= 59, IDX= 510,-0.15, 0.154, 1.631,-0.437, 0.623, PHS=-0.381, 1.055,-1.063, RAW= 348.4, 4.2, CAL= 349.4, 5.8, ROT= 160.6, -5.8
2025-06-11T21:14:22.158Z,1749676462.158 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-11T21:14:22.159Z,1749676462.159 [DAT](INFO): direction in FSK: [-0.938394,0.330461,0.101056]
2025-06-11T21:14:22.160Z,1749676462.160 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:22.163Z,1749676462.163 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.660694
2025-06-11T21:14:22.401Z,1749676462.401 [DAT](INFO): DAT read: Rx Time:21:14:23.9573
2025-06-11T21:14:22.403Z,1749676462.403 [DAT](INFO): Rx dataTimestamp_ set to:1749676462.401653
2025-06-11T21:14:22.407Z,1749676462.407 [DAT](INFO): DAT read: Bearing 161.4, -15.6 (Local)
2025-06-11T21:14:22.408Z,1749676462.408 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.4, -15.6 (Local)
2025-06-11T21:14:22.418Z,1749676462.418 [DAT](INFO): DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4
2025-06-11T21:14:22.469Z,1749676462.469 [DAT](INFO): DAT read: 21:14:23.9573 LVL= 32624, 20593, 32754, 32755, AGC= 59, IDX= 512, 0.32,-0.248, 1.241,-0.797, 0.437, PHS=-0.597, 0.850,-1.237, RAW= 347.4, 10.6, CAL= 348.6, 15.6, ROT= 161.4, -15.6
2025-06-11T21:14:22.470Z,1749676462.470 [DAT](INFO): got valid direction response:
21:14:23.9573 LVL= 32624, 20593, 32754, 32755, AGC= 59, IDX= 512, 0.32,-0.248, 1.241,-0.797, 0.437, PHS=-0.597, 0.850,-1.237, RAW= 347.4, 10.6, CAL= 348.6, 15.6, ROT= 161.4, -15.6
2025-06-11T21:14:22.470Z,1749676462.470 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-11T21:14:22.471Z,1749676462.471 [DAT](INFO): direction in FSK: [-0.912855,0.307210,0.268920]
2025-06-11T21:14:22.471Z,1749676462.471 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:22.487Z,1749676462.487 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.984325
2025-06-11T21:14:22.547Z,1749676462.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.761311 s,
deltaX: 0.400000 m,
approachRate: 0.525409 m/s,
rangeRepo size: 4
2025-06-11T21:14:22.553Z,1749676462.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.087189 m,
bearing: 86.668464 deg,
lat: 36.906702 deg,
lon: -122.115712 deg,
deltaT: 0.761311 s,
deltaX: 0.396582 m,
approachRate: 0.520919 m/s,
posRepo size: 4
2025-06-11T21:14:22.650Z,1749676462.650 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.147030
2025-06-11T21:14:22.905Z,1749676462.905 [DAT](INFO): DAT read: Rx Time:21:14:24.4574
2025-06-11T21:14:22.907Z,1749676462.907 [DAT](INFO): Rx dataTimestamp_ set to:1749676462.905878
2025-06-11T21:14:22.911Z,1749676462.911 [DAT](INFO): DAT read: Bearing 161.4, -6.6 (Local)
2025-06-11T21:14:22.912Z,1749676462.912 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.4, -6.6 (Local)
2025-06-11T21:14:22.923Z,1749676462.923 [DAT](INFO): DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed -0.6
2025-06-11T21:14:22.926Z,1749676462.926 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-06-11T21:14:22.939Z,1749676462.939 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.435555
2025-06-11T21:14:23.157Z,1749676463.157 [DAT](INFO): DAT read: 21:14:24.4574 LVL= 17968, 17473, 20642, 32755, AGC= 62, IDX= 1,-0.08, 0.931, 2.433, 0.368, 1.436, PHS=-0.416, 1.044,-1.070, RAW= 347.6, 4.8, CAL= 348.6, 6.6, ROT= 161.4, -6.6
2025-06-11T21:14:23.158Z,1749676463.158 [DAT](INFO): got valid direction response:
21:14:24.4574 LVL= 17968, 17473, 20642, 32755, AGC= 62, IDX= 1,-0.08, 0.931, 2.433, 0.368, 1.436, PHS=-0.416, 1.044,-1.070, RAW= 347.6, 4.8, CAL= 348.6, 6.6, ROT= 161.4, -6.6
2025-06-11T21:14:23.158Z,1749676463.158 [DAT](INFO): #Rx 99: Read direction message, but no range.
2025-06-11T21:14:23.159Z,1749676463.159 [DAT](INFO): direction in FSK: [-0.941487,0.316846,0.114937]
2025-06-11T21:14:23.162Z,1749676463.162 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.659691
2025-06-11T21:14:23.275Z,1749676463.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.400000 m,
deltaT: 0.504225 s,
deltaX: 0.200000 m,
approachRate: 0.396648 m/s,
rangeRepo size: 4
2025-06-11T21:14:23.278Z,1749676463.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.285459 m,
bearing: 86.197554 deg,
lat: 36.906701 deg,
lon: -122.115713 deg,
deltaT: 0.504225 s,
deltaX: 0.198270 m,
approachRate: 0.393217 m/s,
posRepo size: 4
2025-06-11T21:14:23.410Z,1749676463.410 [DAT](INFO): DAT read: Rx Time:21:14:24.9576
2025-06-11T21:14:23.411Z,1749676463.411 [DAT](INFO): Rx dataTimestamp_ set to:1749676463.410367
2025-06-11T21:14:23.417Z,1749676463.417 [DAT](INFO): DAT read: Bearing 160.9, -4.7 (Local)
2025-06-11T21:14:23.418Z,1749676463.418 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.9, -4.7 (Local)
2025-06-11T21:14:23.428Z,1749676463.428 [DAT](INFO): DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4
2025-06-11T21:14:23.431Z,1749676463.431 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-11T21:14:23.441Z,1749676463.441 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.937931
2025-06-11T21:14:23.661Z,1749676463.661 [DAT](INFO): DAT read: 21:14:24.9576 LVL= 32608, 19249, 32754, 32755, AGC= 59, IDX= 499, 0.48, 3.119,-1.657, 2.525,-2.705, PHS=-0.371, 1.095,-1.057, RAW= 348.2, 3.5, CAL= 349.1, 4.7, ROT= 160.9, -4.7
2025-06-11T21:14:23.662Z,1749676463.662 [DAT](INFO): got valid direction response:
21:14:24.9576 LVL= 32608, 19249, 32754, 32755, AGC= 59, IDX= 499, 0.48, 3.119,-1.657, 2.525,-2.705, PHS=-0.371, 1.095,-1.057, RAW= 348.2, 3.5, CAL= 349.1, 4.7, ROT= 160.9, -4.7
2025-06-11T21:14:23.662Z,1749676463.662 [DAT](INFO): #Rx 101: Read direction message, but no range.
2025-06-11T21:14:23.663Z,1749676463.663 [DAT](INFO): direction in FSK: [-0.941771,0.326118,0.081939]
2025-06-11T21:14:23.667Z,1749676463.667 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.163940
2025-06-11T21:14:23.786Z,1749676463.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.700000 m,
deltaT: 0.504489 s,
deltaX: 0.300000 m,
approachRate: 0.594662 m/s,
rangeRepo size: 4
2025-06-11T21:14:23.804Z,1749676463.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.582894 m,
bearing: 85.598629 deg,
lat: 36.906701 deg,
lon: -122.115713 deg,
deltaT: 0.504489 s,
deltaX: 0.297436 m,
approachRate: 0.589578 m/s,
posRepo size: 4
2025-06-11T21:14:23.805Z,1749676463.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 13.70 m. Rolling out.
2025-06-11T21:14:23.806Z,1749676463.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-06-11T21:14:23.831Z,1749676463.831 [DockingStepper](INFO): Changing to mode: 1
2025-06-11T21:14:23.836Z,1749676463.836 [DockingStepper](INFO): Standby mode.
2025-06-11T21:14:23.901Z,1749676463.901 [DockingStepper](INFO): Commanding positive:54494
2025-06-11T21:14:23.917Z,1749676463.917 [DAT](INFO): DAT read: Rx Time:21:14:25.4577
2025-06-11T21:14:23.919Z,1749676463.919 [DAT](INFO): Rx dataTimestamp_ set to:1749676463.917533
2025-06-11T21:14:23.923Z,1749676463.923 [DAT](INFO): DAT read: Bearing 161.0, -1.4 (Local)
2025-06-11T21:14:23.930Z,1749676463.930 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.0, -1.4 (Local)
2025-06-11T21:14:23.946Z,1749676463.946 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4
2025-06-11T21:14:23.961Z,1749676463.961 [DAT](INFO): DAT read: 21:14:25.4577 LVL= 31440, 19473, 32754, 32755, AGC= 59, IDX= 500, 0.18, 1.432, 2.926, 0.843, 1.820, PHS=-0.299, 1.153,-0.980, RAW= 348.2, 1.3, CAL= 349.0, 1.4, ROT= 161.0, -1.4
2025-06-11T21:14:23.962Z,1749676463.962 [DAT](INFO): got valid direction response:
21:14:25.4577 LVL= 31440, 19473, 32754, 32755, AGC= 59, IDX= 500, 0.18, 1.432, 2.926, 0.843, 1.820, PHS=-0.299, 1.153,-0.980, RAW= 348.2, 1.3, CAL= 349.0, 1.4, ROT= 161.0, -1.4
2025-06-11T21:14:23.962Z,1749676463.962 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-11T21:14:23.963Z,1749676463.963 [DAT](INFO): direction in FSK: [-0.945236,0.325471,0.024432]
2025-06-11T21:14:23.970Z,1749676463.970 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:23.978Z,1749676463.978 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.474884
2025-06-11T21:14:24.119Z,1749676464.119 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:14:24.165Z,1749676464.165 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.662159
2025-06-11T21:14:24.170Z,1749676464.170 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-11T21:14:24.170Z,1749676464.170 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-11T21:14:24.170Z,1749676464.170 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-11T21:14:24.176Z,1749676464.176 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 13.700000 m (mode 5.000000 count ).
2025-06-11T21:14:24.176Z,1749676464.176 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-11T21:14:24.176Z,1749676464.176 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-11T21:14:24.177Z,1749676464.177 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-06-11T21:14:24.177Z,1749676464.177 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-11T21:14:24.177Z,1749676464.177 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-06-11T21:14:24.178Z,1749676464.178 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 13.700000 m (mode 5.000000 count ).
2025-06-11T21:14:24.178Z,1749676464.178 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-06-11T21:14:24.178Z,1749676464.178 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-06-11T21:14:24.197Z,1749676464.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.507166 s,
deltaX: 0.100000 m,
approachRate: 0.197175 m/s,
rangeRepo size: 4
2025-06-11T21:14:24.199Z,1749676464.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.682031 m,
bearing: 85.451064 deg,
lat: 36.906701 deg,
lon: -122.115713 deg,
deltaT: 0.507166 s,
deltaX: 0.099136 m,
approachRate: 0.195471 m/s,
posRepo size: 4
2025-06-11T21:14:24.204Z,1749676464.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:14:24.417Z,1749676464.417 [DAT](INFO): DAT read: Rx Time:21:14:25.9579
2025-06-11T21:14:24.418Z,1749676464.418 [DAT](INFO): Rx dataTimestamp_ set to:1749676464.417611
2025-06-11T21:14:24.419Z,1749676464.419 [DAT](INFO): DAT read: Bearing 161.1, -1.8 (Local)
2025-06-11T21:14:24.419Z,1749676464.419 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.1, -1.8 (Local)
2025-06-11T21:14:24.421Z,1749676464.421 [DAT](INFO): DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4
2025-06-11T21:14:24.421Z,1749676464.421 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-06-11T21:14:24.422Z,1749676464.422 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.919609
2025-06-11T21:14:24.628Z,1749676464.628 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-11T21:14:24.628Z,1749676464.628 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-11T21:14:24.629Z,1749676464.629 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-06-11T21:14:24.629Z,1749676464.629 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-06-11T21:14:24.636Z,1749676464.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.100000 m,
deltaT: 0.500078 s,
deltaX: 0.300000 m,
approachRate: 0.599907 m/s,
rangeRepo size: 4
2025-06-11T21:14:24.636Z,1749676464.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:14:24.673Z,1749676464.673 [DAT](INFO): DAT read: 21:14:25.9579 LVL= 31216, 26593, 32754, 32700, 0.976,-1.074,-0.106, PHS=-0.306, 1.129,-0.971, RAW= 348.1, 1.6, CAL= 348.9, 1.8, ROT= 161.1, -1.8
2025-06-11T21:14:24.674Z,1749676464.674 [DAT](INFO): unknown deviceResponse_: 21:14:25.9579 LVL= 31216, 26593, 32754, 32700, 0.976,-1.074,-0.106, PHS=-0.306, 1.129,-0.971, RAW= 348.1, 1.6, CAL= 348.9, 1.8, ROT= 161.1, -1.8
2025-06-11T21:14:24.674Z,1749676464.674 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.171474
2025-06-11T21:14:24.925Z,1749676464.925 [DAT](INFO): DAT read: Rx Time:21:14:26.4580
2025-06-11T21:14:24.927Z,1749676464.927 [DAT](INFO): Rx dataTimestamp_ set to:1749676464.925806
2025-06-11T21:14:24.931Z,1749676464.931 [DAT](INFO): DAT read: Bearing 161.1, -3.9 (Local)
2025-06-11T21:14:24.932Z,1749676464.932 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.1, -3.9 (Local)
2025-06-11T21:14:24.939Z,1749676464.939 [DAT](INFO): DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4
2025-06-11T21:14:24.941Z,1749676464.941 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-06-11T21:14:24.945Z,1749676464.945 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.441963
2025-06-11T21:14:25.023Z,1749676465.023 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-11T21:14:25.023Z,1749676465.023 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-11T21:14:25.032Z,1749676465.032 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-06-11T21:14:25.032Z,1749676465.032 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-06-11T21:14:25.035Z,1749676465.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.300000 m,
deltaT: 0.508195 s,
deltaX: 0.200000 m,
approachRate: 0.393549 m/s,
rangeRepo size: 4
2025-06-11T21:14:25.040Z,1749676465.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:14:25.177Z,1749676465.177 [DAT](INFO): DAT read: 21:14:26.4580 LVL= 31152, 24721, 32754, 32755, AGC= 59, IDX= 502, 0.41, 0.487, 2.009,-0.103, 0.936, PHS=-0.361, 1.120,-1.043, RAW= 348.0, 3.0, CAL= 348.9, 3.9, ROT= 161.1, -3.9
2025-06-11T21:14:25.179Z,1749676465.179 [DAT](INFO): got valid direction response:
21:14:26.4580 LVL= 31152, 24721, 32754, 32755, AGC= 59, IDX= 502, 0.41, 0.487, 2.009,-0.103, 0.936, PHS=-0.361, 1.120,-1.043, RAW= 348.0, 3.0, CAL= 348.9, 3.9, ROT= 161.1, -3.9
2025-06-11T21:14:25.179Z,1749676465.179 [DAT](INFO): #Rx 105: Read direction message, but no range.
2025-06-11T21:14:25.181Z,1749676465.181 [DAT](INFO): direction in FSK: [-0.943895,0.323167,0.068015]
2025-06-11T21:14:25.184Z,1749676465.184 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.681446
2025-06-11T21:14:25.429Z,1749676465.429 [DAT](INFO): DAT read: Rx Time:21:14:26.9583
2025-06-11T21:14:25.431Z,1749676465.431 [DAT](INFO): Rx dataTimestamp_ set to:1749676465.429943
2025-06-11T21:14:25.436Z,1749676465.436 [DAT](INFO): DAT read: Bearing 161.6, -2.3 (Local)
2025-06-11T21:14:25.437Z,1749676465.437 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.6, -2.3 (Local)
2025-06-11T21:14:25.465Z,1749676465.465 [DAT](INFO): DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.5
2025-06-11T21:14:25.486Z,1749676465.486 [DAT](INFO): DAT read: 21:14:26.9583 LVL= 31552, 24049, 32754, 32755, AGC= 60, IDX= 505, 0.08, 0.954, 2.498, 0.376, 1.382, PHS=-0.340, 1.163,-1.009, RAW= 347.5, 2.0, CAL= 348.4, 2.3, ROT= 161.6, -2.3
2025-06-11T21:14:25.487Z,1749676465.487 [DAT](INFO): got valid direction response:
21:14:26.9583 LVL= 31552, 24049, 32754, 32755, AGC= 60, IDX= 505, 0.08, 0.954, 2.498, 0.376, 1.382, PHS=-0.340, 1.163,-1.009, RAW= 347.5, 2.0, CAL= 348.4, 2.3, ROT= 161.6, -2.3
2025-06-11T21:14:25.496Z,1749676465.496 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-11T21:14:25.497Z,1749676465.497 [DAT](INFO): direction in FSK: [-0.948112,0.315395,0.040132]
2025-06-11T21:14:25.497Z,1749676465.497 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:25.511Z,1749676465.511 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.008442
2025-06-11T21:14:25.615Z,1749676465.615 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-11T21:14:25.615Z,1749676465.615 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-11T21:14:25.615Z,1749676465.615 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-11T21:14:25.615Z,1749676465.615 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-11T21:14:25.620Z,1749676465.620 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-06-11T21:14:25.620Z,1749676465.620 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-11T21:14:25.621Z,1749676465.621 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-06-11T21:14:25.621Z,1749676465.621 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-11T21:14:25.631Z,1749676465.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.700000 m,
deltaT: 0.504137 s,
deltaX: 0.400000 m,
approachRate: 0.793434 m/s,
rangeRepo size: 4
2025-06-11T21:14:25.638Z,1749676465.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.574314 m,
bearing: 86.238263 deg,
lat: 36.906703 deg,
lon: -122.115711 deg,
deltaT: 1.512410 s,
deltaX: 0.892283 m,
approachRate: 0.589975 m/s,
posRepo size: 4
2025-06-11T21:14:25.638Z,1749676465.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.57 m.
2025-06-11T21:14:25.678Z,1749676465.678 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.175404
2025-06-11T21:14:25.934Z,1749676465.934 [DAT](INFO): DAT read: Rx Time:21:14:27.4583
2025-06-11T21:14:25.936Z,1749676465.936 [DAT](INFO): Rx dataTimestamp_ set to:1749676465.935052
2025-06-11T21:14:25.941Z,1749676465.941 [DAT](INFO): DAT read: Bearing 161.0, -3.6 (Local)
2025-06-11T21:14:25.942Z,1749676465.942 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.0, -3.6 (Local)
2025-06-11T21:14:25.949Z,1749676465.949 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed -0.4
2025-06-11T21:14:25.954Z,1749676465.954 [DAT](INFO): DAT read: 21:14:27.4583 LVL= 31456, 26225, 32754, 32755, AGC= 61, IDX= 506,-0.15,-1.909,-0.457,-2.473,-1.485, PHS=-0.336, 1.075,-0.991, RAW= 348.1, 2.8, CAL= 349.0, 3.6, ROT= 161.0, -3.6
2025-06-11T21:14:25.955Z,1749676465.955 [DAT](INFO): got valid direction response:
21:14:27.4583 LVL= 31456, 26225, 32754, 32755, AGC= 61, IDX= 506,-0.15,-1.909,-0.457,-2.473,-1.485, PHS=-0.336, 1.075,-0.991, RAW= 348.1, 2.8, CAL= 349.0, 3.6, ROT= 161.0, -3.6
2025-06-11T21:14:25.956Z,1749676465.956 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-11T21:14:25.957Z,1749676465.957 [DAT](INFO): direction in FSK: [-0.943653,0.324926,0.062791]
2025-06-11T21:14:25.957Z,1749676465.957 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:25.965Z,1749676465.965 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.462719
2025-06-11T21:14:26.150Z,1749676466.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.505109 s,
deltaX: 0.200000 m,
approachRate: 0.395954 m/s,
rangeRepo size: 4
2025-06-11T21:14:26.164Z,1749676466.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.772604 m,
bearing: 85.718865 deg,
lat: 36.906703 deg,
lon: -122.115710 deg,
deltaT: 0.505109 s,
deltaX: 0.198290 m,
approachRate: 0.392568 m/s,
posRepo size: 4
2025-06-11T21:14:26.165Z,1749676466.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.77 m.
2025-06-11T21:14:26.181Z,1749676466.181 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.678185
2025-06-11T21:14:26.439Z,1749676466.439 [DAT](INFO): DAT read: Rx Time:21:14:27.9585
2025-06-11T21:14:26.442Z,1749676466.442 [DAT](INFO): Rx dataTimestamp_ set to:1749676466.440551
2025-06-11T21:14:26.447Z,1749676466.447 [DAT](INFO): DAT read: Bearing 161.2, -4.9 (Local)
2025-06-11T21:14:26.447Z,1749676466.447 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.2, -4.9 (Local)
2025-06-11T21:14:26.449Z,1749676466.449 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4
2025-06-11T21:14:26.454Z,1749676466.454 [DAT](INFO): DAT read: 21:14:27.9585 LVL= 32624, 26305, 32754, 32755, AGC= 62, IDX= 508, 0.40, 0.988, 2.498, 0.407, 1.456, PHS=-0.380, 1.089,-1.053, RAW= 347.9, 3.7, CAL= 348.8, 4.9, ROT= 161.2, -4.9
2025-06-11T21:14:26.455Z,1749676466.455 [DAT](INFO): got valid direction response:
21:14:27.9585 LVL= 32624, 26305, 32754, 32755, AGC= 62, IDX= 508, 0.40, 0.988, 2.498, 0.407, 1.456, PHS=-0.380, 1.089,-1.053, RAW= 347.9, 3.7, CAL= 348.8, 4.9, ROT= 161.2, -4.9
2025-06-11T21:14:26.456Z,1749676466.456 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-11T21:14:26.457Z,1749676466.457 [DAT](INFO): direction in FSK: [-0.943189,0.321088,0.085417]
2025-06-11T21:14:26.457Z,1749676466.457 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:26.461Z,1749676466.461 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.958141
2025-06-11T21:14:26.654Z,1749676466.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.200000 m,
deltaT: 0.505499 s,
deltaX: 0.300000 m,
approachRate: 0.593473 m/s,
rangeRepo size: 4
2025-06-11T21:14:26.668Z,1749676466.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.070039 m,
bearing: 85.796505 deg,
lat: 36.906703 deg,
lon: -122.115708 deg,
deltaT: 0.505499 s,
deltaX: 0.297435 m,
approachRate: 0.588398 m/s,
posRepo size: 4
2025-06-11T21:14:26.669Z,1749676466.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.07 m.
2025-06-11T21:14:26.685Z,1749676466.685 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.182198
2025-06-11T21:14:26.942Z,1749676466.942 [DAT](INFO): DAT read: Rx Time:21:14:28.4586
2025-06-11T21:14:26.944Z,1749676466.944 [DAT](INFO): Rx dataTimestamp_ set to:1749676466.942516
2025-06-11T21:14:26.946Z,1749676466.946 [DAT](INFO): DAT read: Bearing 161.8, -5.0 (Local)
2025-06-11T21:14:26.946Z,1749676466.946 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.8, -5.0 (Local)
2025-06-11T21:14:26.949Z,1749676466.949 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.4
2025-06-11T21:14:26.954Z,1749676466.954 [DAT](INFO): DAT read: 21:14:28.4586 LVL= 32336, 19953, 32754, 32755, AGC= 61, IDX= 509, 0.15,-0.837, 0.687,-1.390,-0.354, PHS=-0.395, 1.088,-1.039, RAW= 347.2, 3.7, CAL= 348.2, 5.0, ROT= 161.8, -5.0
2025-06-11T21:14:26.955Z,1749676466.955 [DAT](INFO): got valid direction response:
21:14:28.4586 LVL= 32336, 19953, 32754, 32755, AGC= 61, IDX= 509, 0.15,-0.837, 0.687,-1.390,-0.354, PHS=-0.395, 1.088,-1.039, RAW= 347.2, 3.7, CAL= 348.2, 5.0, ROT= 161.8, -5.0
2025-06-11T21:14:26.955Z,1749676466.955 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-11T21:14:26.956Z,1749676466.956 [DAT](INFO): direction in FSK: [-0.946357,0.311146,0.087156]
2025-06-11T21:14:26.957Z,1749676466.957 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:26.961Z,1749676466.961 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.458069
2025-06-11T21:14:27.077Z,1749676467.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.501965 s,
deltaX: 0.100000 m,
approachRate: 0.199218 m/s,
rangeRepo size: 4
2025-06-11T21:14:27.079Z,1749676467.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.169189 m,
bearing: 86.264674 deg,
lat: 36.906704 deg,
lon: -122.115708 deg,
deltaT: 0.501965 s,
deltaX: 0.099151 m,
approachRate: 0.197525 m/s,
posRepo size: 4
2025-06-11T21:14:27.088Z,1749676467.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.17 m.
2025-06-11T21:14:27.185Z,1749676467.185 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:14:27.189Z,1749676467.189 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.686272
2025-06-11T21:14:27.444Z,1749676467.444 [DAT](INFO): DAT read: Rx Time:21:14:28.9589
2025-06-11T21:14:27.445Z,1749676467.445 [DAT](INFO): Rx dataTimestamp_ set to:1749676467.444513
2025-06-11T21:14:27.449Z,1749676467.449 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed -0.4
2025-06-11T21:14:27.452Z,1749676467.452 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-06-11T21:14:27.454Z,1749676467.454 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.951237
2025-06-11T21:14:27.482Z,1749676467.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.501997 s,
deltaX: 0.500000 m,
approachRate: 0.996022 m/s,
rangeRepo size: 4
2025-06-11T21:14:27.483Z,1749676467.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.17 m.
2025-06-11T21:14:27.693Z,1749676467.693 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.190254
2025-06-11T21:14:27.827Z,1749676467.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.17 m.
2025-06-11T21:14:27.945Z,1749676467.945 [DAT](INFO): DAT read: Rx Time:21:14:29.4589
2025-06-11T21:14:27.945Z,1749676467.945 [DAT](INFO): Rx dataTimestamp_ set to:1749676467.945209
2025-06-11T21:14:27.947Z,1749676467.947 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed -0.4
2025-06-11T21:14:27.947Z,1749676467.947 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-06-11T21:14:27.948Z,1749676467.948 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.445774
2025-06-11T21:14:28.188Z,1749676468.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:14:28.197Z,1749676468.197 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.694225
2025-06-11T21:14:28.230Z,1749676468.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.500696 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:28.230Z,1749676468.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.17 m.
2025-06-11T21:14:28.453Z,1749676468.453 [DAT](INFO): DAT read: Rx Time:21:14:29.9591
2025-06-11T21:14:28.454Z,1749676468.454 [DAT](INFO): Rx dataTimestamp_ set to:1749676468.453303
2025-06-11T21:14:28.455Z,1749676468.455 [DAT](INFO): DAT read: Bearing 162.1, -5.6 (Local)
2025-06-11T21:14:28.455Z,1749676468.455 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.1, -5.6 (Local)
2025-06-11T21:14:28.457Z,1749676468.457 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed -0.4
2025-06-11T21:14:28.469Z,1749676468.469 [DAT](INFO): DAT read: 21:14:29.9591 LVL= 15936, 15745, 17346, 26003, AGC= 63, IDX= 3,-0.44, 1.675, 3.141, 1.160, 2.158, PHS=-0.395, 1.030,-1.001, RAW= 346.9, 4.1, CAL= 347.9, 5.6, ROT= 162.1, -5.6
2025-06-11T21:14:28.470Z,1749676468.470 [DAT](INFO): got valid direction response:
21:14:29.9591 LVL= 15936, 15745, 17346, 26003, AGC= 63, IDX= 3,-0.44, 1.675, 3.141, 1.160, 2.158, PHS=-0.395, 1.030,-1.001, RAW= 346.9, 4.1, CAL= 347.9, 5.6, ROT= 162.1, -5.6
2025-06-11T21:14:28.471Z,1749676468.471 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-11T21:14:28.472Z,1749676468.472 [DAT](INFO): direction in FSK: [-0.947053,0.305890,0.097583]
2025-06-11T21:14:28.472Z,1749676468.472 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:28.477Z,1749676468.477 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.972908
2025-06-11T21:14:28.659Z,1749676468.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.100000 m,
deltaT: 0.508094 s,
deltaX: 0.300000 m,
approachRate: 0.590442 m/s,
rangeRepo size: 4
2025-06-11T21:14:28.665Z,1749676468.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.962344 m,
bearing: 85.667798 deg,
lat: 36.906704 deg,
lon: -122.115708 deg,
deltaT: 1.510787 s,
deltaX: 0.793155 m,
approachRate: 0.524994 m/s,
posRepo size: 4
2025-06-11T21:14:28.666Z,1749676468.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.96 m.
2025-06-11T21:14:28.701Z,1749676468.701 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.198326
2025-06-11T21:14:28.953Z,1749676468.953 [DAT](INFO): DAT read: Rx Time:21:14:30.4592
2025-06-11T21:14:28.954Z,1749676468.954 [DAT](INFO): Rx dataTimestamp_ set to:1749676468.953576
2025-06-11T21:14:28.955Z,1749676468.955 [DAT](INFO): DAT read: Bearing 162.6, -0.8 (Local)
2025-06-11T21:14:28.955Z,1749676468.955 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.6, -0.8 (Local)
2025-06-11T21:14:28.958Z,1749676468.958 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed -0.5
2025-06-11T21:14:28.963Z,1749676468.963 [DAT](INFO): DAT read: 21:14:30.4592 LVL= 30320, 23393, 32754, 32755, AGC= 59, IDX= 499, 0.38, 0.601, 2.108, 0.086, 1.004, PHS=-0.315, 1.151,-0.921, RAW= 346.5, 0.9, CAL= 347.4, 0.8, ROT= 162.6, -0.8
2025-06-11T21:14:28.964Z,1749676468.964 [DAT](INFO): got valid direction response:
21:14:30.4592 LVL= 30320, 23393, 32754, 32755, AGC= 59, IDX= 499, 0.38, 0.601, 2.108, 0.086, 1.004, PHS=-0.315, 1.151,-0.921, RAW= 346.5, 0.9, CAL= 347.4, 0.8, ROT= 162.6, -0.8
2025-06-11T21:14:28.964Z,1749676468.964 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-11T21:14:28.965Z,1749676468.965 [DAT](INFO): direction in FSK: [-0.954147,0.299012,0.013962]
2025-06-11T21:14:28.965Z,1749676468.965 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:29.001Z,1749676469.001 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.498543
2025-06-11T21:14:29.110Z,1749676469.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.500273 s,
deltaX: 0.100000 m,
approachRate: 0.199892 m/s,
rangeRepo size: 4
2025-06-11T21:14:29.114Z,1749676469.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.061489 m,
bearing: 85.917467 deg,
lat: 36.906705 deg,
lon: -122.115708 deg,
deltaT: 0.500273 s,
deltaX: 0.099145 m,
approachRate: 0.198182 m/s,
posRepo size: 4
2025-06-11T21:14:29.114Z,1749676469.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.06 m.
2025-06-11T21:14:29.207Z,1749676469.207 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.703960
2025-06-11T21:14:29.463Z,1749676469.463 [DAT](INFO): DAT read: Rx Time:21:14:30.9595
2025-06-11T21:14:29.465Z,1749676469.465 [DAT](INFO): Rx dataTimestamp_ set to:1749676469.464338
2025-06-11T21:14:29.474Z,1749676469.474 [DAT](INFO): DAT read: Bearing 162.5, -0.1 (Local)
2025-06-11T21:14:29.474Z,1749676469.474 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.5, -0.1 (Local)
2025-06-11T21:14:29.496Z,1749676469.496 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.5
2025-06-11T21:14:29.509Z,1749676469.509 [DAT](INFO): DAT read: 21:14:30.9595 LVL= 28448, 23857, 30178, 32755, AGC= 60, IDX= 502, 0.16, 2.010,-2.754, 1.488, 2.401, PHS=-0.303, 1.176,-0.916, RAW= 346.6, 0.5, CAL= 347.5, 0.1, ROT= 162.5, -0.1
2025-06-11T21:14:29.510Z,1749676469.510 [DAT](INFO): got valid direction response:
21:14:30.9595 LVL= 28448, 23857, 30178, 32755, AGC= 60, IDX= 502, 0.16, 2.010,-2.754, 1.488, 2.401, PHS=-0.303, 1.176,-0.916, RAW= 346.6, 0.5, CAL= 347.5, 0.1, ROT= 162.5, -0.1
2025-06-11T21:14:29.511Z,1749676469.511 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-11T21:14:29.524Z,1749676469.524 [DAT](INFO): direction in FSK: [-0.953715,0.300705,0.001745]
2025-06-11T21:14:29.524Z,1749676469.524 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:29.536Z,1749676469.536 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.033714
2025-06-11T21:14:29.605Z,1749676469.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.510762 s,
deltaX: 0.500000 m,
approachRate: 0.978930 m/s,
rangeRepo size: 4
2025-06-11T21:14:29.607Z,1749676469.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.557213 m,
bearing: 85.591788 deg,
lat: 36.906707 deg,
lon: -122.115708 deg,
deltaT: 0.510762 s,
deltaX: 0.495724 m,
approachRate: 0.970557 m/s,
posRepo size: 4
2025-06-11T21:14:29.612Z,1749676469.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.56 m.
2025-06-11T21:14:29.710Z,1749676469.710 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.207005
2025-06-11T21:14:29.952Z,1749676469.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.56 m.
2025-06-11T21:14:29.962Z,1749676469.962 [DAT](INFO): DAT read: Rx Time:21:14:31.4595
2025-06-11T21:14:29.962Z,1749676469.962 [DAT](INFO): Rx dataTimestamp_ set to:1749676469.961727
2025-06-11T21:14:29.963Z,1749676469.963 [DAT](INFO): DAT read: Bearing 162.4, -2.8 (Local)
2025-06-11T21:14:29.964Z,1749676469.964 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.4, -2.8 (Local)
2025-06-11T21:14:29.966Z,1749676469.966 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.6
2025-06-11T21:14:29.971Z,1749676469.971 [DAT](INFO): DAT read: 21:14:31.4595 LVL= 29648, 24017, 31346, 32755, AGC= 61, IDX= 503,-0.08, 0.681, 2.180, 0.162, 1.120, PHS=-0.352, 1.106,-0.961, RAW= 346.7, 2.3, CAL= 347.6, 2.8, ROT= 162.4, -2.8
2025-06-11T21:14:29.972Z,1749676469.972 [DAT](INFO): got valid direction response:
21:14:31.4595 LVL= 29648, 24017, 31346, 32755, AGC= 61, IDX= 503,-0.08, 0.681, 2.180, 0.162, 1.120, PHS=-0.352, 1.106,-0.961, RAW= 346.7, 2.3, CAL= 347.6, 2.8, ROT= 162.4, -2.8
2025-06-11T21:14:29.972Z,1749676469.972 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-11T21:14:29.973Z,1749676469.973 [DAT](INFO): direction in FSK: [-0.952053,0.302009,0.048850]
2025-06-11T21:14:29.974Z,1749676469.974 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:29.987Z,1749676469.987 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.484383
2025-06-11T21:14:30.217Z,1749676470.217 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.714149
2025-06-11T21:14:30.310Z,1749676470.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.497389 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:30.313Z,1749676470.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.557253 m,
bearing: 85.059391 deg,
lat: 36.906707 deg,
lon: -122.115708 deg,
deltaT: 0.497389 s,
deltaX: 0.000040 m,
approachRate: 0.000081 m/s,
posRepo size: 4
2025-06-11T21:14:30.313Z,1749676470.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.56 m.
2025-06-11T21:14:30.473Z,1749676470.473 [DAT](INFO): DAT read: Rx Time:21:14:31.9598
2025-06-11T21:14:30.474Z,1749676470.474 [DAT](INFO): Rx dataTimestamp_ set to:1749676470.473119
2025-06-11T21:14:30.478Z,1749676470.478 [DAT](INFO): DAT read: Bearing 162.8, -5.1 (Local)
2025-06-11T21:14:30.479Z,1749676470.479 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.8, -5.1 (Local)
2025-06-11T21:14:30.484Z,1749676470.484 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.4
2025-06-11T21:14:30.489Z,1749676470.489 [DAT](INFO): DAT read: 21:14:31.9598 LVL= 32752, 25745, 32754, 32755, AGC= 62, IDX= 506,-0.35, 2.793,-1.963, 2.288,-2.989, PHS=-0.413, 1.073,-1.009, RAW= 346.1, 3.8, CAL= 347.2, 5.1, ROT= 162.8, -5.1
2025-06-11T21:14:30.490Z,1749676470.490 [DAT](INFO): got valid direction response:
21:14:31.9598 LVL= 32752, 25745, 32754, 32755, AGC= 62, IDX= 506,-0.35, 2.793,-1.963, 2.288,-2.989, PHS=-0.413, 1.073,-1.009, RAW= 346.1, 3.8, CAL= 347.2, 5.1, ROT= 162.8, -5.1
2025-06-11T21:14:30.490Z,1749676470.490 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-11T21:14:30.491Z,1749676470.491 [DAT](INFO): direction in FSK: [-0.951496,0.294537,0.088894]
2025-06-11T21:14:30.491Z,1749676470.491 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:30.495Z,1749676470.495 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.992386
2025-06-11T21:14:30.721Z,1749676470.721 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.218178
2025-06-11T21:14:30.768Z,1749676470.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.511392 s,
deltaX: 0.400000 m,
approachRate: 0.782178 m/s,
rangeRepo size: 4
2025-06-11T21:14:30.770Z,1749676470.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.953833 m,
bearing: 85.459882 deg,
lat: 36.906709 deg,
lon: -122.115708 deg,
deltaT: 0.511392 s,
deltaX: 0.396580 m,
approachRate: 0.775491 m/s,
posRepo size: 4
2025-06-11T21:14:30.771Z,1749676470.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.95 m.
2025-06-11T21:14:30.973Z,1749676470.973 [DAT](INFO): DAT read: Rx Time:21:14:32.4599
2025-06-11T21:14:30.974Z,1749676470.974 [DAT](INFO): Rx dataTimestamp_ set to:1749676470.973578
2025-06-11T21:14:30.975Z,1749676470.975 [DAT](INFO): DAT read: Bearing 163.1, -3.4 (Local)
2025-06-11T21:14:30.975Z,1749676470.975 [DAT](INFO): Local bearing/azimuth received:
Bearing 163.1, -3.4 (Local)
2025-06-11T21:14:30.978Z,1749676470.978 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.7
2025-06-11T21:14:31.003Z,1749676471.003 [DAT](INFO): DAT read: 21:14:32.4599 LVL= 32752, 25073, 32754, 32755, AGC= 63, IDX= 507,-0.45, 1.562, 3.138, 1.046, 2.043, PHS=-0.393, 1.142,-1.000, RAW= 346.0, 2.6, CAL= 346.9, 3.4, ROT= 163.1, -3.4
2025-06-11T21:14:31.009Z,1749676471.009 [DAT](INFO): got valid direction response:
21:14:32.4599 LVL= 32752, 25073, 32754, 32755, AGC= 63, IDX= 507,-0.45, 1.562, 3.138, 1.046, 2.043, PHS=-0.393, 1.142,-1.000, RAW= 346.0, 2.6, CAL= 346.9, 3.4, ROT= 163.1, -3.4
2025-06-11T21:14:31.010Z,1749676471.010 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-11T21:14:31.011Z,1749676471.011 [DAT](INFO): direction in FSK: [-0.955129,0.290191,0.059306]
2025-06-11T21:14:31.011Z,1749676471.011 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:31.023Z,1749676471.023 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.520561
2025-06-11T21:14:31.146Z,1749676471.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.500459 s,
deltaX: 0.199999 m,
approachRate: 0.399631 m/s,
rangeRepo size: 4
2025-06-11T21:14:31.152Z,1749676471.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.152115 m,
bearing: 85.413469 deg,
lat: 36.906710 deg,
lon: -122.115708 deg,
deltaT: 0.500459 s,
deltaX: 0.198282 m,
approachRate: 0.396201 m/s,
posRepo size: 4
2025-06-11T21:14:31.153Z,1749676471.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.15 m.
2025-06-11T21:14:31.229Z,1749676471.229 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.724697
2025-06-11T21:14:31.481Z,1749676471.481 [DAT](INFO): DAT read: Rx Time:21:14:32.9601
2025-06-11T21:14:31.482Z,1749676471.482 [DAT](INFO): Rx dataTimestamp_ set to:1749676471.481290
2025-06-11T21:14:31.486Z,1749676471.486 [DAT](INFO): DAT read: Bearing 163.6, 0.3 (Local)
2025-06-11T21:14:31.487Z,1749676471.487 [DAT](INFO): Local bearing/azimuth received:
Bearing 163.6, 0.3 (Local)
2025-06-11T21:14:31.493Z,1749676471.493 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed -0.4
2025-06-11T21:14:31.524Z,1749676471.524 [DAT](INFO): DAT read: 21:14:32.9601 LVL= 32240, 24113, 31538, 32755, AGC= 63, IDX= 509,-0.39,-0.092, 1.507,-0.594, 0.324, PHS=-0.328, 1.229,-0.921, RAW= 345.5, 0.2, CAL= 346.4, -0.3, ROT= 163.6, 0.3
2025-06-11T21:14:31.525Z,1749676471.525 [DAT](INFO): got valid direction response:
21:14:32.9601 LVL= 32240, 24113, 31538, 32755, AGC= 63, IDX= 509,-0.39,-0.092, 1.507,-0.594, 0.324, PHS=-0.328, 1.229,-0.921, RAW= 345.5, 0.2, CAL= 346.4, -0.3, ROT= 163.6, 0.3
2025-06-11T21:14:31.525Z,1749676471.525 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-11T21:14:31.526Z,1749676471.526 [DAT](INFO): direction in FSK: [-0.959301,0.282337,-0.005236]
2025-06-11T21:14:31.527Z,1749676471.527 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:31.562Z,1749676471.562 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.059719
2025-06-11T21:14:31.671Z,1749676471.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.507712 s,
deltaX: 0.300001 m,
approachRate: 0.590888 m/s,
rangeRepo size: 4
2025-06-11T21:14:31.677Z,1749676471.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.449553 m,
bearing: 85.776075 deg,
lat: 36.906711 deg,
lon: -122.115707 deg,
deltaT: 0.507712 s,
deltaX: 0.297438 m,
approachRate: 0.585839 m/s,
posRepo size: 4
2025-06-11T21:14:31.677Z,1749676471.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.45 m.
2025-06-11T21:14:31.730Z,1749676471.730 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.226841
2025-06-11T21:14:31.981Z,1749676471.981 [DAT](INFO): DAT read: Rx Time:21:14:33.4603
2025-06-11T21:14:31.982Z,1749676471.982 [DAT](INFO): Rx dataTimestamp_ set to:1749676471.981593
2025-06-11T21:14:31.983Z,1749676471.983 [DAT](INFO): DAT read: Bearing 163.9, -1.5 (Local)
2025-06-11T21:14:31.984Z,1749676471.984 [DAT](INFO): Local bearing/azimuth received:
Bearing 163.9, -1.5 (Local)
2025-06-11T21:14:31.986Z,1749676471.986 [DAT](INFO): DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed -0.6
2025-06-11T21:14:31.991Z,1749676471.991 [DAT](INFO): DAT read: 21:14:33.4603 LVL= 31296, 24049, 32754, 32755, AGC= 62, IDX= 510,-0.46,-1.249, 0.354,-1.733,-0.789, PHS=-0.372, 1.190,-0.947, RAW= 345.1, 1.4, CAL= 346.1, 1.5, ROT= 163.9, -1.5
2025-06-11T21:14:31.992Z,1749676471.992 [DAT](INFO): got valid direction response:
21:14:33.4603 LVL= 31296, 24049, 32754, 32755, AGC= 62, IDX= 510,-0.46,-1.249, 0.354,-1.733,-0.789, PHS=-0.372, 1.190,-0.947, RAW= 345.1, 1.4, CAL= 346.1, 1.5, ROT= 163.9, -1.5
2025-06-11T21:14:31.993Z,1749676471.993 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-06-11T21:14:31.994Z,1749676471.994 [DAT](INFO): direction in FSK: [-0.960450,0.277220,0.026177]
2025-06-11T21:14:31.994Z,1749676471.994 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:31.998Z,1749676471.998 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.495064
2025-06-11T21:14:32.190Z,1749676472.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.500303 s,
deltaX: 0.299999 m,
approachRate: 0.599635 m/s,
rangeRepo size: 4
2025-06-11T21:14:32.197Z,1749676472.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.746979 m,
bearing: 85.962038 deg,
lat: 36.906711 deg,
lon: -122.115707 deg,
deltaT: 0.500303 s,
deltaX: 0.297426 m,
approachRate: 0.594492 m/s,
posRepo size: 4
2025-06-11T21:14:32.197Z,1749676472.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.75 m.
2025-06-11T21:14:32.233Z,1749676472.233 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.730194
2025-06-11T21:14:32.490Z,1749676472.490 [DAT](INFO): DAT read: Rx Time:21:14:33.9606
2025-06-11T21:14:32.491Z,1749676472.491 [DAT](INFO): Rx dataTimestamp_ set to:1749676472.490447
2025-06-11T21:14:32.495Z,1749676472.495 [DAT](INFO): DAT read: Bearing 170.2, 8.4 (Local)
2025-06-11T21:14:32.497Z,1749676472.497 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.2, 8.4 (Local)
2025-06-11T21:14:32.503Z,1749676472.503 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4
2025-06-11T21:14:32.531Z,1749676472.531 [DAT](INFO): DAT read: 21:14:33.9606 LVL= 32752, 24513, 32754, 32755, AGC= 63, IDX= 512, 0.41,-2.171,-0.242,-2.410,-1.771, PHS=-0.312, 1.576,-0.642, RAW= 337.9, -6.1, CAL= 339.8, -8.4, ROT= 170.2, 8.4
2025-06-11T21:14:32.564Z,1749676472.564 [DAT](INFO): got valid direction response:
21:14:33.9606 LVL= 32752, 24513, 32754, 32755, AGC= 63, IDX= 512, 0.41,-2.171,-0.242,-2.410,-1.771, PHS=-0.312, 1.576,-0.642, RAW= 337.9, -6.1, CAL= 339.8, -8.4, ROT= 170.2, 8.4
2025-06-11T21:14:32.565Z,1749676472.565 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-11T21:14:32.566Z,1749676472.566 [DAT](INFO): direction in FSK: [-0.974837,0.168384,-0.146083]
2025-06-11T21:14:32.566Z,1749676472.566 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:32.586Z,1749676472.586 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:14:32.586Z,1749676472.586 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:14:32.586Z,1749676472.586 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:32.728Z,1749676472.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.508854 s,
deltaX: 0.400000 m,
approachRate: 0.786079 m/s,
rangeRepo size: 4
2025-06-11T21:14:32.730Z,1749676472.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.143559 m,
bearing: 92.050182 deg,
lat: 36.906711 deg,
lon: -122.115706 deg,
deltaT: 0.508854 s,
deltaX: 0.396580 m,
approachRate: 0.779359 m/s,
posRepo size: 4
2025-06-11T21:14:32.731Z,1749676472.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.14 m.
2025-06-11T21:14:32.736Z,1749676472.736 [DAT](INFO): Reached modem response timeout
2025-06-11T21:14:32.737Z,1749676472.737 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:14:32.737Z,1749676472.737 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:32.990Z,1749676472.990 [DAT](INFO): DAT read: Rx Time:21:14:34.4607
2025-06-11T21:14:32.990Z,1749676472.990 [DAT](INFO): Rx dataTimestamp_ set to:1749676472.989730
2025-06-11T21:14:32.991Z,1749676472.991 [DAT](INFO): DAT read: Bearing 164.5, 0.3 (Local)
2025-06-11T21:14:32.992Z,1749676472.992 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.5, 0.3 (Local)
2025-06-11T21:14:32.994Z,1749676472.994 [DAT](INFO): DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed -0.6
2025-06-11T21:14:32.999Z,1749676472.999 [DAT](INFO): DAT read: 21:14:34.4607 LVL= 18288, 20369, 16002, 25843, AGC= 66, IDX= 1, 0.43, 0.184, 1.835,-0.290, 0.626, PHS=-0.354, 1.255,-0.920, RAW= 344.5, 0.2, CAL= 345.5, -0.3, ROT= 164.5, 0.3
2025-06-11T21:14:33.016Z,1749676473.016 [DAT](INFO): got valid direction response:
21:14:34.4607 LVL= 18288, 20369, 16002, 25843, AGC= 66, IDX= 1, 0.43, 0.184, 1.835,-0.290, 0.626, PHS=-0.354, 1.255,-0.920, RAW= 344.5, 0.2, CAL= 345.5, -0.3, ROT= 164.5, 0.3
2025-06-11T21:14:33.017Z,1749676473.017 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:14:33.018Z,1749676473.018 [DAT](INFO): direction in FSK: [-0.963617,0.267235,-0.005236]
2025-06-11T21:14:33.018Z,1749676473.018 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:33.021Z,1749676473.021 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:14:33.022Z,1749676473.022 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:33.154Z,1749676473.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.499283 s,
deltaX: 0.200001 m,
approachRate: 0.400576 m/s,
rangeRepo size: 4
2025-06-11T21:14:33.160Z,1749676473.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.341848 m,
bearing: 86.340965 deg,
lat: 36.906711 deg,
lon: -122.115706 deg,
deltaT: 0.499283 s,
deltaX: 0.198290 m,
approachRate: 0.397149 m/s,
posRepo size: 4
2025-06-11T21:14:33.160Z,1749676473.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.34 m.
2025-06-11T21:14:33.241Z,1749676473.241 [DAT](INFO): Reached modem response timeout
2025-06-11T21:14:33.241Z,1749676473.241 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:14:33.241Z,1749676473.241 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:33.497Z,1749676473.497 [DAT](INFO): DAT read: Rx Time:21:14:34.9610
2025-06-11T21:14:33.499Z,1749676473.499 [DAT](INFO): Rx dataTimestamp_ set to:1749676473.497999
2025-06-11T21:14:33.503Z,1749676473.503 [DAT](INFO): DAT read: Bearing 164.8, -2.3 (Local)
2025-06-11T21:14:33.505Z,1749676473.505 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.8, -2.3 (Local)
2025-06-11T21:14:33.515Z,1749676473.515 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.6
2025-06-11T21:14:33.588Z,1749676473.588 [DAT](INFO): DAT read: 21:14:34.9610 LVL= 32752, 27041, 32754, 32755, AGC= 65, IDX= 500, 0.27, 2.577,-2.010, 2.103, 3.093, PHS=-0.427, 1.227,-0.993, RAW= 344.2, 2.0, CAL= 345.2, 2.3, ROT= 164.8, -2.3
2025-06-11T21:14:33.589Z,1749676473.589 [DAT](INFO): got valid direction response:
21:14:34.9610 LVL= 32752, 27041, 32754, 32755, AGC= 65, IDX= 500, 0.27, 2.577,-2.010, 2.103, 3.093, PHS=-0.427, 1.227,-0.993, RAW= 344.2, 2.0, CAL= 345.2, 2.3, ROT= 164.8, -2.3
2025-06-11T21:14:33.590Z,1749676473.590 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:14:33.591Z,1749676473.591 [DAT](INFO): direction in FSK: [-0.964239,0.261978,0.040132]
2025-06-11T21:14:33.591Z,1749676473.591 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:33.607Z,1749676473.607 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:14:33.607Z,1749676473.607 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:33.635Z,1749676473.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.508269 s,
deltaX: 0.299999 m,
approachRate: 0.590237 m/s,
rangeRepo size: 4
2025-06-11T21:14:33.645Z,1749676473.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.639282 m,
bearing: 86.648089 deg,
lat: 36.906711 deg,
lon: -122.115705 deg,
deltaT: 0.508269 s,
deltaX: 0.297434 m,
approachRate: 0.585190 m/s,
posRepo size: 4
2025-06-11T21:14:33.646Z,1749676473.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.64 m.
2025-06-11T21:14:33.745Z,1749676473.745 [DAT](INFO): Reached modem response timeout
2025-06-11T21:14:33.745Z,1749676473.745 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:14:33.745Z,1749676473.745 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:33.998Z,1749676473.998 [DAT](INFO): DAT read: Rx Time:21:14:35.4611
2025-06-11T21:14:33.998Z,1749676473.998 [DAT](INFO): Rx dataTimestamp_ set to:1749676473.997693
2025-06-11T21:14:33.999Z,1749676473.999 [DAT](INFO): DAT read: Bearing 164.9, -3.7 (Local)
2025-06-11T21:14:33.000Z,1749676474.000 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.9, -3.7 (Local)
2025-06-11T21:14:34.002Z,1749676474.002 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.5
2025-06-11T21:14:34.007Z,1749676474.007 [DAT](INFO): DAT read: 21:14:35.4611 LVL= 32752, 23825, 32754, 32755, AGC= 64, IDX= 501, 0.32, 0.927, 2.627, 0.459, 1.476, PHS=-0.461, 1.198,-1.019, RAW= 344.0, 2.9, CAL= 345.1, 3.7, ROT= 164.9, -3.7
2025-06-11T21:14:34.008Z,1749676474.008 [DAT](INFO): got valid direction response:
21:14:35.4611 LVL= 32752, 23825, 32754, 32755, AGC= 64, IDX= 501, 0.32, 0.927, 2.627, 0.459, 1.476, PHS=-0.461, 1.198,-1.019, RAW= 344.0, 2.9, CAL= 345.1, 3.7, ROT= 164.9, -3.7
2025-06-11T21:14:34.008Z,1749676474.008 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:14:34.009Z,1749676474.009 [DAT](INFO): direction in FSK: [-0.963460,0.259962,0.064532]
2025-06-11T21:14:34.010Z,1749676474.010 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:34.033Z,1749676474.033 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:14:34.034Z,1749676474.033 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:34.070Z,1749676474.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.900000 m,
deltaT: 0.499694 s,
deltaX: 0.100000 m,
approachRate: 0.200123 m/s,
rangeRepo size: 4
2025-06-11T21:14:34.071Z,1749676474.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.738428 m,
bearing: 86.676988 deg,
lat: 36.906710 deg,
lon: -122.115705 deg,
deltaT: 0.499694 s,
deltaX: 0.099146 m,
approachRate: 0.198413 m/s,
posRepo size: 4
2025-06-11T21:14:34.077Z,1749676474.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.74 m.
2025-06-11T21:14:34.249Z,1749676474.249 [DAT](INFO): Reached modem response timeout
2025-06-11T21:14:34.249Z,1749676474.249 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:14:34.249Z,1749676474.249 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:34.393Z,1749676474.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.74 m.
2025-06-11T21:14:34.506Z,1749676474.506 [DAT](INFO): DAT read: Rx Time:21:14:35.9614
2025-06-11T21:14:34.507Z,1749676474.507 [DAT](INFO): Rx dataTimestamp_ set to:1749676474.506242
2025-06-11T21:14:34.513Z,1749676474.513 [DAT](INFO): DAT read: Bearing 165.1, -2.6 (Local)
2025-06-11T21:14:34.515Z,1749676474.515 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.1, -2.6 (Local)
2025-06-11T21:14:34.526Z,1749676474.526 [DAT](INFO): DAT read: Range 10 to 50 : 19.4 m (trip time 12.9 ms) speed -0.5
2025-06-11T21:14:34.557Z,1749676474.557 [DAT](INFO): DAT read: 21:14:35.9614 LVL= 32752, 28993, 32754, 32755, AGC= 63, IDX= 505,-0.40,-0.676, 0.982,-1.124,-0.160, PHS=-0.428, 1.190,-0.967, RAW= 343.9, 2.1, CAL= 344.9, 2.6, ROT= 165.1, -2.6
2025-06-11T21:14:34.558Z,1749676474.558 [DAT](INFO): got valid direction response:
21:14:35.9614 LVL= 32752, 28993, 32754, 32755, AGC= 63, IDX= 505,-0.40,-0.676, 0.982,-1.124,-0.160, PHS=-0.428, 1.190,-0.967, RAW= 343.9, 2.1, CAL= 344.9, 2.6, ROT= 165.1, -2.6
2025-06-11T21:14:34.559Z,1749676474.559 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:14:34.567Z,1749676474.567 [DAT](INFO): direction in FSK: [-0.965381,0.256868,0.045363]
2025-06-11T21:14:34.567Z,1749676474.567 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:34.583Z,1749676474.583 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:14:34.583Z,1749676474.583 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:34.760Z,1749676474.760 [DAT](INFO): Reached modem response timeout
2025-06-11T21:14:34.761Z,1749676474.761 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:14:34.761Z,1749676474.761 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:14:34.835Z,1749676474.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.400000 m,
deltaT: 0.508549 s,
deltaX: 0.500000 m,
approachRate: 0.983189 m/s,
rangeRepo size: 4
2025-06-11T21:14:34.837Z,1749676474.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.234114 m,
bearing: 86.824607 deg,
lat: 36.906710 deg,
lon: -122.115705 deg,
deltaT: 0.508549 s,
deltaX: 0.495686 m,
approachRate: 0.974706 m/s,
posRepo size: 4
2025-06-11T21:14:34.837Z,1749676474.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.23 m.
2025-06-11T21:14:35.013Z,1749676475.013 [DAT](INFO): DAT read: user:819>
2025-06-11T21:14:35.013Z,1749676475.013 [DAT](INFO): DAT read: 0
2025-06-11T21:14:35.014Z,1749676475.014 [DAT](INFO): unknown deviceResponse_: 0
2025-06-11T21:14:35.014Z,1749676475.014 [DAT](INFO): DAT read: Ok
2025-06-11T21:14:35.014Z,1749676475.014 [DAT](INFO): unknown deviceResponse_: Ok
2025-06-11T21:14:35.015Z,1749676475.015 [DAT](INFO): DAT read: user:820>
2025-06-11T21:14:35.015Z,1749676475.015 [DAT](INFO): DAT read: Tx time:21:14:36.8669
2025-06-11T21:14:35.016Z,1749676475.016 [DAT](INFO): Ping request sent.
2025-06-11T21:14:35.016Z,1749676475.016 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:14:35.016Z,1749676475.016 [DAT](INFO): publishing transmit ping time
2025-06-11T21:14:35.017Z,1749676475.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000898
2025-06-11T21:14:35.181Z,1749676475.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.23 m.
2025-06-11T21:14:35.266Z,1749676475.266 [DAT](INFO): DAT read: TxSync time:21:14:36.8662
2025-06-11T21:14:35.267Z,1749676475.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251340
2025-06-11T21:14:35.519Z,1749676475.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502738
2025-06-11T21:14:35.647Z,1749676475.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.23 m.
2025-06-11T21:14:35.769Z,1749676475.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753133
2025-06-11T21:14:35.995Z,1749676475.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.23 m.
2025-06-11T21:14:36.021Z,1749676476.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005286
2025-06-11T21:14:36.273Z,1749676476.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257104
2025-06-11T21:14:36.387Z,1749676476.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.23 m.
2025-06-11T21:14:36.528Z,1749676476.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511842
2025-06-11T21:14:36.777Z,1749676476.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761222
2025-06-11T21:14:36.903Z,1749676476.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.23 m.
2025-06-11T21:14:37.029Z,1749676477.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013053
2025-06-11T21:14:37.172Z,1749676477.172 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:14:37.225Z,1749676477.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.23 m.
2025-06-11T21:14:37.282Z,1749676477.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265936
2025-06-11T21:14:37.535Z,1749676477.535 [DAT](INFO): DAT read: Rx Time:21:14:39.0233
2025-06-11T21:14:37.537Z,1749676477.537 [DAT](INFO): Rx dataTimestamp_ set to:1749676477.535690
2025-06-11T21:14:37.541Z,1749676477.541 [DAT](INFO): DAT read: Bearing 165.4, -2.7 (Local)
2025-06-11T21:14:37.543Z,1749676477.543 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.4, -2.7 (Local)
2025-06-11T21:14:37.554Z,1749676477.554 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m (trip time 13.6 ms) speed -0.7
2025-06-11T21:14:37.613Z,1749676477.613 [DAT](INFO): DAT read: 21:14:39.0233 LVL= 32752, 27361, 32754, 32755, AGC= 67, IDX= 339,-0.02, 2.485,-2.119, 2.046, 3.014, PHS=-0.440, 1.197,-0.971, RAW= 343.6, 2.2, CAL= 344.6, 2.7, ROT= 165.4, -2.7
2025-06-11T21:14:37.614Z,1749676477.614 [DAT](INFO): got valid direction response:
21:14:39.0233 LVL= 32752, 27361, 32754, 32755, AGC= 67, IDX= 339,-0.02, 2.485,-2.119, 2.046, 3.014, PHS=-0.440, 1.197,-0.971, RAW= 343.6, 2.2, CAL= 344.6, 2.7, ROT= 165.4, -2.7
2025-06-11T21:14:37.615Z,1749676477.615 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:14:37.628Z,1749676477.628 [DAT](INFO): direction in FSK: [-0.966635,0.251790,0.047106]
2025-06-11T21:14:37.628Z,1749676477.628 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:37.631Z,1749676477.631 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.615833
2025-06-11T21:14:37.757Z,1749676477.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.400000 m,
deltaT: 3.029448 s,
deltaX: 1.000000 m,
approachRate: 0.330093 m/s,
rangeRepo size: 4
2025-06-11T21:14:37.759Z,1749676477.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.225586 m,
bearing: 86.542637 deg,
lat: 36.906711 deg,
lon: -122.115706 deg,
deltaT: 3.029448 s,
deltaX: 0.991472 m,
approachRate: 0.327278 m/s,
posRepo size: 4
2025-06-11T21:14:37.761Z,1749676477.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.23 m.
2025-06-11T21:14:37.785Z,1749676477.785 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769205
2025-06-11T21:14:38.038Z,1749676478.038 [DAT](INFO): DAT read: Rx Time:21:14:39.5234
2025-06-11T21:14:38.038Z,1749676478.038 [DAT](INFO): Rx dataTimestamp_ set to:1749676478.037699
2025-06-11T21:14:38.039Z,1749676478.039 [DAT](INFO): DAT read: Bearing 165.4, -0.8 (Local)
2025-06-11T21:14:38.040Z,1749676478.040 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.4, -0.8 (Local)
2025-06-11T21:14:38.042Z,1749676478.042 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed -0.7
2025-06-11T21:14:38.047Z,1749676478.047 [DAT](INFO): DAT read: 21:14:39.5234 LVL= 32752, 21985, 32754, 32755, AGC= 65, IDX= 500, 0.23, 2.334,-2.235, 1.884, 2.830, PHS=-0.408, 1.266,-0.949, RAW= 343.5, 0.9, CAL= 344.6, 0.8, ROT= 165.4, -0.8
2025-06-11T21:14:38.048Z,1749676478.048 [DAT](INFO): got valid direction response:
21:14:39.5234 LVL= 32752, 21985, 32754, 32755, AGC= 65, IDX= 500, 0.23, 2.334,-2.235, 1.884, 2.830, PHS=-0.408, 1.266,-0.949, RAW= 343.5, 0.9, CAL= 344.6, 0.8, ROT= 165.4, -0.8
2025-06-11T21:14:38.048Z,1749676478.048 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-11T21:14:38.049Z,1749676478.049 [DAT](INFO): direction in FSK: [-0.967615,0.252045,0.013962]
2025-06-11T21:14:38.050Z,1749676478.050 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:38.057Z,1749676478.057 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.041640
2025-06-11T21:14:38.138Z,1749676478.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.600000 m,
deltaT: 0.502009 s,
deltaX: 0.200001 m,
approachRate: 0.398401 m/s,
rangeRepo size: 4
2025-06-11T21:14:38.144Z,1749676478.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.423849 m,
bearing: 86.479537 deg,
lat: 36.906711 deg,
lon: -122.115706 deg,
deltaT: 0.502009 s,
deltaX: 0.198263 m,
approachRate: 0.394939 m/s,
posRepo size: 4
2025-06-11T21:14:38.144Z,1749676478.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.42 m.
2025-06-11T21:14:38.289Z,1749676478.289 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273349
2025-06-11T21:14:38.529Z,1749676478.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.42 m.
2025-06-11T21:14:38.553Z,1749676478.553 [DAT](INFO): DAT read: Rx Time:21:14:40.0238
2025-06-11T21:14:38.555Z,1749676478.555 [DAT](INFO): Rx dataTimestamp_ set to:1749676478.554105
2025-06-11T21:14:38.559Z,1749676478.559 [DAT](INFO): DAT read: Bearing 165.0, 1.6 (Local)
2025-06-11T21:14:38.560Z,1749676478.560 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.0, 1.6 (Local)
2025-06-11T21:14:38.571Z,1749676478.571 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed -0.4
2025-06-11T21:14:38.618Z,1749676478.618 [DAT](INFO): DAT read: 21:14:40.0238 LVL= 28960, 28529, 29330, 32755, AGC= 66, IDX= 504,-0.26, 0.762, 2.437, 0.306, 1.186, PHS=-0.337, 1.297,-0.883, RAW= 343.9, -0.8, CAL= 345.0, -1.6, ROT= 165.0, 1.6
2025-06-11T21:14:38.621Z,1749676478.621 [DAT](INFO): got valid direction response:
21:14:40.0238 LVL= 28960, 28529, 29330, 32755, AGC= 66, IDX= 504,-0.26, 0.762, 2.437, 0.306, 1.186, PHS=-0.337, 1.297,-0.883, RAW= 343.9, -0.8, CAL= 345.0, -1.6, ROT= 165.0, 1.6
2025-06-11T21:14:38.621Z,1749676478.621 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-11T21:14:38.622Z,1749676478.622 [DAT](INFO): direction in FSK: [-0.965549,0.258718,-0.027922]
2025-06-11T21:14:38.622Z,1749676478.622 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:38.627Z,1749676478.627 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.611665
2025-06-11T21:14:38.793Z,1749676478.793 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777732
2025-06-11T21:14:38.901Z,1749676478.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.200001 m,
deltaT: 0.516406 s,
deltaX: 0.600000 m,
approachRate: 1.161877 m/s,
rangeRepo size: 4
2025-06-11T21:14:38.904Z,1749676478.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.018719 m,
bearing: 85.956200 deg,
lat: 36.906713 deg,
lon: -122.115716 deg,
deltaT: 0.516406 s,
deltaX: 0.594870 m,
approachRate: 1.151942 m/s,
posRepo size: 4
2025-06-11T21:14:38.905Z,1749676478.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.02 m.
2025-06-11T21:14:39.046Z,1749676479.046 [DAT](INFO): DAT read: Rx Time:21:14:40.5240
2025-06-11T21:14:39.046Z,1749676479.046 [DAT](INFO): Rx dataTimestamp_ set to:1749676479.045781
2025-06-11T21:14:39.047Z,1749676479.047 [DAT](INFO): DAT read: Bearing 164.8, 4.5 (Local)
2025-06-11T21:14:39.048Z,1749676479.048 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.8, 4.5 (Local)
2025-06-11T21:14:39.050Z,1749676479.050 [DAT](INFO): DAT read: Range 10 to 50 : 21.5 m (trip time 14.3 ms) speed -0.8
2025-06-11T21:14:39.055Z,1749676479.055 [DAT](INFO): DAT read: 21:14:40.5240 LVL= 26352, 24561, 24786, 32755, AGC= 65, IDX= 505, 0.11, 0.066, 1.751,-0.397, 0.418, PHS=-0.264, 1.380,-0.819, RAW= 344.0, -3.0, CAL= 345.2, -4.5, ROT= 164.8, 4.5
2025-06-11T21:14:39.056Z,1749676479.056 [DAT](INFO): got valid direction response:
21:14:40.5240 LVL= 26352, 24561, 24786, 32755, AGC= 65, IDX= 505, 0.11, 0.066, 1.751,-0.397, 0.418, PHS=-0.264, 1.380,-0.819, RAW= 344.0, -3.0, CAL= 345.2, -4.5, ROT= 164.8, 4.5
2025-06-11T21:14:39.056Z,1749676479.056 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-11T21:14:39.057Z,1749676479.057 [DAT](INFO): direction in FSK: [-0.962042,0.261381,-0.078459]
2025-06-11T21:14:39.058Z,1749676479.058 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:39.062Z,1749676479.062 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.045997
2025-06-11T21:14:39.297Z,1749676479.297 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281318
2025-06-11T21:14:39.312Z,1749676479.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.500000 m,
deltaT: 0.491676 s,
deltaX: 0.299999 m,
approachRate: 0.610156 m/s,
rangeRepo size: 4
2025-06-11T21:14:39.314Z,1749676479.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.316149 m,
bearing: 85.680011 deg,
lat: 36.906714 deg,
lon: -122.115716 deg,
deltaT: 0.491676 s,
deltaX: 0.297430 m,
approachRate: 0.604931 m/s,
posRepo size: 4
2025-06-11T21:14:39.315Z,1749676479.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.32 m.
2025-06-11T21:14:39.552Z,1749676479.552 [DAT](INFO): DAT read: Rx Time:21:14:41.0244
2025-06-11T21:14:39.553Z,1749676479.553 [DAT](INFO): Rx dataTimestamp_ set to:1749676479.552399
2025-06-11T21:14:39.554Z,1749676479.554 [DAT](INFO): DAT read: Bearing 165.2, -2.1 (Local)
2025-06-11T21:14:39.554Z,1749676479.554 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.2, -2.1 (Local)
2025-06-11T21:14:39.557Z,1749676479.557 [DAT](INFO): DAT read: Range 10 to 50 : 22.1 m (trip time 14.7 ms) speed -0.5
2025-06-11T21:14:39.577Z,1749676479.577 [DAT](INFO): DAT read: 21:14:41.0244 LVL= 32752, 24625, 32754, 32755, AGC= 66, IDX= 492, 0.33, 2.996,-1.564, 2.532,-2.765, PHS=-0.434, 1.247,-0.989, RAW= 343.8, 1.8, CAL= 344.8, 2.1, ROT= 165.2, -2.1
2025-06-11T21:14:39.581Z,1749676479.581 [DAT](INFO): got valid direction response:
21:14:41.0244 LVL= 32752, 24625, 32754, 32755, AGC= 66, IDX= 492, 0.33, 2.996,-1.564, 2.532,-2.765, PHS=-0.434, 1.247,-0.989, RAW= 343.8, 1.8, CAL= 344.8, 2.1, ROT= 165.2, -2.1
2025-06-11T21:14:39.582Z,1749676479.582 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-11T21:14:39.586Z,1749676479.586 [DAT](INFO): direction in FSK: [-0.966174,0.255274,0.036644]
2025-06-11T21:14:39.587Z,1749676479.587 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:39.635Z,1749676479.635 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.619103
2025-06-11T21:14:39.753Z,1749676479.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.100000 m,
deltaT: 0.506618 s,
deltaX: 0.600000 m,
approachRate: 1.184325 m/s,
rangeRepo size: 4
2025-06-11T21:14:39.755Z,1749676479.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.911018 m,
bearing: 86.261271 deg,
lat: 36.906716 deg,
lon: -122.115716 deg,
deltaT: 0.506618 s,
deltaX: 0.594870 m,
approachRate: 1.174198 m/s,
posRepo size: 4
2025-06-11T21:14:39.755Z,1749676479.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.91 m.
2025-06-11T21:14:39.801Z,1749676479.801 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785237
2025-06-11T21:14:40.053Z,1749676480.053 [DAT](INFO): DAT read: Rx Time:21:14:41.5245
2025-06-11T21:14:40.054Z,1749676480.054 [DAT](INFO): Rx dataTimestamp_ set to:1749676480.053661
2025-06-11T21:14:40.055Z,1749676480.055 [DAT](INFO): DAT read: Bearing 165.4, -4.8 (Local)
2025-06-11T21:14:40.056Z,1749676480.056 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.4, -4.8 (Local)
2025-06-11T21:14:40.058Z,1749676480.058 [DAT](INFO): DAT read: Range 10 to 50 : 22.2 m (trip time 14.8 ms) speed -0.7
2025-06-11T21:14:40.063Z,1749676480.063 [DAT](INFO): DAT read: 21:14:41.5245 LVL= 32752, 26545, 32754, 32755, AGC= 66, IDX= 510,-0.17, 0.291, 1.999,-0.155, 0.874, PHS=-0.495, 1.173,-1.032, RAW= 343.5, 3.6, CAL= 344.6, 4.8, ROT= 165.4, -4.8
2025-06-11T21:14:40.064Z,1749676480.064 [DAT](INFO): got valid direction response:
21:14:41.5245 LVL= 32752, 26545, 32754, 32755, AGC= 66, IDX= 510,-0.17, 0.291, 1.999,-0.155, 0.874, PHS=-0.495, 1.173,-1.032, RAW= 343.5, 3.6, CAL= 344.6, 4.8, ROT= 165.4, -4.8
2025-06-11T21:14:40.064Z,1749676480.064 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-11T21:14:40.065Z,1749676480.065 [DAT](INFO): direction in FSK: [-0.964315,0.251185,0.083678]
2025-06-11T21:14:40.066Z,1749676480.066 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:40.079Z,1749676480.079 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.062877
2025-06-11T21:14:40.138Z,1749676480.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.200001 m,
deltaT: 0.501262 s,
deltaX: 0.100000 m,
approachRate: 0.199497 m/s,
rangeRepo size: 4
2025-06-11T21:14:40.144Z,1749676480.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.010195 m,
bearing: 86.604632 deg,
lat: 36.906716 deg,
lon: -122.115716 deg,
deltaT: 0.501262 s,
deltaX: 0.099176 m,
approachRate: 0.197853 m/s,
posRepo size: 4
2025-06-11T21:14:40.145Z,1749676480.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.01 m.
2025-06-11T21:14:40.309Z,1749676480.309 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.293203
2025-06-11T21:14:40.529Z,1749676480.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.01 m.
2025-06-11T21:14:40.557Z,1749676480.557 [DAT](INFO): DAT read: Rx Time:21:14:42.0247
2025-06-11T21:14:40.558Z,1749676480.558 [DAT](INFO): Rx dataTimestamp_ set to:1749676480.557689
2025-06-11T21:14:40.559Z,1749676480.559 [DAT](INFO): DAT read: Bearing 166.1, -1.3 (Local)
2025-06-11T21:14:40.560Z,1749676480.560 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.1, -1.3 (Local)
2025-06-11T21:14:40.562Z,1749676480.562 [DAT](INFO): DAT read: Range 10 to 50 : 22.5 m (trip time 15.0 ms) speed -0.5
2025-06-11T21:14:40.577Z,1749676480.577 [DAT](INFO): DAT read: 21:14:42.0247 LVL= 32752, 27057, 32754, 32755, AGC= 66, IDX= 512, 0.22,-1.827,-0.049,-2.260,-1.291, PHS=-0.448, 1.289,-0.972, RAW= 342.8, 1.3, CAL= 343.9, 1.3, ROT= 166.1, -1.3
2025-06-11T21:14:40.581Z,1749676480.581 [DAT](INFO): got valid direction response:
21:14:42.0247 LVL= 32752, 27057, 32754, 32755, AGC= 66, IDX= 512, 0.22,-1.827,-0.049,-2.260,-1.291, PHS=-0.448, 1.289,-0.972, RAW= 342.8, 1.3, CAL= 343.9, 1.3, ROT= 166.1, -1.3
2025-06-11T21:14:40.582Z,1749676480.582 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-11T21:14:40.594Z,1749676480.594 [DAT](INFO): direction in FSK: [-0.970467,0.240166,0.022687]
2025-06-11T21:14:40.595Z,1749676480.595 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:40.631Z,1749676480.631 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.615099
2025-06-11T21:14:40.809Z,1749676480.809 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792981
2025-06-11T21:14:41.026Z,1749676481.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.500000 m,
deltaT: 0.504028 s,
deltaX: 0.299999 m,
approachRate: 0.595204 m/s,
rangeRepo size: 4
2025-06-11T21:14:41.036Z,1749676481.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.307629 m,
bearing: 87.406590 deg,
lat: 36.906716 deg,
lon: -122.115716 deg,
deltaT: 0.504028 s,
deltaX: 0.297434 m,
approachRate: 0.590114 m/s,
posRepo size: 4
2025-06-11T21:14:41.036Z,1749676481.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-11T21:14:41.062Z,1749676481.062 [DAT](INFO): DAT read: Rx Time:21:14:42.5249
2025-06-11T21:14:41.062Z,1749676481.062 [DAT](INFO): Rx dataTimestamp_ set to:1749676481.061878
2025-06-11T21:14:41.063Z,1749676481.063 [DAT](INFO): DAT read: Bearing 165.0, -5.4 (Local)
2025-06-11T21:14:41.064Z,1749676481.064 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.0, -5.4 (Local)
2025-06-11T21:14:41.066Z,1749676481.066 [DAT](INFO): DAT read: Range 10 to 50 : 22.8 m (trip time 15.2 ms) speed -0.4
2025-06-11T21:14:41.105Z,1749676481.105 [DAT](INFO): DAT read: 21:14:42.5249 LVL= 27232, 19729, 22002, 31091, AGC= 70, IDX= 2,-0.37,-0.091, 1.631,-0.558, 0.503, PHS=-0.506, 1.174,-1.064, RAW= 343.9, 4.0, CAL= 345.0, 5.4, ROT= 165.0, -5.4
2025-06-11T21:14:41.106Z,1749676481.106 [DAT](INFO): got valid direction response:
21:14:42.5249 LVL= 27232, 19729, 22002, 31091, AGC= 70, IDX= 2,-0.37,-0.091, 1.631,-0.558, 0.503, PHS=-0.506, 1.174,-1.064, RAW= 343.9, 4.0, CAL= 345.0, 5.4, ROT= 165.0, -5.4
2025-06-11T21:14:41.106Z,1749676481.106 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-11T21:14:41.107Z,1749676481.107 [DAT](INFO): direction in FSK: [-0.961639,0.257670,0.094108]
2025-06-11T21:14:41.107Z,1749676481.107 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:41.170Z,1749676481.170 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.154415
2025-06-11T21:14:41.313Z,1749676481.313 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297384
2025-06-11T21:14:41.423Z,1749676481.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 0.504189 s,
deltaX: 0.299999 m,
approachRate: 0.595013 m/s,
rangeRepo size: 4
2025-06-11T21:14:41.434Z,1749676481.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.605068 m,
bearing: 86.428838 deg,
lat: 36.906716 deg,
lon: -122.115716 deg,
deltaT: 0.504189 s,
deltaX: 0.297440 m,
approachRate: 0.589937 m/s,
posRepo size: 4
2025-06-11T21:14:41.434Z,1749676481.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m.
2025-06-11T21:14:41.566Z,1749676481.566 [DAT](INFO): DAT read: Rx Time:21:14:43.0251
2025-06-11T21:14:41.567Z,1749676481.567 [DAT](INFO): Rx dataTimestamp_ set to:1749676481.566611
2025-06-11T21:14:41.569Z,1749676481.569 [DAT](INFO): DAT read: Bearing 164.6, -2.2 (Local)
2025-06-11T21:14:41.570Z,1749676481.570 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.6, -2.2 (Local)
2025-06-11T21:14:41.574Z,1749676481.574 [DAT](INFO): DAT read: Range 10 to 50 : 23.3 m (trip time 15.5 ms) speed -0.4
2025-06-11T21:14:41.595Z,1749676481.595 [DAT](INFO): DAT read: 21:14:43.0251 LVL= 32752, 25345, 30882, 32755, AGC= 65, IDX= 501, 0.18, 1.012, 2.685, 0.534, 1.515, PHS=-0.414, 1.218,-0.983, RAW= 344.4, 1.8, CAL= 345.4, 2.2, ROT= 164.6, -2.2
2025-06-11T21:14:41.603Z,1749676481.603 [DAT](INFO): got valid direction response:
21:14:43.0251 LVL= 32752, 25345, 30882, 32755, AGC= 65, IDX= 501, 0.18, 1.012, 2.685, 0.534, 1.515, PHS=-0.414, 1.218,-0.983, RAW= 344.4, 1.8, CAL= 345.4, 2.2, ROT= 164.6, -2.2
2025-06-11T21:14:41.609Z,1749676481.609 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-11T21:14:41.617Z,1749676481.617 [DAT](INFO): direction in FSK: [-0.963385,0.265360,0.038388]
2025-06-11T21:14:41.618Z,1749676481.618 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:41.662Z,1749676481.662 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.645680
2025-06-11T21:14:41.817Z,1749676481.817 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801232
2025-06-11T21:14:41.856Z,1749676481.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.299999 m,
deltaT: 0.504733 s,
deltaX: 0.500000 m,
approachRate: 0.990623 m/s,
rangeRepo size: 4
2025-06-11T21:14:41.858Z,1749676481.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.100792 m,
bearing: 85.933920 deg,
lat: 36.906716 deg,
lon: -122.115715 deg,
deltaT: 0.504733 s,
deltaX: 0.495724 m,
approachRate: 0.982150 m/s,
posRepo size: 4
2025-06-11T21:14:41.858Z,1749676481.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-06-11T21:14:42.070Z,1749676482.070 [DAT](INFO): DAT read: Rx Time:21:14:43.5253
2025-06-11T21:14:42.070Z,1749676482.070 [DAT](INFO): Rx dataTimestamp_ set to:1749676482.069778
2025-06-11T21:14:42.072Z,1749676482.072 [DAT](INFO): DAT read: Bearing 164.8, -2.7 (Local)
2025-06-11T21:14:42.072Z,1749676482.072 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.8, -2.7 (Local)
2025-06-11T21:14:42.075Z,1749676482.075 [DAT](INFO): DAT read: Range 10 to 50 : 23.6 m (trip time 15.7 ms) speed -0.5
2025-06-11T21:14:42.090Z,1749676482.090 [DAT](INFO): DAT read: 21:14:43.5253 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 503,-0.39,-1.270, 0.400,-1.737,-0.753, PHS=-0.430, 1.200,-0.987, RAW= 344.2, 2.2, CAL= 345.2, 2.7, ROT= 164.8, -2.7
2025-06-11T21:14:42.091Z,1749676482.091 [DAT](INFO): got valid direction response:
21:14:43.5253 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 503,-0.39,-1.270, 0.400,-1.737,-0.753, PHS=-0.430, 1.200,-0.987, RAW= 344.2, 2.2, CAL= 345.2, 2.7, ROT= 164.8, -2.7
2025-06-11T21:14:42.092Z,1749676482.092 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-11T21:14:42.093Z,1749676482.093 [DAT](INFO): direction in FSK: [-0.963945,0.261898,0.047106]
2025-06-11T21:14:42.093Z,1749676482.093 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:42.097Z,1749676482.097 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.081207
2025-06-11T21:14:42.235Z,1749676482.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.600000 m,
deltaT: 0.503167 s,
deltaX: 0.300001 m,
approachRate: 0.596226 m/s,
rangeRepo size: 4
2025-06-11T21:14:42.241Z,1749676482.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.398272 m,
bearing: 86.419993 deg,
lat: 36.906716 deg,
lon: -122.115715 deg,
deltaT: 0.503167 s,
deltaX: 0.297480 m,
approachRate: 0.591214 m/s,
posRepo size: 4
2025-06-11T21:14:42.242Z,1749676482.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-06-11T21:14:42.323Z,1749676482.323 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.306867
2025-06-11T21:14:42.574Z,1749676482.574 [DAT](INFO): DAT read: Rx Time:21:14:44.0256
2025-06-11T21:14:42.575Z,1749676482.575 [DAT](INFO): Rx dataTimestamp_ set to:1749676482.574238
2025-06-11T21:14:42.582Z,1749676482.582 [DAT](INFO): DAT read: Bearing 164.7, 1.0 (Local)
2025-06-11T21:14:42.583Z,1749676482.583 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.7, 1.0 (Local)
2025-06-11T21:14:42.587Z,1749676482.587 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (trip time 16.0 ms) speed -0.8
2025-06-11T21:14:42.621Z,1749676482.621 [DAT](INFO): DAT read: 21:14:44.0256 LVL= 30576, 27473, 30562, 32755, AGC= 65, IDX= 506, 0.14,-1.367, 0.283,-1.827,-0.939, PHS=-0.340, 1.268,-0.891, RAW= 344.2, -0.4, CAL= 345.3, -1.0, ROT= 164.7, 1.0
2025-06-11T21:14:42.630Z,1749676482.630 [DAT](INFO): got valid direction response:
21:14:44.0256 LVL= 30576, 27473, 30562, 32755, AGC= 65, IDX= 506, 0.14,-1.367, 0.283,-1.827,-0.939, PHS=-0.340, 1.268,-0.891, RAW= 344.2, -0.4, CAL= 345.3, -1.0, ROT= 164.7, 1.0
2025-06-11T21:14:42.631Z,1749676482.631 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-11T21:14:42.663Z,1749676482.663 [DAT](INFO): direction in FSK: [-0.964411,0.263833,-0.017452]
2025-06-11T21:14:42.669Z,1749676482.669 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:42.687Z,1749676482.687 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.671168
2025-06-11T21:14:42.804Z,1749676482.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 0.504460 s,
deltaX: 0.400000 m,
approachRate: 0.792926 m/s,
rangeRepo size: 4
2025-06-11T21:14:42.806Z,1749676482.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.794851 m,
bearing: 86.208224 deg,
lat: 36.906717 deg,
lon: -122.115714 deg,
deltaT: 0.504460 s,
deltaX: 0.396580 m,
approachRate: 0.786147 m/s,
posRepo size: 4
2025-06-11T21:14:42.807Z,1749676482.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.79 m.
2025-06-11T21:14:42.825Z,1749676482.825 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809286
2025-06-11T21:14:43.077Z,1749676483.077 [DAT](INFO): DAT read: Rx Time:21:14:44.5258
2025-06-11T21:14:43.078Z,1749676483.078 [DAT](INFO): Rx dataTimestamp_ set to:1749676483.077677
2025-06-11T21:14:43.079Z,1749676483.079 [DAT](INFO): DAT read: Bearing 164.5, -1.7 (Local)
2025-06-11T21:14:43.080Z,1749676483.080 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.5, -1.7 (Local)
2025-06-11T21:14:43.082Z,1749676483.082 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed -0.5
2025-06-11T21:14:43.090Z,1749676483.090 [DAT](INFO): DAT read: 21:14:44.5258 LVL= 32752, 30433, 32050, 32755, AGC= 66, IDX= 491, 0.41,-1.558, 0.069,-2.023,-1.079, PHS=-0.391, 1.195,-0.947, RAW= 344.5, 1.5, CAL= 345.5, 1.7, ROT= 164.5, -1.7
2025-06-11T21:14:43.096Z,1749676483.096 [DAT](INFO): got valid direction response:
21:14:44.5258 LVL= 32752, 30433, 32050, 32755, AGC= 66, IDX= 491, 0.41,-1.558, 0.069,-2.023,-1.079, PHS=-0.391, 1.195,-0.947, RAW= 344.5, 1.5, CAL= 345.5, 1.7, ROT= 164.5, -1.7
2025-06-11T21:14:43.096Z,1749676483.096 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-11T21:14:43.097Z,1749676483.097 [DAT](INFO): direction in FSK: [-0.963206,0.267121,0.029666]
2025-06-11T21:14:43.097Z,1749676483.097 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:43.145Z,1749676483.145 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.129649
2025-06-11T21:14:43.180Z,1749676483.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.503439 s,
deltaX: 0.299999 m,
approachRate: 0.595900 m/s,
rangeRepo size: 4
2025-06-11T21:14:43.182Z,1749676483.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.092230 m,
bearing: 86.325256 deg,
lat: 36.906718 deg,
lon: -122.115714 deg,
deltaT: 0.503439 s,
deltaX: 0.297379 m,
approachRate: 0.590694 m/s,
posRepo size: 4
2025-06-11T21:14:43.182Z,1749676483.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.09 m.
2025-06-11T21:14:43.329Z,1749676483.329 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.313460
2025-06-11T21:14:43.556Z,1749676483.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.09 m.
2025-06-11T21:14:43.581Z,1749676483.581 [DAT](INFO): DAT read: Rx Time:21:14:45.0261
2025-06-11T21:14:43.582Z,1749676483.582 [DAT](INFO): Rx dataTimestamp_ set to:1749676483.581663
2025-06-11T21:14:43.583Z,1749676483.583 [DAT](INFO): DAT read: Bearing 164.7, -0.3 (Local)
2025-06-11T21:14:43.584Z,1749676483.584 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.7, -0.3 (Local)
2025-06-11T21:14:43.587Z,1749676483.587 [DAT](INFO): DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed -0.5
2025-06-11T21:14:43.613Z,1749676483.613 [DAT](INFO): DAT read: 21:14:45.0261 LVL= 31952, 23713, 29586, 32755, AGC= 65, IDX= 511,-0.24,-2.159,-0.562,-2.607,-1.714, PHS=-0.358, 1.198,-0.897, RAW= 344.3, 0.6, CAL= 345.3, 0.3, ROT= 164.7, -0.3
2025-06-11T21:14:43.614Z,1749676483.614 [DAT](INFO): got valid direction response:
21:14:45.0261 LVL= 31952, 23713, 29586, 32755, AGC= 65, IDX= 511,-0.24,-2.159,-0.562,-2.607,-1.714, PHS=-0.358, 1.198,-0.897, RAW= 344.3, 0.6, CAL= 345.3, 0.3, ROT= 164.7, -0.3
2025-06-11T21:14:43.614Z,1749676483.614 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-11T21:14:43.615Z,1749676483.615 [DAT](INFO): direction in FSK: [-0.964544,0.263869,0.005236]
2025-06-11T21:14:43.640Z,1749676483.640 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:43.695Z,1749676483.695 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.679051
2025-06-11T21:14:43.833Z,1749676483.833 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.817141
2025-06-11T21:14:43.978Z,1749676483.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.799999 m,
deltaT: 0.503986 s,
deltaX: 0.500000 m,
approachRate: 0.992091 m/s,
rangeRepo size: 4
2025-06-11T21:14:43.984Z,1749676483.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.587954 m,
bearing: 86.641985 deg,
lat: 36.906718 deg,
lon: -122.115713 deg,
deltaT: 0.503986 s,
deltaX: 0.495724 m,
approachRate: 0.983606 m/s,
posRepo size: 4
2025-06-11T21:14:43.985Z,1749676483.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.59 m.
2025-06-11T21:14:44.086Z,1749676484.086 [DAT](INFO): DAT read: Rx Time:21:14:45.5262
2025-06-11T21:14:44.087Z,1749676484.087 [DAT](INFO): Rx dataTimestamp_ set to:1749676484.086376
2025-06-11T21:14:44.092Z,1749676484.092 [DAT](INFO): DAT read: Range 10 to 50 : 24.9 m (trip time 16.6 ms) speed -0.6
2025-06-11T21:14:44.093Z,1749676484.093 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-11T21:14:44.094Z,1749676484.094 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.078202
2025-06-11T21:14:44.302Z,1749676484.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 0.504713 s,
deltaX: 0.100000 m,
approachRate: 0.198133 m/s,
rangeRepo size: 4
2025-06-11T21:14:44.303Z,1749676484.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.59 m.
2025-06-11T21:14:44.337Z,1749676484.337 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321747
2025-06-11T21:14:44.589Z,1749676484.589 [DAT](INFO): DAT read: Rx Time:21:14:46.0264
2025-06-11T21:14:44.590Z,1749676484.590 [DAT](INFO): Rx dataTimestamp_ set to:1749676484.589575
2025-06-11T21:14:44.591Z,1749676484.591 [DAT](INFO): DAT read: Bearing 164.8, 2.4 (Local)
2025-06-11T21:14:44.592Z,1749676484.592 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.8, 2.4 (Local)
2025-06-11T21:14:44.594Z,1749676484.594 [DAT](INFO): DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed -0.4
2025-06-11T21:14:44.599Z,1749676484.599 [DAT](INFO): DAT read: 21:14:46.0264 LVL= 26352, 26465, 25074, 32755, AGC= 68, IDX= 2, 0.03,-0.369, 1.326,-0.840, 0.035, PHS=-0.316, 1.338,-0.878, RAW= 344.1, -1.5, CAL= 345.2, -2.4, ROT= 164.8, 2.4
2025-06-11T21:14:44.617Z,1749676484.617 [DAT](INFO): got valid direction response:
21:14:46.0264 LVL= 26352, 26465, 25074, 32755, AGC= 68, IDX= 2, 0.03,-0.369, 1.326,-0.840, 0.035, PHS=-0.316, 1.338,-0.878, RAW= 344.1, -1.5, CAL= 345.2, -2.4, ROT= 164.8, 2.4
2025-06-11T21:14:44.617Z,1749676484.617 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-11T21:14:44.618Z,1749676484.618 [DAT](INFO): direction in FSK: [-0.964170,0.261959,-0.041876]
2025-06-11T21:14:44.618Z,1749676484.618 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:44.622Z,1749676484.622 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.606332
2025-06-11T21:14:44.804Z,1749676484.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.100000 m,
deltaT: 0.503199 s,
deltaX: 0.200001 m,
approachRate: 0.397459 m/s,
rangeRepo size: 4
2025-06-11T21:14:44.806Z,1749676484.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.885473 m,
bearing: 86.777665 deg,
lat: 36.906718 deg,
lon: -122.115713 deg,
deltaT: 1.007912 s,
deltaX: 0.297520 m,
approachRate: 0.295184 m/s,
posRepo size: 4
2025-06-11T21:14:44.807Z,1749676484.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.89 m.
2025-06-11T21:14:44.842Z,1749676484.842 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825895
2025-06-11T21:14:45.094Z,1749676485.094 [DAT](INFO): DAT read: Rx Time:21:14:46.5265
2025-06-11T21:14:45.094Z,1749676485.094 [DAT](INFO): Rx dataTimestamp_ set to:1749676485.093753
2025-06-11T21:14:45.095Z,1749676485.095 [DAT](INFO): DAT read: Bearing 165.0, -3.5 (Local)
2025-06-11T21:14:45.096Z,1749676485.096 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.0, -3.5 (Local)
2025-06-11T21:14:45.098Z,1749676485.098 [DAT](INFO): DAT read: Range 10 to 50 : 25.2 m (trip time 16.8 ms) speed -0.8
2025-06-11T21:14:45.103Z,1749676485.103 [DAT](INFO): DAT read: 21:14:46.5265 LVL= 32752, 28465, 32754, 32755, AGC= 67, IDX= 499, 0.07,-0.105, 1.608,-0.573, 0.444, PHS=-0.461, 1.211,-1.020, RAW= 343.9, 2.7, CAL= 345.0, 3.5, ROT= 165.0, -3.5
2025-06-11T21:14:45.104Z,1749676485.104 [DAT](INFO): got valid direction response:
21:14:46.5265 LVL= 32752, 28465, 32754, 32755, AGC= 67, IDX= 499, 0.07,-0.105, 1.608,-0.573, 0.444, PHS=-0.461, 1.211,-1.020, RAW= 343.9, 2.7, CAL= 345.0, 3.5, ROT= 165.0, -3.5
2025-06-11T21:14:45.104Z,1749676485.104 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-11T21:14:45.105Z,1749676485.105 [DAT](INFO): direction in FSK: [-0.964124,0.258336,0.061049]
2025-06-11T21:14:45.106Z,1749676485.106 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:45.118Z,1749676485.118 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.101940
2025-06-11T21:14:45.166Z,1749676485.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.200001 m,
deltaT: 0.504178 s,
deltaX: 0.100000 m,
approachRate: 0.198343 m/s,
rangeRepo size: 4
2025-06-11T21:14:45.172Z,1749676485.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.984726 m,
bearing: 87.133664 deg,
lat: 36.906718 deg,
lon: -122.115713 deg,
deltaT: 0.504178 s,
deltaX: 0.099253 m,
approachRate: 0.196860 m/s,
posRepo size: 4
2025-06-11T21:14:45.173Z,1749676485.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-06-11T21:14:45.345Z,1749676485.345 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.329352
2025-06-11T21:14:45.598Z,1749676485.598 [DAT](INFO): DAT read: Rx Time:21:14:47.0269
2025-06-11T21:14:45.598Z,1749676485.598 [DAT](INFO): Rx dataTimestamp_ set to:1749676485.597718
2025-06-11T21:14:45.599Z,1749676485.599 [DAT](INFO): DAT read: Bearing 164.6, 4.1 (Local)
2025-06-11T21:14:45.600Z,1749676485.600 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.6, 4.1 (Local)
2025-06-11T21:14:45.602Z,1749676485.602 [DAT](INFO): DAT read: Range 10 to 50 : 25.8 m (trip time 17.2 ms) speed -0.6
2025-06-11T21:14:45.607Z,1749676485.607 [DAT](INFO): DAT read: 21:14:47.0269 LVL= 30432, 27441, 25714, 32755, AGC= 65, IDX= 486, 0.46,-1.000, 0.616,-1.449,-0.653, PHS=-0.259, 1.315,-0.800, RAW= 344.2, -2.7, CAL= 345.4, -4.1, ROT= 164.6, 4.1
2025-06-11T21:14:45.608Z,1749676485.608 [DAT](INFO): got valid direction response:
21:14:47.0269 LVL= 30432, 27441, 25714, 32755, AGC= 65, IDX= 486, 0.46,-1.000, 0.616,-1.449,-0.653, PHS=-0.259, 1.315,-0.800, RAW= 344.2, -2.7, CAL= 345.4, -4.1, ROT= 164.6, 4.1
2025-06-11T21:14:45.608Z,1749676485.608 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-11T21:14:45.609Z,1749676485.609 [DAT](INFO): direction in FSK: [-0.961628,0.264876,-0.071497]
2025-06-11T21:14:45.610Z,1749676485.610 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:45.614Z,1749676485.614 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.598257
2025-06-11T21:14:45.626Z,1749676485.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.799999 m,
deltaT: 0.503965 s,
deltaX: 0.599998 m,
approachRate: 1.190556 m/s,
rangeRepo size: 4
2025-06-11T21:14:45.628Z,1749676485.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.579599 m,
bearing: 86.503347 deg,
lat: 36.906718 deg,
lon: -122.115713 deg,
deltaT: 0.503965 s,
deltaX: 0.594873 m,
approachRate: 1.180386 m/s,
posRepo size: 4
2025-06-11T21:14:45.629Z,1749676485.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-06-11T21:14:45.849Z,1749676485.849 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.833447
2025-06-11T21:14:46.101Z,1749676486.101 [DAT](INFO): DAT read: Rx Time:21:14:47.5271
2025-06-11T21:14:46.102Z,1749676486.102 [DAT](INFO): Rx dataTimestamp_ set to:1749676486.101655
2025-06-11T21:14:46.103Z,1749676486.103 [DAT](INFO): DAT read: Bearing 165.1, -0.7 (Local)
2025-06-11T21:14:46.104Z,1749676486.104 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.1, -0.7 (Local)
2025-06-11T21:14:46.106Z,1749676486.106 [DAT](INFO): DAT read: Range 10 to 50 : 26.1 m (trip time 17.4 ms) speed -0.8
2025-06-11T21:14:46.111Z,1749676486.111 [DAT](INFO): DAT read: 21:14:47.5271 LVL= 32752, 28577, 32754, 32755, AGC= 67, IDX= 504,-0.41,-2.188,-0.529,-2.636,-1.713, PHS=-0.387, 1.231,-0.926, RAW= 343.9, 0.9, CAL= 344.9, 0.7, ROT= 165.1, -0.7
2025-06-11T21:14:46.116Z,1749676486.116 [DAT](INFO): got valid direction response:
21:14:47.5271 LVL= 32752, 28577, 32754, 32755, AGC= 67, IDX= 504,-0.41,-2.188,-0.529,-2.636,-1.713, PHS=-0.387, 1.231,-0.926, RAW= 343.9, 0.9, CAL= 344.9, 0.7, ROT= 165.1, -0.7
2025-06-11T21:14:46.116Z,1749676486.116 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-11T21:14:46.117Z,1749676486.117 [DAT](INFO): direction in FSK: [-0.966304,0.257114,0.012217]
2025-06-11T21:14:46.117Z,1749676486.117 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:46.134Z,1749676486.134 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.118025
2025-06-11T21:14:46.153Z,1749676486.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.100000 m,
deltaT: 0.503937 s,
deltaX: 0.300001 m,
approachRate: 0.595315 m/s,
rangeRepo size: 4
2025-06-11T21:14:46.155Z,1749676486.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.876978 m,
bearing: 87.070101 deg,
lat: 36.906718 deg,
lon: -122.115713 deg,
deltaT: 0.503937 s,
deltaX: 0.297379 m,
approachRate: 0.590111 m/s,
posRepo size: 4
2025-06-11T21:14:46.164Z,1749676486.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.88 m.
2025-06-11T21:14:46.359Z,1749676486.359 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.342595
2025-06-11T21:14:46.522Z,1749676486.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.88 m.
2025-06-11T21:14:46.606Z,1749676486.606 [DAT](INFO): DAT read: Rx Time:21:14:48.0274
2025-06-11T21:14:46.607Z,1749676486.607 [DAT](INFO): Rx dataTimestamp_ set to:1749676486.606644
2025-06-11T21:14:46.608Z,1749676486.608 [DAT](INFO): DAT read: Bearing 165.0, 1.2 (Local)
2025-06-11T21:14:46.609Z,1749676486.609 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.0, 1.2 (Local)
2025-06-11T21:14:46.611Z,1749676486.611 [DAT](INFO): DAT read: Range 10 to 50 : 26.6 m (trip time 17.7 ms) speed -0.5
2025-06-11T21:14:46.617Z,1749676486.617 [DAT](INFO): DAT read: 21:14:48.0274 LVL= 32752, 23761, 29986, 32755, AGC= 66, IDX= 491,-0.09,-2.005,-0.384,-2.441,-1.581, PHS=-0.336, 1.244,-0.863, RAW= 343.9, -0.5, CAL= 345.0, -1.2, ROT= 165.0, 1.2
2025-06-11T21:14:46.623Z,1749676486.623 [DAT](INFO): got valid direction response:
21:14:48.0274 LVL= 32752, 23761, 29986, 32755, AGC= 66, IDX= 491,-0.09,-2.005,-0.384,-2.441,-1.581, PHS=-0.336, 1.244,-0.863, RAW= 343.9, -0.5, CAL= 345.0, -1.2, ROT= 165.0, 1.2
2025-06-11T21:14:46.625Z,1749676486.625 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-11T21:14:46.626Z,1749676486.626 [DAT](INFO): direction in FSK: [-0.965714,0.258762,-0.020942]
2025-06-11T21:14:46.626Z,1749676486.626 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:46.646Z,1749676486.646 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.630663
2025-06-11T21:14:46.857Z,1749676486.857 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841176
2025-06-11T21:14:46.891Z,1749676486.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.600000 m,
deltaT: 0.504989 s,
deltaX: 0.500000 m,
approachRate: 0.990121 m/s,
rangeRepo size: 4
2025-06-11T21:14:46.893Z,1749676486.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.372705 m,
bearing: 86.796136 deg,
lat: 36.906718 deg,
lon: -122.115713 deg,
deltaT: 0.504989 s,
deltaX: 0.495728 m,
approachRate: 0.981660 m/s,
posRepo size: 4
2025-06-11T21:14:46.894Z,1749676486.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.37 m.
2025-06-11T21:14:47.114Z,1749676487.114 [DAT](INFO): DAT read: Rx Time:21:14:48.5275
2025-06-11T21:14:47.115Z,1749676487.115 [DAT](INFO): Rx dataTimestamp_ set to:1749676487.114674
2025-06-11T21:14:47.123Z,1749676487.123 [DAT](INFO): DAT read: Bearing 165.5, -1.2 (Local)
2025-06-11T21:14:47.124Z,1749676487.124 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.5, -1.2 (Local)
2025-06-11T21:14:47.127Z,1749676487.127 [DAT](INFO): DAT read: Range 10 to 50 : 26.7 m (trip time 17.8 ms) speed -0.4
2025-06-11T21:14:47.135Z,1749676487.135 [DAT](INFO): DAT read: 21:14:48.5275 LVL= 32752, 23345, 32754, 32755, AGC= 68, IDX= 508,-0.06,-1.521, 0.196,-1.966,-1.014, PHS=-0.419, 1.257,-0.955, RAW= 343.4, 1.2, CAL= 344.5, 1.2, ROT= 165.5, -1.2
2025-06-11T21:14:47.138Z,1749676487.138 [DAT](INFO): got valid direction response:
21:14:48.5275 LVL= 32752, 23345, 32754, 32755, AGC= 68, IDX= 508,-0.06,-1.521, 0.196,-1.966,-1.014, PHS=-0.419, 1.257,-0.955, RAW= 343.4, 1.2, CAL= 344.5, 1.2, ROT= 165.5, -1.2
2025-06-11T21:14:47.138Z,1749676487.138 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-11T21:14:47.139Z,1749676487.139 [DAT](INFO): direction in FSK: [-0.967935,0.250325,0.020942]
2025-06-11T21:14:47.140Z,1749676487.140 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:47.143Z,1749676487.143 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.127651
2025-06-11T21:14:47.278Z,1749676487.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.700001 m,
deltaT: 0.508030 s,
deltaX: 0.100000 m,
approachRate: 0.196840 m/s,
rangeRepo size: 4
2025-06-11T21:14:47.284Z,1749676487.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.471888 m,
bearing: 87.263665 deg,
lat: 36.906719 deg,
lon: -122.115713 deg,
deltaT: 0.508030 s,
deltaX: 0.099182 m,
approachRate: 0.195229 m/s,
posRepo size: 4
2025-06-11T21:14:47.285Z,1749676487.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.47 m.
2025-06-11T21:14:47.361Z,1749676487.361 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345336
2025-06-11T21:14:47.613Z,1749676487.613 [DAT](INFO): DAT read: Rx Time:21:14:49.0278
2025-06-11T21:14:47.614Z,1749676487.614 [DAT](INFO): Rx dataTimestamp_ set to:1749676487.613519
2025-06-11T21:14:47.615Z,1749676487.615 [DAT](INFO): DAT read: Bearing 165.7, 2.9 (Local)
2025-06-11T21:14:47.615Z,1749676487.615 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.7, 2.9 (Local)
2025-06-11T21:14:47.618Z,1749676487.618 [DAT](INFO): DAT read: Range 10 to 50 : 27.2 m (trip time 18.1 ms) speed -0.6
2025-06-11T21:14:47.622Z,1749676487.622 [DAT](INFO): DAT read: 21:14:49.0278 LVL= 31888, 26321, 27122, 32755, AGC= 69, IDX= 511, 0.21,-0.083, 1.616,-0.507, 0.328, PHS=-0.323, 1.336,-0.838, RAW= 343.1, -1.8, CAL= 344.3, -2.9, ROT= 165.7, 2.9
2025-06-11T21:14:47.628Z,1749676487.628 [DAT](INFO): got valid direction response:
21:14:49.0278 LVL= 31888, 26321, 27122, 32755, AGC= 69, IDX= 511, 0.21,-0.083, 1.616,-0.507, 0.328, PHS=-0.323, 1.336,-0.838, RAW= 343.1, -1.8, CAL= 344.3, -2.9, ROT= 165.7, 2.9
2025-06-11T21:14:47.628Z,1749676487.628 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-11T21:14:47.629Z,1749676487.629 [DAT](INFO): direction in FSK: [-0.967775,0.246683,-0.050593]
2025-06-11T21:14:47.629Z,1749676487.629 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:47.633Z,1749676487.633 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.617289
2025-06-11T21:14:47.795Z,1749676487.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.200001 m,
deltaT: 0.498845 s,
deltaX: 0.500000 m,
approachRate: 1.002315 m/s,
rangeRepo size: 4
2025-06-11T21:14:47.801Z,1749676487.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.967617 m,
bearing: 87.298667 deg,
lat: 36.906720 deg,
lon: -122.115712 deg,
deltaT: 0.498845 s,
deltaX: 0.495729 m,
approachRate: 0.993754 m/s,
posRepo size: 4
2025-06-11T21:14:47.808Z,1749676487.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.97 m.
2025-06-11T21:14:47.866Z,1749676487.866 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849593
2025-06-11T21:14:48.118Z,1749676488.118 [DAT](INFO): DAT read: Rx Time:21:14:49.5279
2025-06-11T21:14:48.118Z,1749676488.118 [DAT](INFO): Rx dataTimestamp_ set to:1749676488.117774
2025-06-11T21:14:48.119Z,1749676488.119 [DAT](INFO): DAT read: Bearing 167.7, 3.7 (Local)
2025-06-11T21:14:48.124Z,1749676488.124 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.7, 3.7 (Local)
2025-06-11T21:14:48.126Z,1749676488.126 [DAT](INFO): DAT read: Range 10 to 50 : 27.3 m (trip time 18.2 ms) speed -0.5
2025-06-11T21:14:48.131Z,1749676488.131 [DAT](INFO): DAT read: 21:14:49.5279 LVL= 32752, 24465, 32754, 32755, AGC= 68, IDX= 512, 0.40, 1.612,-2.809, 1.244, 2.070, PHS=-0.371, 1.451,-0.830, RAW= 341.0, -2.4, CAL= 342.3, -3.7, ROT= 167.7, 3.7
2025-06-11T21:14:48.132Z,1749676488.132 [DAT](INFO): got valid direction response:
21:14:49.5279 LVL= 32752, 24465, 32754, 32755, AGC= 68, IDX= 512, 0.40, 1.612,-2.809, 1.244, 2.070, PHS=-0.371, 1.451,-0.830, RAW= 341.0, -2.4, CAL= 342.3, -3.7, ROT= 167.7, 3.7
2025-06-11T21:14:48.133Z,1749676488.133 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-11T21:14:48.134Z,1749676488.134 [DAT](INFO): direction in FSK: [-0.975009,0.212586,-0.064532]
2025-06-11T21:14:48.134Z,1749676488.134 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:48.142Z,1749676488.142 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.126132
2025-06-11T21:14:48.188Z,1749676488.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.299999 m,
deltaT: 0.504255 s,
deltaX: 0.099998 m,
approachRate: 0.198309 m/s,
rangeRepo size: 4
2025-06-11T21:14:48.190Z,1749676488.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.066767 m,
bearing: 89.209242 deg,
lat: 36.906719 deg,
lon: -122.115712 deg,
deltaT: 0.504255 s,
deltaX: 0.099150 m,
approachRate: 0.196626 m/s,
posRepo size: 4
2025-06-11T21:14:48.190Z,1749676488.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.07 m.
2025-06-11T21:14:48.369Z,1749676488.369 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353432
2025-06-11T21:14:48.550Z,1749676488.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.07 m.
2025-06-11T21:14:48.623Z,1749676488.623 [DAT](INFO): DAT read: Rx Time:21:14:50.0282
2025-06-11T21:14:48.623Z,1749676488.623 [DAT](INFO): Rx dataTimestamp_ set to:1749676488.623101
2025-06-11T21:14:48.625Z,1749676488.625 [DAT](INFO): DAT read: Bearing 166.1, 0.8 (Local)
2025-06-11T21:14:48.625Z,1749676488.625 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.1, 0.8 (Local)
2025-06-11T21:14:48.627Z,1749676488.627 [DAT](INFO): DAT read: Range 10 to 50 : 27.8 m (trip time 18.5 ms) speed -0.5
2025-06-11T21:14:48.635Z,1749676488.635 [DAT](INFO): DAT read: 21:14:50.0282 LVL= 24640, 24561, 21362, 32339, AGC= 71, IDX= 3,-0.29,-2.598,-0.950,-2.994,-2.143, PHS=-0.367, 1.240,-0.854, RAW= 342.9, -0.2, CAL= 343.9, -0.8, ROT= 166.1, 0.8
2025-06-11T21:14:48.637Z,1749676488.637 [DAT](INFO): got valid direction response:
21:14:50.0282 LVL= 24640, 24561, 21362, 32339, AGC= 71, IDX= 3,-0.29,-2.598,-0.950,-2.994,-2.143, PHS=-0.367, 1.240,-0.854, RAW= 342.9, -0.2, CAL= 343.9, -0.8, ROT= 166.1, 0.8
2025-06-11T21:14:48.638Z,1749676488.638 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-11T21:14:48.639Z,1749676488.639 [DAT](INFO): direction in FSK: [-0.970622,0.240204,-0.013962]
2025-06-11T21:14:48.647Z,1749676488.647 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:48.660Z,1749676488.660 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.639965
2025-06-11T21:14:48.873Z,1749676488.873 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857168
2025-06-11T21:14:49.073Z,1749676489.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.799999 m,
deltaT: 0.505327 s,
deltaX: 0.500000 m,
approachRate: 0.989458 m/s,
rangeRepo size: 4
2025-06-11T21:14:49.075Z,1749676489.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.562496 m,
bearing: 87.533474 deg,
lat: 36.906720 deg,
lon: -122.115714 deg,
deltaT: 0.505327 s,
deltaX: 0.495729 m,
approachRate: 0.981007 m/s,
posRepo size: 4
2025-06-11T21:14:49.075Z,1749676489.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.56 m.
2025-06-11T21:14:49.127Z,1749676489.127 [DAT](INFO): DAT read: Rx Time:21:14:50.5283
2025-06-11T21:14:49.128Z,1749676489.128 [DAT](INFO): Rx dataTimestamp_ set to:1749676489.126977
2025-06-11T21:14:49.129Z,1749676489.129 [DAT](INFO): DAT read: Bearing 166.4, -2.0 (Local)
2025-06-11T21:14:49.129Z,1749676489.129 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.4, -2.0 (Local)
2025-06-11T21:14:49.131Z,1749676489.131 [DAT](INFO): DAT read: Range 10 to 50 : 27.9 m (trip time 18.6 ms) speed -0.4
2025-06-11T21:14:49.136Z,1749676489.136 [DAT](INFO): DAT read: 21:14:50.5283 LVL= 32752, 24481, 32754, 32755, AGC= 68, IDX= 500,-0.08, 2.810,-1.838, 2.434,-2.956, PHS=-0.429, 1.165,-0.896, RAW= 342.5, 1.7, CAL= 343.6, 2.0, ROT= 166.4, -2.0
2025-06-11T21:14:49.137Z,1749676489.137 [DAT](INFO): got valid direction response:
21:14:50.5283 LVL= 32752, 24481, 32754, 32755, AGC= 68, IDX= 500,-0.08, 2.810,-1.838, 2.434,-2.956, PHS=-0.429, 1.165,-0.896, RAW= 342.5, 1.7, CAL= 343.6, 2.0, ROT= 166.4, -2.0
2025-06-11T21:14:49.138Z,1749676489.138 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-11T21:14:49.139Z,1749676489.139 [DAT](INFO): direction in FSK: [-0.971369,0.234999,0.034899]
2025-06-11T21:14:49.139Z,1749676489.139 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:49.147Z,1749676489.147 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.131008
2025-06-11T21:14:49.377Z,1749676489.377 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.361584
2025-06-11T21:14:49.569Z,1749676489.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.900000 m,
deltaT: 0.503876 s,
deltaX: 0.100000 m,
approachRate: 0.198462 m/s,
rangeRepo size: 4
2025-06-11T21:14:49.571Z,1749676489.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.661726 m,
bearing: 87.937462 deg,
lat: 36.906719 deg,
lon: -122.115714 deg,
deltaT: 0.503876 s,
deltaX: 0.099230 m,
approachRate: 0.196933 m/s,
posRepo size: 4
2025-06-11T21:14:49.588Z,1749676489.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.66 m.
2025-06-11T21:14:49.631Z,1749676489.631 [DAT](INFO): DAT read: Rx Time:21:14:51.0286
2025-06-11T21:14:49.631Z,1749676489.631 [DAT](INFO): Rx dataTimestamp_ set to:1749676489.630891
2025-06-11T21:14:49.633Z,1749676489.633 [DAT](INFO): DAT read: Bearing 166.3, 1.4 (Local)
2025-06-11T21:14:49.633Z,1749676489.633 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.3, 1.4 (Local)
2025-06-11T21:14:49.635Z,1749676489.635 [DAT](INFO): DAT read: Range 10 to 50 : 28.4 m (trip time 18.9 ms) speed -0.4
2025-06-11T21:14:49.641Z,1749676489.641 [DAT](INFO): DAT read: 21:14:51.0286 LVL= 32752, 32753, 30834, 32755, AGC= 69, IDX= 503, 0.18,-1.924,-0.243,-2.317,-1.473, PHS=-0.363, 1.276,-0.848, RAW= 342.6, -0.7, CAL= 343.7, -1.4, ROT= 166.3, 1.4
2025-06-11T21:14:49.642Z,1749676489.642 [DAT](INFO): got valid direction response:
21:14:51.0286 LVL= 32752, 32753, 30834, 32755, AGC= 69, IDX= 503, 0.18,-1.924,-0.243,-2.317,-1.473, PHS=-0.363, 1.276,-0.848, RAW= 342.6, -0.7, CAL= 343.7, -1.4, ROT= 166.3, 1.4
2025-06-11T21:14:49.643Z,1749676489.643 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-11T21:14:49.673Z,1749676489.673 [DAT](INFO): direction in FSK: [-0.971259,0.236767,-0.024432]
2025-06-11T21:14:49.674Z,1749676489.674 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:49.685Z,1749676489.685 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.664035
2025-06-11T21:14:49.881Z,1749676489.881 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.865217
2025-06-11T21:14:49.950Z,1749676489.950 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -172.10855.48, -59.28, 8.06, 0.00
2025-06-11T21:14:50.028Z,1749676490.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.400000 m,
deltaT: 0.503914 s,
deltaX: 0.500000 m,
approachRate: 0.992233 m/s,
rangeRepo size: 4
2025-06-11T21:14:50.030Z,1749676490.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.157455 m,
bearing: 87.781932 deg,
lat: 36.906720 deg,
lon: -122.115715 deg,
deltaT: 0.503914 s,
deltaX: 0.495729 m,
approachRate: 0.983758 m/s,
posRepo size: 4
2025-06-11T21:14:50.031Z,1749676490.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.16 m.
2025-06-11T21:14:50.133Z,1749676490.133 [DAT](INFO): DAT read: Rx Time:21:14:51.5287
2025-06-11T21:14:50.134Z,1749676490.134 [DAT](INFO): Rx dataTimestamp_ set to:1749676490.133614
2025-06-11T21:14:50.135Z,1749676490.135 [DAT](INFO): DAT read: Bearing 166.0, 2.0 (Local)
2025-06-11T21:14:50.136Z,1749676490.136 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.0, 2.0 (Local)
2025-06-11T21:14:50.138Z,1749676490.138 [DAT](INFO): DAT read: Range 10 to 50 : 28.5 m (trip time 19.0 ms) speed -0.6
2025-06-11T21:14:50.143Z,1749676490.143 [DAT](INFO): DAT read: 21:14:51.5287 LVL= 32752, 29553, 32754, 32755, AGC= 68, IDX= 504, 0.48, 2.196,-2.409, 1.789, 2.629, PHS=-0.345, 1.293,-0.843, RAW= 342.9, -1.1, CAL= 344.0, -2.0, ROT= 166.0, 2.0
2025-06-11T21:14:50.153Z,1749676490.153 [DAT](INFO): got valid direction response:
21:14:51.5287 LVL= 32752, 29553, 32754, 32755, AGC= 68, IDX= 504, 0.48, 2.196,-2.409, 1.789, 2.629, PHS=-0.345, 1.293,-0.843, RAW= 342.9, -1.1, CAL= 344.0, -2.0, ROT= 166.0, 2.0
2025-06-11T21:14:50.153Z,1749676490.153 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-11T21:14:50.154Z,1749676490.154 [DAT](INFO): direction in FSK: [-0.969705,0.241774,-0.034899]
2025-06-11T21:14:50.155Z,1749676490.155 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:50.158Z,1749676490.158 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.142461
2025-06-11T21:14:50.385Z,1749676490.385 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.369206
2025-06-11T21:14:50.561Z,1749676490.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.500000 m,
deltaT: 0.502723 s,
deltaX: 0.100000 m,
approachRate: 0.198917 m/s,
rangeRepo size: 4
2025-06-11T21:14:50.563Z,1749676490.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.256670 m,
bearing: 87.528610 deg,
lat: 36.906720 deg,
lon: -122.115715 deg,
deltaT: 0.502723 s,
deltaX: 0.099215 m,
approachRate: 0.197354 m/s,
posRepo size: 4
2025-06-11T21:14:50.563Z,1749676490.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.26 m.
2025-06-11T21:14:50.639Z,1749676490.639 [DAT](INFO): DAT read: Rx Time:21:14:52.0291
2025-06-11T21:14:50.640Z,1749676490.640 [DAT](INFO): Rx dataTimestamp_ set to:1749676490.639294
2025-06-11T21:14:50.642Z,1749676490.642 [DAT](INFO): DAT read: Bearing 166.2, -1.6 (Local)
2025-06-11T21:14:50.642Z,1749676490.642 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.2, -1.6 (Local)
2025-06-11T21:14:50.646Z,1749676490.646 [DAT](INFO): DAT read: Range 10 to 50 : 29.1 m (trip time 19.4 ms) speed -0.6
2025-06-11T21:14:50.653Z,1749676490.653 [DAT](INFO): DAT read: 21:14:52.0291 LVL= 32752, 29073, 32434, 32755, AGC= 68, IDX= 508,-0.24, 1.979,-2.668, 1.593, 2.486, PHS=-0.419, 1.177,-0.896, RAW= 342.7, 1.5, CAL= 343.8, 1.6, ROT= 166.2, -1.6
2025-06-11T21:14:50.654Z,1749676490.654 [DAT](INFO): got valid direction response:
21:14:52.0291 LVL= 32752, 29073, 32434, 32755, AGC= 68, IDX= 508,-0.24, 1.979,-2.668, 1.593, 2.486, PHS=-0.419, 1.177,-0.896, RAW= 342.7, 1.5, CAL= 343.8, 1.6, ROT= 166.2, -1.6
2025-06-11T21:14:50.654Z,1749676490.654 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-11T21:14:50.655Z,1749676490.655 [DAT](INFO): direction in FSK: [-0.970756,0.238441,0.027922]
2025-06-11T21:14:50.655Z,1749676490.655 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:50.674Z,1749676490.674 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.657572
2025-06-11T21:14:50.853Z,1749676490.853 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:14:50.889Z,1749676490.889 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.873221
2025-06-11T21:14:51.026Z,1749676491.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.100000 m,
deltaT: 0.505680 s,
deltaX: 0.600000 m,
approachRate: 1.186522 m/s,
rangeRepo size: 4
2025-06-11T21:14:51.032Z,1749676491.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.851547 m,
bearing: 87.850119 deg,
lat: 36.906720 deg,
lon: -122.115715 deg,
deltaT: 0.505680 s,
deltaX: 0.594877 m,
approachRate: 1.176391 m/s,
posRepo size: 4
2025-06-11T21:14:51.032Z,1749676491.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.85 m.
2025-06-11T21:14:51.142Z,1749676491.142 [DAT](INFO): DAT read: Rx Time:21:14:52.5291
2025-06-11T21:14:51.142Z,1749676491.142 [DAT](INFO): Rx dataTimestamp_ set to:1749676491.141757
2025-06-11T21:14:51.143Z,1749676491.143 [DAT](INFO): DAT read: Bearing 166.5, 2.1 (Local)
2025-06-11T21:14:51.144Z,1749676491.144 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.5, 2.1 (Local)
2025-06-11T21:14:51.146Z,1749676491.146 [DAT](INFO): DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed -0.4
2025-06-11T21:14:51.155Z,1749676491.155 [DAT](INFO): DAT read: 21:14:52.5291 LVL= 32752, 30705, 32626, 32755, AGC= 68, IDX= 509, 0.02, 1.714,-2.861, 1.325, 2.160, PHS=-0.358, 1.309,-0.837, RAW= 342.3, -1.2, CAL= 343.5, -2.1, ROT= 166.5, 2.1
2025-06-11T21:14:51.161Z,1749676491.161 [DAT](INFO): got valid direction response:
21:14:52.5291 LVL= 32752, 30705, 32626, 32755, AGC= 68, IDX= 509, 0.02, 1.714,-2.861, 1.325, 2.160, PHS=-0.358, 1.309,-0.837, RAW= 342.3, -1.2, CAL= 343.5, -2.1, ROT= 166.5, 2.1
2025-06-11T21:14:51.161Z,1749676491.161 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-11T21:14:51.162Z,1749676491.162 [DAT](INFO): direction in FSK: [-0.971717,0.233289,-0.036644]
2025-06-11T21:14:51.162Z,1749676491.162 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:51.186Z,1749676491.186 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.170311
2025-06-11T21:14:51.362Z,1749676491.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.299999 m,
deltaT: 0.502463 s,
deltaX: 0.199999 m,
approachRate: 0.398037 m/s,
rangeRepo size: 4
2025-06-11T21:14:51.369Z,1749676491.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.049858 m,
bearing: 88.063368 deg,
lat: 36.906720 deg,
lon: -122.115715 deg,
deltaT: 0.502463 s,
deltaX: 0.198311 m,
approachRate: 0.394678 m/s,
posRepo size: 4
2025-06-11T21:14:51.370Z,1749676491.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.05 m.
2025-06-11T21:14:51.393Z,1749676491.393 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.377207
2025-06-11T21:14:51.645Z,1749676491.645 [DAT](INFO): DAT read: Rx Time:21:14:53.0294
2025-06-11T21:14:51.646Z,1749676491.646 [DAT](INFO): Rx dataTimestamp_ set to:1749676491.645534
2025-06-11T21:14:51.647Z,1749676491.647 [DAT](INFO): DAT read: Bearing 160.7, 4.8 (Local)
2025-06-11T21:14:51.647Z,1749676491.647 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.7, 4.8 (Local)
2025-06-11T21:14:51.650Z,1749676491.650 [DAT](INFO): DAT read: Range 10 to 50 : 29.7 m (trip time 19.8 ms) speed -0.4
2025-06-11T21:14:51.654Z,1749676491.654 [DAT](INFO): DAT read: 21:14:53.0294 LVL= 30256, 30641, 27698, 32755, AGC= 66, IDX= 512, 0.40,-1.342,-0.100,-1.821,-1.126, PHS=-0.128, 1.073,-0.698, RAW= 348.4, -3.2, CAL= 349.3, -4.8, ROT= 160.7, 4.8
2025-06-11T21:14:51.655Z,1749676491.655 [DAT](INFO): got valid direction response:
21:14:53.0294 LVL= 30256, 30641, 27698, 32755, AGC= 66, IDX= 512, 0.40,-1.342,-0.100,-1.821,-1.126, PHS=-0.128, 1.073,-0.698, RAW= 348.4, -3.2, CAL= 349.3, -4.8, ROT= 160.7, 4.8
2025-06-11T21:14:51.660Z,1749676491.660 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-11T21:14:51.661Z,1749676491.661 [DAT](INFO): direction in FSK: [-0.940491,0.329355,-0.083678]
2025-06-11T21:14:51.661Z,1749676491.661 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:51.665Z,1749676491.665 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.649462
2025-06-11T21:14:51.827Z,1749676491.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.700001 m,
deltaT: 0.503777 s,
deltaX: 0.400002 m,
approachRate: 0.794005 m/s,
rangeRepo size: 4
2025-06-11T21:14:51.839Z,1749676491.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.446444 m,
bearing: 82.189982 deg,
lat: 36.906721 deg,
lon: -122.115715 deg,
deltaT: 0.503777 s,
deltaX: 0.396585 m,
approachRate: 0.787224 m/s,
posRepo size: 4
2025-06-11T21:14:51.839Z,1749676491.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-11T21:14:51.898Z,1749676491.898 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.881939
2025-06-11T21:14:52.150Z,1749676492.150 [DAT](INFO): DAT read: Rx Time:21:14:53.5296
2025-06-11T21:14:52.151Z,1749676492.151 [DAT](INFO): Rx dataTimestamp_ set to:1749676492.150554
2025-06-11T21:14:52.156Z,1749676492.156 [DAT](INFO): DAT read: Bearing 166.4, 2.3 (Local)
2025-06-11T21:14:52.157Z,1749676492.157 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.4, 2.3 (Local)
2025-06-11T21:14:52.159Z,1749676492.159 [DAT](INFO): DAT read: Range 10 to 50 : 30.0 m (trip time 20.0 ms) speed -0.7
2025-06-11T21:14:52.164Z,1749676492.164 [DAT](INFO): DAT read: 21:14:53.5296 LVL= 26416, 24881, 21634, 32179, AGC= 71, IDX= 2,-0.22,-0.294, 1.370,-0.676, 0.136, PHS=-0.342, 1.281,-0.815, RAW= 342.4, -1.3, CAL= 343.6, -2.3, ROT= 166.4, 2.3
2025-06-11T21:14:52.165Z,1749676492.165 [DAT](INFO): got valid direction response:
21:14:53.5296 LVL= 26416, 24881, 21634, 32179, AGC= 71, IDX= 2,-0.22,-0.294, 1.370,-0.676, 0.136, PHS=-0.342, 1.281,-0.815, RAW= 342.4, -1.3, CAL= 343.6, -2.3, ROT= 166.4, 2.3
2025-06-11T21:14:52.165Z,1749676492.165 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-11T21:14:52.166Z,1749676492.166 [DAT](INFO): direction in FSK: [-0.971178,0.234953,-0.040132]
2025-06-11T21:14:52.167Z,1749676492.167 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:52.174Z,1749676492.174 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.158663
2025-06-11T21:14:52.235Z,1749676492.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.000000 m,
deltaT: 0.505020 s,
deltaX: 0.299999 m,
approachRate: 0.594034 m/s,
rangeRepo size: 4
2025-06-11T21:14:52.245Z,1749676492.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.743908 m,
bearing: 87.958582 deg,
lat: 36.906722 deg,
lon: -122.115715 deg,
deltaT: 0.505020 s,
deltaX: 0.297464 m,
approachRate: 0.589015 m/s,
posRepo size: 4
2025-06-11T21:14:52.246Z,1749676492.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:14:52.401Z,1749676492.401 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.385269
2025-06-11T21:14:52.569Z,1749676492.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m.
2025-06-11T21:14:52.654Z,1749676492.654 [DAT](INFO): DAT read: Rx Time:21:14:54.0298
2025-06-11T21:14:52.655Z,1749676492.655 [DAT](INFO): Rx dataTimestamp_ set to:1749676492.654579
2025-06-11T21:14:52.657Z,1749676492.657 [DAT](INFO): DAT read: Bearing 166.4, 2.5 (Local)
2025-06-11T21:14:52.658Z,1749676492.658 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.4, 2.5 (Local)
2025-06-11T21:14:52.661Z,1749676492.661 [DAT](INFO): DAT read: Range 10 to 50 : 30.3 m (trip time 20.2 ms) speed -0.5
2025-06-11T21:14:52.666Z,1749676492.666 [DAT](INFO): DAT read: 21:14:54.0298 LVL= 32192, 32113, 31890, 32755, AGC= 68, IDX= 500, 0.09, 0.781, 2.438, 0.401, 1.203, PHS=-0.334, 1.282,-0.805, RAW= 342.4, -1.5, CAL= 343.6, -2.5, ROT= 166.4, 2.5
2025-06-11T21:14:52.667Z,1749676492.667 [DAT](INFO): got valid direction response:
21:14:54.0298 LVL= 32192, 32113, 31890, 32755, AGC= 68, IDX= 500, 0.09, 0.781, 2.438, 0.401, 1.203, PHS=-0.334, 1.282,-0.805, RAW= 342.4, -1.5, CAL= 343.6, -2.5, ROT= 166.4, 2.5
2025-06-11T21:14:52.667Z,1749676492.667 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-11T21:14:52.668Z,1749676492.668 [DAT](INFO): direction in FSK: [-0.971036,0.234918,-0.043619]
2025-06-11T21:14:52.669Z,1749676492.669 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:52.672Z,1749676492.672 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.656382
2025-06-11T21:14:52.906Z,1749676492.906 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.889805
2025-06-11T21:14:53.057Z,1749676493.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.299999 m,
deltaT: 0.504025 s,
deltaX: 0.299999 m,
approachRate: 0.595207 m/s,
rangeRepo size: 4
2025-06-11T21:14:53.059Z,1749676493.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.041348 m,
bearing: 88.412578 deg,
lat: 36.906721 deg,
lon: -122.115715 deg,
deltaT: 0.504025 s,
deltaX: 0.297440 m,
approachRate: 0.590129 m/s,
posRepo size: 4
2025-06-11T21:14:53.059Z,1749676493.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.04 m.
2025-06-11T21:14:53.159Z,1749676493.159 [DAT](INFO): DAT read: Rx Time:21:14:54.5300
2025-06-11T21:14:53.160Z,1749676493.160 [DAT](INFO): Rx dataTimestamp_ set to:1749676493.159500
2025-06-11T21:14:53.161Z,1749676493.161 [DAT](INFO): DAT read: Bearing 166.5, 1.3 (Local)
2025-06-11T21:14:53.162Z,1749676493.162 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.5, 1.3 (Local)
2025-06-11T21:14:53.164Z,1749676493.164 [DAT](INFO): DAT read: Range 10 to 50 : 30.6 m (trip time 20.4 ms) speed -0.4
2025-06-11T21:14:53.170Z,1749676493.170 [DAT](INFO): DAT read: 21:14:54.5300 LVL= 32752, 28225, 31650, 32755, AGC= 68, IDX= 501, 0.39, 0.267, 1.964,-0.119, 0.730, PHS=-0.374, 1.282,-0.851, RAW= 342.3, -0.6, CAL= 343.5, -1.3, ROT= 166.5, 1.3
2025-06-11T21:14:53.171Z,1749676493.171 [DAT](INFO): got valid direction response:
21:14:54.5300 LVL= 32752, 28225, 31650, 32755, AGC= 68, IDX= 501, 0.39, 0.267, 1.964,-0.119, 0.730, PHS=-0.374, 1.282,-0.851, RAW= 342.3, -0.6, CAL= 343.5, -1.3, ROT= 166.5, 1.3
2025-06-11T21:14:53.172Z,1749676493.172 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-11T21:14:53.174Z,1749676493.174 [DAT](INFO): direction in FSK: [-0.972120,0.233385,-0.022687]
2025-06-11T21:14:53.174Z,1749676493.174 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:53.183Z,1749676493.183 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.167150
2025-06-11T21:14:53.375Z,1749676493.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.600000 m,
deltaT: 0.504921 s,
deltaX: 0.300001 m,
approachRate: 0.594155 m/s,
rangeRepo size: 4
2025-06-11T21:14:53.377Z,1749676493.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.338730 m,
bearing: 88.592880 deg,
lat: 36.906720 deg,
lon: -122.115715 deg,
deltaT: 0.504921 s,
deltaX: 0.297382 m,
approachRate: 0.588968 m/s,
posRepo size: 4
2025-06-11T21:14:53.378Z,1749676493.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.34 m.
2025-06-11T21:14:53.414Z,1749676493.414 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.397671
2025-06-11T21:14:53.665Z,1749676493.665 [DAT](INFO): DAT read: Rx Time:21:14:55.0304
2025-06-11T21:14:53.666Z,1749676493.666 [DAT](INFO): Rx dataTimestamp_ set to:1749676493.665579
2025-06-11T21:14:53.667Z,1749676493.667 [DAT](INFO): DAT read: Bearing 165.3, 2.0 (Local)
2025-06-11T21:14:53.667Z,1749676493.667 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.3, 2.0 (Local)
2025-06-11T21:14:53.670Z,1749676493.670 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed -0.6
2025-06-11T21:14:53.675Z,1749676493.675 [DAT](INFO): DAT read: 21:14:55.0304 LVL= 32624, 31921, 30930, 32755, AGC= 67, IDX= 505,-0.06,-0.334, 1.227,-0.734, 0.065, PHS=-0.310, 1.210,-0.801, RAW= 343.5, -1.1, CAL= 344.7, -2.0, ROT= 165.3, 2.0
2025-06-11T21:14:53.676Z,1749676493.676 [DAT](INFO): got valid direction response:
21:14:55.0304 LVL= 32624, 31921, 30930, 32755, AGC= 67, IDX= 505,-0.06,-0.334, 1.227,-0.734, 0.065, PHS=-0.310, 1.210,-0.801, RAW= 343.5, -1.1, CAL= 344.7, -2.0, ROT= 165.3, 2.0
2025-06-11T21:14:53.676Z,1749676493.676 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-11T21:14:53.677Z,1749676493.677 [DAT](INFO): direction in FSK: [-0.966679,0.253603,-0.034899]
2025-06-11T21:14:53.677Z,1749676493.677 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:53.681Z,1749676493.681 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.665480
2025-06-11T21:14:53.903Z,1749676493.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.200001 m,
deltaT: 0.506079 s,
deltaX: 0.600000 m,
approachRate: 1.185586 m/s,
rangeRepo size: 4
2025-06-11T21:14:53.911Z,1749676493.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.933607 m,
bearing: 87.375498 deg,
lat: 36.906722 deg,
lon: -122.115715 deg,
deltaT: 0.506079 s,
deltaX: 0.594877 m,
approachRate: 1.175463 m/s,
posRepo size: 4
2025-06-11T21:14:53.918Z,1749676493.918 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.901670
2025-06-11T21:14:53.918Z,1749676493.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:14:54.170Z,1749676494.170 [DAT](INFO): DAT read: Rx Time:21:14:55.5305
2025-06-11T21:14:54.171Z,1749676494.171 [DAT](INFO): Rx dataTimestamp_ set to:1749676494.170717
2025-06-11T21:14:54.174Z,1749676494.174 [DAT](INFO): DAT read: Bearing 166.1, 3.6 (Local)
2025-06-11T21:14:54.174Z,1749676494.174 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.1, 3.6 (Local)
2025-06-11T21:14:54.176Z,1749676494.176 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed -0.4
2025-06-11T21:14:54.194Z,1749676494.194 [DAT](INFO): DAT read: 21:14:55.5305 LVL= 29392, 27953, 30578, 32755, AGC= 69, IDX= 506, 0.23, 0.351, 1.997,-0.038, 0.742, PHS=-0.303, 1.302,-0.783, RAW= 342.7, -2.3, CAL= 343.9, -3.6, ROT= 166.1, 3.6
2025-06-11T21:14:54.195Z,1749676494.195 [DAT](INFO): got valid direction response:
21:14:55.5305 LVL= 29392, 27953, 30578, 32755, AGC= 69, IDX= 506, 0.23, 0.351, 1.997,-0.038, 0.742, PHS=-0.303, 1.302,-0.783, RAW= 342.7, -2.3, CAL= 343.9, -3.6, ROT= 166.1, 3.6
2025-06-11T21:14:54.196Z,1749676494.196 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-11T21:14:54.197Z,1749676494.197 [DAT](INFO): direction in FSK: [-0.968801,0.239754,-0.062791]
2025-06-11T21:14:54.197Z,1749676494.197 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:54.217Z,1749676494.217 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.201162
2025-06-11T21:14:54.359Z,1749676494.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.200001 m,
deltaT: 0.505138 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:14:54.365Z,1749676494.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.933569 m,
bearing: 88.132556 deg,
lat: 36.906722 deg,
lon: -122.115715 deg,
deltaT: 0.505138 s,
deltaX: -0.000038 m,
approachRate: -0.000076 m/s,
posRepo size: 4
2025-06-11T21:14:54.366Z,1749676494.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:14:54.422Z,1749676494.422 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.405993
2025-06-11T21:14:54.669Z,1749676494.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:14:54.674Z,1749676494.674 [DAT](INFO): DAT read: Rx Time:21:14:56.0309
2025-06-11T21:14:54.674Z,1749676494.674 [DAT](INFO): Rx dataTimestamp_ set to:1749676494.673965
2025-06-11T21:14:54.676Z,1749676494.676 [DAT](INFO): DAT read: Bearing 166.1, -1.3 (Local)
2025-06-11T21:14:54.676Z,1749676494.676 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.1, -1.3 (Local)
2025-06-11T21:14:54.678Z,1749676494.678 [DAT](INFO): DAT read: Range 10 to 50 : 31.8 m (trip time 21.2 ms) speed -0.5
2025-06-11T21:14:54.683Z,1749676494.683 [DAT](INFO): DAT read: 21:14:56.0309 LVL= 32752, 26529, 32498, 32755, AGC= 68, IDX= 510,-0.37, 0.896, 2.510, 0.513, 1.389, PHS=-0.405, 1.167,-0.879, RAW= 342.8, 1.3, CAL= 343.9, 1.3, ROT= 166.1, -1.3
2025-06-11T21:14:54.700Z,1749676494.700 [DAT](INFO): got valid direction response:
21:14:56.0309 LVL= 32752, 26529, 32498, 32755, AGC= 68, IDX= 510,-0.37, 0.896, 2.510, 0.513, 1.389, PHS=-0.405, 1.167,-0.879, RAW= 342.8, 1.3, CAL= 343.9, 1.3, ROT= 166.1, -1.3
2025-06-11T21:14:54.701Z,1749676494.701 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-11T21:14:54.702Z,1749676494.702 [DAT](INFO): direction in FSK: [-0.970467,0.240166,0.022687]
2025-06-11T21:14:54.702Z,1749676494.702 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:54.706Z,1749676494.706 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.690533
2025-06-11T21:14:54.926Z,1749676494.926 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.910149
2025-06-11T21:14:55.107Z,1749676495.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.799999 m,
deltaT: 0.503248 s,
deltaX: 0.599998 m,
approachRate: 1.192252 m/s,
rangeRepo size: 4
2025-06-11T21:14:55.110Z,1749676495.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.528444 m,
bearing: 88.165364 deg,
lat: 36.906722 deg,
lon: -122.115715 deg,
deltaT: 0.503248 s,
deltaX: 0.594875 m,
approachRate: 1.182072 m/s,
posRepo size: 4
2025-06-11T21:14:55.111Z,1749676495.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m.
2025-06-11T21:14:55.179Z,1749676495.179 [DAT](INFO): DAT read: Rx Time:21:14:56.5310
2025-06-11T21:14:55.179Z,1749676495.179 [DAT](INFO): Rx dataTimestamp_ set to:1749676495.178736
2025-06-11T21:14:55.181Z,1749676495.181 [DAT](INFO): DAT read: Bearing 166.3, 1.3 (Local)
2025-06-11T21:14:55.182Z,1749676495.182 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.3, 1.3 (Local)
2025-06-11T21:14:55.193Z,1749676495.193 [DAT](INFO): DAT read: Range 10 to 50 : 32.0 m (trip time 21.3 ms) speed -0.5
2025-06-11T21:14:55.215Z,1749676495.215 [DAT](INFO): DAT read: 21:14:56.5310 LVL= 32752, 22721, 31826, 32755, AGC= 70, IDX= 511, 0.00, 0.792, 2.496, 0.392, 1.251, PHS=-0.371, 1.292,-0.862, RAW= 342.6, -0.6, CAL= 343.7, -1.3, ROT= 166.3, 1.3
2025-06-11T21:14:55.217Z,1749676495.217 [DAT](INFO): got valid direction response:
21:14:56.5310 LVL= 32752, 22721, 31826, 32755, AGC= 70, IDX= 511, 0.00, 0.792, 2.496, 0.392, 1.251, PHS=-0.371, 1.292,-0.862, RAW= 342.6, -0.6, CAL= 343.7, -1.3, ROT= 166.3, 1.3
2025-06-11T21:14:55.217Z,1749676495.217 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-11T21:14:55.218Z,1749676495.218 [DAT](INFO): direction in FSK: [-0.971299,0.236777,-0.022687]
2025-06-11T21:14:55.218Z,1749676495.218 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:55.238Z,1749676495.238 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.221813
2025-06-11T21:14:55.429Z,1749676495.429 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.413132
2025-06-11T21:14:55.549Z,1749676495.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.000000 m,
deltaT: 0.504771 s,
deltaX: 0.200001 m,
approachRate: 0.396221 m/s,
rangeRepo size: 4
2025-06-11T21:14:55.551Z,1749676495.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.726671 m,
bearing: 88.209348 deg,
lat: 36.906722 deg,
lon: -122.115715 deg,
deltaT: 0.504771 s,
deltaX: 0.198227 m,
approachRate: 0.392707 m/s,
posRepo size: 4
2025-06-11T21:14:55.551Z,1749676495.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-11T21:14:55.681Z,1749676495.681 [DAT](INFO): DAT read: Rx Time:21:14:57.0313
2025-06-11T21:14:55.682Z,1749676495.682 [DAT](INFO): Rx dataTimestamp_ set to:1749676495.681603
2025-06-11T21:14:55.683Z,1749676495.683 [DAT](INFO): DAT read: Bearing 166.5, 3.4 (Local)
2025-06-11T21:14:55.684Z,1749676495.684 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.5, 3.4 (Local)
2025-06-11T21:14:55.686Z,1749676495.686 [DAT](INFO): DAT read: Range 10 to 50 : 32.4 m (trip time 21.6 ms) speed -0.8
2025-06-11T21:14:55.691Z,1749676495.691 [DAT](INFO): DAT read: 21:14:57.0313 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 2, 0.36,-3.101,-1.453, 2.813,-2.698, PHS=-0.315, 1.292,-0.775, RAW= 342.2, -2.2, CAL= 343.5, -3.4, ROT= 166.5, 3.4
2025-06-11T21:14:55.692Z,1749676495.692 [DAT](INFO): got valid direction response:
21:14:57.0313 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 2, 0.36,-3.101,-1.453, 2.813,-2.698, PHS=-0.315, 1.292,-0.775, RAW= 342.2, -2.2, CAL= 343.5, -3.4, ROT= 166.5, 3.4
2025-06-11T21:14:55.692Z,1749676495.692 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-11T21:14:55.693Z,1749676495.693 [DAT](INFO): direction in FSK: [-0.970658,0.233034,-0.059306]
2025-06-11T21:14:55.694Z,1749676495.694 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:55.703Z,1749676495.703 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.687109
2025-06-11T21:14:55.933Z,1749676495.933 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.917349
2025-06-11T21:14:56.026Z,1749676496.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.400002 m,
deltaT: 0.502867 s,
deltaX: 0.400002 m,
approachRate: 0.795442 m/s,
rangeRepo size: 4
2025-06-11T21:14:56.032Z,1749676496.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.123257 m,
bearing: 88.261995 deg,
lat: 36.906722 deg,
lon: -122.115716 deg,
deltaT: 0.502867 s,
deltaX: 0.396585 m,
approachRate: 0.788649 m/s,
posRepo size: 4
2025-06-11T21:14:56.033Z,1749676496.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.12 m.
2025-06-11T21:14:56.185Z,1749676496.185 [DAT](INFO): DAT read: Rx Time:21:14:57.5315
2025-06-11T21:14:56.186Z,1749676496.186 [DAT](INFO): Rx dataTimestamp_ set to:1749676496.185677
2025-06-11T21:14:56.187Z,1749676496.187 [DAT](INFO): DAT read: Bearing 166.3, -0.2 (Local)
2025-06-11T21:14:56.192Z,1749676496.192 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.3, -0.2 (Local)
2025-06-11T21:14:56.195Z,1749676496.195 [DAT](INFO): DAT read: Range 10 to 50 : 32.7 m (trip time 21.8 ms) speed -0.8
2025-06-11T21:14:56.199Z,1749676496.199 [DAT](INFO): DAT read: 21:14:57.5315 LVL= 32752, 22817, 32754, 32755, AGC= 71, IDX= 484,-0.24, 0.708, 2.366, 0.319, 1.192, PHS=-0.397, 1.221,-0.877, RAW= 342.6, 0.6, CAL= 343.7, 0.2, ROT= 166.3, -0.2
2025-06-11T21:14:56.201Z,1749676496.201 [DAT](INFO): got valid direction response:
21:14:57.5315 LVL= 32752, 22817, 32754, 32755, AGC= 71, IDX= 484,-0.24, 0.708, 2.366, 0.319, 1.192, PHS=-0.397, 1.221,-0.877, RAW= 342.6, 0.6, CAL= 343.7, 0.2, ROT= 166.3, -0.2
2025-06-11T21:14:56.201Z,1749676496.201 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-11T21:14:56.202Z,1749676496.202 [DAT](INFO): direction in FSK: [-0.971543,0.236837,0.003491]
2025-06-11T21:14:56.203Z,1749676496.203 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:56.206Z,1749676496.206 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.190504
2025-06-11T21:14:56.381Z,1749676496.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.700001 m,
deltaT: 0.504074 s,
deltaX: 0.299999 m,
approachRate: 0.595149 m/s,
rangeRepo size: 4
2025-06-11T21:14:56.383Z,1749676496.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.420708 m,
bearing: 88.136976 deg,
lat: 36.906722 deg,
lon: -122.115716 deg,
deltaT: 0.504074 s,
deltaX: 0.297451 m,
approachRate: 0.590094 m/s,
posRepo size: 4
2025-06-11T21:14:56.383Z,1749676496.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.42 m.
2025-06-11T21:14:56.438Z,1749676496.438 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.422453
2025-06-11T21:14:56.689Z,1749676496.689 [DAT](INFO): DAT read: Rx Time:21:14:58.0317
2025-06-11T21:14:56.690Z,1749676496.690 [DAT](INFO): Rx dataTimestamp_ set to:1749676496.689463
2025-06-11T21:14:56.691Z,1749676496.691 [DAT](INFO): DAT read: Bearing 166.8, -3.2 (Local)
2025-06-11T21:14:56.691Z,1749676496.691 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, -3.2 (Local)
2025-06-11T21:14:56.694Z,1749676496.694 [DAT](INFO): DAT read: Range 10 to 50 : 33.0 m (trip time 22.0 ms) speed -0.3
2025-06-11T21:14:56.698Z,1749676496.698 [DAT](INFO): DAT read: 21:14:58.0317 LVL= 32752, 26033, 32754, 32755, AGC= 70, IDX= 486, 0.06, 2.869,-1.712, 2.494,-2.847, PHS=-0.480, 1.182,-0.946, RAW= 342.0, 2.6, CAL= 343.2, 3.2, ROT= 166.8, -3.2
2025-06-11T21:14:56.699Z,1749676496.699 [DAT](INFO): got valid direction response:
21:14:58.0317 LVL= 32752, 26033, 32754, 32755, AGC= 70, IDX= 486, 0.06, 2.869,-1.712, 2.494,-2.847, PHS=-0.480, 1.182,-0.946, RAW= 342.0, 2.6, CAL= 343.2, 3.2, ROT= 166.8, -3.2
2025-06-11T21:14:56.700Z,1749676496.700 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-11T21:14:56.701Z,1749676496.701 [DAT](INFO): direction in FSK: [-0.972061,0.227995,0.055822]
2025-06-11T21:14:56.701Z,1749676496.701 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:56.709Z,1749676496.709 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.693111
2025-06-11T21:14:56.932Z,1749676496.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.000000 m,
deltaT: 0.503786 s,
deltaX: 0.299999 m,
approachRate: 0.595489 m/s,
rangeRepo size: 4
2025-06-11T21:14:56.934Z,1749676496.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.718147 m,
bearing: 88.456004 deg,
lat: 36.906722 deg,
lon: -122.115714 deg,
deltaT: 0.503786 s,
deltaX: 0.297440 m,
approachRate: 0.590409 m/s,
posRepo size: 4
2025-06-11T21:14:56.935Z,1749676496.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.72 m.
2025-06-11T21:14:56.941Z,1749676496.941 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.925180
2025-06-11T21:14:57.193Z,1749676497.193 [DAT](INFO): DAT read: Rx Time:21:14:58.5319
2025-06-11T21:14:57.194Z,1749676497.194 [DAT](INFO): Rx dataTimestamp_ set to:1749676497.193646
2025-06-11T21:14:57.195Z,1749676497.195 [DAT](INFO): DAT read: Bearing 167.1, 3.0 (Local)
2025-06-11T21:14:57.196Z,1749676497.196 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, 3.0 (Local)
2025-06-11T21:14:57.198Z,1749676497.198 [DAT](INFO): DAT read: Range 10 to 50 : 33.3 m (trip time 22.2 ms) speed -0.5
2025-06-11T21:14:57.203Z,1749676497.203 [DAT](INFO): DAT read: 21:14:58.5319 LVL= 32752, 23393, 32754, 32755, AGC= 69, IDX= 503, 0.49, 0.902, 2.667, 0.526, 1.348, PHS=-0.358, 1.367,-0.825, RAW= 341.7, -1.9, CAL= 342.9, -3.0, ROT= 167.1, 3.0
2025-06-11T21:14:57.204Z,1749676497.204 [DAT](INFO): got valid direction response:
21:14:58.5319 LVL= 32752, 23393, 32754, 32755, AGC= 69, IDX= 503, 0.49, 0.902, 2.667, 0.526, 1.348, PHS=-0.358, 1.367,-0.825, RAW= 341.7, -1.9, CAL= 342.9, -3.0, ROT= 167.1, 3.0
2025-06-11T21:14:57.204Z,1749676497.204 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-11T21:14:57.205Z,1749676497.205 [DAT](INFO): direction in FSK: [-0.973425,0.222944,-0.052336]
2025-06-11T21:14:57.206Z,1749676497.206 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:57.209Z,1749676497.209 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.193624
2025-06-11T21:14:57.424Z,1749676497.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.299999 m,
deltaT: 0.504183 s,
deltaX: 0.299999 m,
approachRate: 0.595021 m/s,
rangeRepo size: 4
2025-06-11T21:14:57.426Z,1749676497.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.015625 m,
bearing: 88.455961 deg,
lat: 36.906722 deg,
lon: -122.115716 deg,
deltaT: 0.504183 s,
deltaX: 0.297478 m,
approachRate: 0.590019 m/s,
posRepo size: 4
2025-06-11T21:14:57.426Z,1749676497.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.02 m.
2025-06-11T21:14:57.445Z,1749676497.445 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.429226
2025-06-11T21:14:57.697Z,1749676497.697 [DAT](INFO): DAT read: Rx Time:21:14:59.0322
2025-06-11T21:14:57.698Z,1749676497.698 [DAT](INFO): Rx dataTimestamp_ set to:1749676497.697577
2025-06-11T21:14:57.699Z,1749676497.699 [DAT](INFO): DAT read: Bearing 165.9, 1.4 (Local)
2025-06-11T21:14:57.699Z,1749676497.699 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.9, 1.4 (Local)
2025-06-11T21:14:57.702Z,1749676497.702 [DAT](INFO): DAT read: Range 10 to 50 : 33.8 m (trip time 22.5 ms) speed -0.5
2025-06-11T21:14:57.707Z,1749676497.707 [DAT](INFO): DAT read: 21:14:59.0322 LVL= 31920, 29457, 27826, 32755, AGC= 70, IDX= 507,-0.03,-0.099, 1.484,-0.480, 0.326, PHS=-0.337, 1.206,-0.809, RAW= 343.0, -0.7, CAL= 344.1, -1.4, ROT= 165.9, 1.4
2025-06-11T21:14:57.708Z,1749676497.708 [DAT](INFO): got valid direction response:
21:14:59.0322 LVL= 31920, 29457, 27826, 32755, AGC= 70, IDX= 507,-0.03,-0.099, 1.484,-0.480, 0.326, PHS=-0.337, 1.206,-0.809, RAW= 343.0, -0.7, CAL= 344.1, -1.4, ROT= 165.9, 1.4
2025-06-11T21:14:57.708Z,1749676497.708 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-11T21:14:57.709Z,1749676497.709 [DAT](INFO): direction in FSK: [-0.969582,0.243542,-0.024432]
2025-06-11T21:14:57.709Z,1749676497.709 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:57.713Z,1749676497.713 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.697264
2025-06-11T21:14:57.778Z,1749676497.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.799999 m,
deltaT: 0.503931 s,
deltaX: 0.500000 m,
approachRate: 0.992199 m/s,
rangeRepo size: 4
2025-06-11T21:14:57.779Z,1749676497.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.511356 m,
bearing: 87.221615 deg,
lat: 36.906722 deg,
lon: -122.115714 deg,
deltaT: 0.503931 s,
deltaX: 0.495731 m,
approachRate: 0.983729 m/s,
posRepo size: 4
2025-06-11T21:14:57.788Z,1749676497.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.51 m.
2025-06-11T21:14:57.949Z,1749676497.949 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.933292
2025-06-11T21:14:58.147Z,1749676498.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.51 m.
2025-06-11T21:14:58.202Z,1749676498.202 [DAT](INFO): DAT read: Rx Time:21:14:59.5323
2025-06-11T21:14:58.203Z,1749676498.203 [DAT](INFO): Rx dataTimestamp_ set to:1749676498.202762
2025-06-11T21:14:58.205Z,1749676498.205 [DAT](INFO): DAT read: Bearing 166.4, -1.2 (Local)
2025-06-11T21:14:58.206Z,1749676498.206 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.4, -1.2 (Local)
2025-06-11T21:14:58.210Z,1749676498.210 [DAT](INFO): DAT read: Range 10 to 50 : 33.9 m (trip time 22.6 ms) speed -0.7
2025-06-11T21:14:58.223Z,1749676498.223 [DAT](INFO): DAT read: 21:14:59.5323 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 508, 0.08, 1.385, 3.073, 0.990, 1.898, PHS=-0.426, 1.222,-0.911, RAW= 342.5, 1.2, CAL= 343.6, 1.2, ROT= 166.4, -1.2
2025-06-11T21:14:58.229Z,1749676498.229 [DAT](INFO): got valid direction response:
21:14:59.5323 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 508, 0.08, 1.385, 3.073, 0.990, 1.898, PHS=-0.426, 1.222,-0.911, RAW= 342.5, 1.2, CAL= 343.6, 1.2, ROT= 166.4, -1.2
2025-06-11T21:14:58.229Z,1749676498.229 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-11T21:14:58.230Z,1749676498.230 [DAT](INFO): direction in FSK: [-0.971748,0.235091,0.020942]
2025-06-11T21:14:58.230Z,1749676498.230 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:58.244Z,1749676498.244 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.228443
2025-06-11T21:14:58.308Z,1749676498.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:14:58.457Z,1749676498.457 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.440596
2025-06-11T21:14:58.568Z,1749676498.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.900002 m,
deltaT: 0.505185 s,
deltaX: 0.100002 m,
approachRate: 0.197952 m/s,
rangeRepo size: 4
2025-06-11T21:14:58.570Z,1749676498.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.610275 m,
bearing: 87.744049 deg,
lat: 36.906723 deg,
lon: -122.115714 deg,
deltaT: 0.505185 s,
deltaX: 0.098919 m,
approachRate: 0.195807 m/s,
posRepo size: 4
2025-06-11T21:14:58.571Z,1749676498.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.61 m.
2025-06-11T21:14:58.705Z,1749676498.705 [DAT](INFO): DAT read: Rx Time:21:15:00.0326
2025-06-11T21:14:58.706Z,1749676498.706 [DAT](INFO): Rx dataTimestamp_ set to:1749676498.705627
2025-06-11T21:14:58.707Z,1749676498.707 [DAT](INFO): DAT read: Bearing 193.2, 27.4 (Local)
2025-06-11T21:14:58.708Z,1749676498.708 [DAT](INFO): Local bearing/azimuth received:
Bearing 193.2, 27.4 (Local)
2025-06-11T21:14:58.710Z,1749676498.710 [DAT](INFO): DAT read: Range 10 to 50 : 34.4 m (trip time 22.9 ms) speed -0.3
2025-06-11T21:14:58.715Z,1749676498.715 [DAT](INFO): DAT read: 21:15:00.0326 LVL= 32752, 26449, 31074, 32755, AGC= 67, IDX= 512,-0.49, 2.886,-1.548,-2.777,-3.054, PHS=-0.256, 1.553, 0.273, RAW= 313.5, -19.0, CAL= 316.8, -27.4, ROT= 193.2, 27.4
2025-06-11T21:14:58.716Z,1749676498.716 [DAT](INFO): got valid direction response:
21:15:00.0326 LVL= 32752, 26449, 31074, 32755, AGC= 67, IDX= 512,-0.49, 2.886,-1.548,-2.777,-3.054, PHS=-0.256, 1.553, 0.273, RAW= 313.5, -19.0, CAL= 316.8, -27.4, ROT= 193.2, 27.4
2025-06-11T21:14:58.717Z,1749676498.717 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-11T21:14:58.718Z,1749676498.718 [DAT](INFO): direction in FSK: [-0.864358,-0.202733,-0.460200]
2025-06-11T21:14:58.718Z,1749676498.718 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:58.722Z,1749676498.722 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.705894
2025-06-11T21:14:58.961Z,1749676498.961 [DAT](INFO): DAT read: Rx Time:21:15:00.5329
2025-06-11T21:14:58.963Z,1749676498.963 [DAT](INFO): Rx dataTimestamp_ set to:1749676498.961780
2025-06-11T21:14:58.971Z,1749676498.971 [DAT](INFO): DAT read: Bearing 178.4, 17.0 (Local)
2025-06-11T21:14:58.972Z,1749676498.972 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.4, 17.0 (Local)
2025-06-11T21:14:58.975Z,1749676498.975 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.958731
2025-06-11T21:14:59.073Z,1749676499.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.400002 m,
deltaT: 0.502865 s,
deltaX: 0.500000 m,
approachRate: 0.994303 m/s,
rangeRepo size: 4
2025-06-11T21:14:59.075Z,1749676499.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.105999 m,
bearing: 114.556796 deg,
lat: 36.906722 deg,
lon: -122.115717 deg,
deltaT: 0.502865 s,
deltaX: 0.495724 m,
approachRate: 0.985799 m/s,
posRepo size: 4
2025-06-11T21:14:59.080Z,1749676499.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.11 m.
2025-06-11T21:14:59.210Z,1749676499.210 [DAT](INFO): DAT read: Range 10 to 50 : 34.8 m (trip time 23.2 ms) speed -0.6
2025-06-11T21:14:59.219Z,1749676499.219 [DAT](INFO): DAT read: 21:15:00.5329 LVL= 32752, 24785, 32754, 32755, AGC= 68, IDX= 513,-0.13, 1.368, 3.013, 1.520, 1.679, PHS=-0.222, 1.381,-0.162, RAW= 328.1, -12.6, CAL= 331.6, -17.0, ROT= 178.4, 17.0
2025-06-11T21:14:59.221Z,1749676499.221 [DAT](INFO): got valid direction response:
21:15:00.5329 LVL= 32752, 24785, 32754, 32755, AGC= 68, IDX= 513,-0.13, 1.368, 3.013, 1.520, 1.679, PHS=-0.222, 1.381,-0.162, RAW= 328.1, -12.6, CAL= 331.6, -17.0, ROT= 178.4, 17.0
2025-06-11T21:14:59.221Z,1749676499.221 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-11T21:14:59.222Z,1749676499.222 [DAT](INFO): direction in FSK: [-0.955932,0.026702,-0.292372]
2025-06-11T21:14:59.222Z,1749676499.222 [DAT](INFO): publishing direction and range info
2025-06-11T21:14:59.226Z,1749676499.226 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.210348
2025-06-11T21:14:59.312Z,1749676499.312 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:14:59.381Z,1749676499.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.799999 m,
deltaT: 0.502680 s,
deltaX: 0.399998 m,
approachRate: 0.795730 m/s,
rangeRepo size: 4
2025-06-11T21:14:59.383Z,1749676499.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.502453 m,
bearing: 99.594375 deg,
lat: 36.906722 deg,
lon: -122.115718 deg,
deltaT: 0.502680 s,
deltaX: 0.396454 m,
approachRate: 0.788680 m/s,
posRepo size: 4
2025-06-11T21:14:59.388Z,1749676499.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.50 m.
2025-06-11T21:14:59.465Z,1749676499.465 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.448612
2025-06-11T21:14:59.713Z,1749676499.713 [DAT](INFO): DAT read: Rx Time:21:15:01.0332
2025-06-11T21:14:59.714Z,1749676499.714 [DAT](INFO): Rx dataTimestamp_ set to:1749676499.713506
2025-06-11T21:14:59.715Z,1749676499.715 [DAT](INFO): DAT read: Bearing 166.5, -2.4 (Local)
2025-06-11T21:14:59.716Z,1749676499.716 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.5, -2.4 (Local)
2025-06-11T21:14:59.717Z,1749676499.717 [DAT](INFO): DAT read: Range 10 to 50 : 35.3
2025-06-11T21:14:59.718Z,1749676499.718 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-06-11T21:14:59.719Z,1749676499.719 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.703226
2025-06-11T21:14:59.801Z,1749676499.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.299999 m,
deltaT: 0.505199 s,
deltaX: 0.500000 m,
approachRate: 0.989709 m/s,
rangeRepo size: 4
2025-06-11T21:14:59.801Z,1749676499.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.50 m.
2025-06-11T21:14:59.969Z,1749676499.969 [DAT](INFO): DAT read: Rx Time:21:15:01.5333
2025-06-11T21:14:59.971Z,1749676499.971 [DAT](INFO): Rx dataTimestamp_ set to:1749676499.969620
2025-06-11T21:14:59.974Z,1749676499.974 [DAT](INFO): DAT read: Bearing 166.7, 5.4 (Local)
2025-06-11T21:14:59.975Z,1749676499.975 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 5.4 (Local)
2025-06-11T21:14:59.980Z,1749676499.980 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.963200
2025-06-11T21:15:00.200Z,1749676500.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.50 m.
2025-06-11T21:15:00.218Z,1749676500.218 [DAT](INFO): DAT read: Range 10 to 50 : 35.4 m (trip time 23.6 ms) speed -0.6
2025-06-11T21:15:00.228Z,1749676500.228 [DAT](INFO): DAT read: 21:15:01.5333 LVL= 31920, 23425, 27698, 32755, AGC= 69, IDX= 501, 0.40,-0.447, 1.230,-0.811,-0.083, PHS=-0.276, 1.360,-0.731, RAW= 341.9, -3.8, CAL= 343.3, -5.4, ROT= 166.7, 5.4
2025-06-11T21:15:00.229Z,1749676500.229 [DAT](INFO): got valid direction response:
21:15:01.5333 LVL= 31920, 23425, 27698, 32755, AGC= 69, IDX= 501, 0.40,-0.447, 1.230,-0.811,-0.083, PHS=-0.276, 1.360,-0.731, RAW= 341.9, -3.8, CAL= 343.3, -5.4, ROT= 166.7, 5.4
2025-06-11T21:15:00.230Z,1749676500.230 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-11T21:15:00.231Z,1749676500.231 [DAT](INFO): direction in FSK: [-0.968860,0.229029,-0.094108]
2025-06-11T21:15:00.231Z,1749676500.231 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:00.235Z,1749676500.235 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.219732
2025-06-11T21:15:00.479Z,1749676500.479 [DAT](INFO): DAT read: Rx Time:21:15:02.0335
2025-06-11T21:15:00.482Z,1749676500.482 [DAT](INFO): Rx dataTimestamp_ set to:1749676500.480363
2025-06-11T21:15:00.485Z,1749676500.485 [DAT](INFO): DAT read: Bearing 166.4, 1.4 (Local)
2025-06-11T21:15:00.487Z,1749676500.487 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.4, 1.4 (Local)
2025-06-11T21:15:00.501Z,1749676500.501 [DAT](INFO): DAT read: Range 10 to 50 : 35.9 m (trip time 23.9 ms) speed -0.6
2025-06-11T21:15:00.520Z,1749676500.520 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-06-11T21:15:00.522Z,1749676500.522 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.506277
2025-06-11T21:15:00.633Z,1749676500.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.900002 m,
deltaT: 0.766857 s,
deltaX: 0.600002 m,
approachRate: 0.782417 m/s,
rangeRepo size: 4
2025-06-11T21:15:00.641Z,1749676500.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.592758 m,
bearing: 88.043815 deg,
lat: 36.906727 deg,
lon: -122.115718 deg,
deltaT: 1.272056 s,
deltaX: 1.090305 m,
approachRate: 0.857121 m/s,
posRepo size: 4
2025-06-11T21:15:00.641Z,1749676500.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.59 m.
2025-06-11T21:15:00.729Z,1749676500.729 [DAT](INFO): DAT read: 21:15:02.0335 LVL= 32752, 29921, 32450, 32755, AGC= 69, IDX= 504,-0.21,-1.918,-0.313,-2.283,-1.482, PHS=-0.348, 1.216,-0.804, RAW= 342.4, -0.7, CAL= 343.6, -1.4, ROT= 166.4, 1.4
2025-06-11T21:15:00.730Z,1749676500.730 [DAT](INFO): got valid direction response:
21:15:02.0335 LVL= 32752, 29921, 32450, 32755, AGC= 69, IDX= 504,-0.21,-1.918,-0.313,-2.283,-1.482, PHS=-0.348, 1.216,-0.804, RAW= 342.4, -0.7, CAL= 343.6, -1.4, ROT= 166.4, 1.4
2025-06-11T21:15:00.731Z,1749676500.731 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-06-11T21:15:00.732Z,1749676500.732 [DAT](INFO): direction in FSK: [-0.971671,0.235072,-0.024432]
2025-06-11T21:15:00.735Z,1749676500.735 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.719625
2025-06-11T21:15:00.981Z,1749676500.981 [DAT](INFO): DAT read: Rx Time:21:15:02.5336
2025-06-11T21:15:00.983Z,1749676500.983 [DAT](INFO): Rx dataTimestamp_ set to:1749676500.981389
2025-06-11T21:15:00.986Z,1749676500.986 [DAT](INFO): DAT read: Bearing 166.8, 3.5 (Local)
2025-06-11T21:15:00.988Z,1749676500.988 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, 3.5 (Local)
2025-06-11T21:15:00.993Z,1749676500.993 [DAT](INFO): DAT read: Range 10 to 50 : 36.0 m (trip time 24.0 ms) speed -0.1
2025-06-11T21:15:00.996Z,1749676500.996 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-06-11T21:15:01.001Z,1749676501.001 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.983725
2025-06-11T21:15:01.148Z,1749676501.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.000000 m,
deltaT: 0.501026 s,
deltaX: 0.099998 m,
approachRate: 0.199587 m/s,
rangeRepo size: 4
2025-06-11T21:15:01.150Z,1749676501.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.691898 m,
bearing: 87.872749 deg,
lat: 36.906727 deg,
lon: -122.115718 deg,
deltaT: 0.501026 s,
deltaX: 0.099140 m,
approachRate: 0.197874 m/s,
posRepo size: 4
2025-06-11T21:15:01.151Z,1749676501.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.69 m.
2025-06-11T21:15:01.233Z,1749676501.233 [DAT](INFO): DAT read: 21:15:02.5336 LVL= 32752, 23313, 29810, 32755, AGC= 68, IDX= 505, 0.05,-1.691, 0.005,-2.060,-1.276, PHS=-0.327, 1.329,-0.786, RAW= 341.9, -2.3, CAL= 343.2, -3.5, ROT= 166.8, 3.5
2025-06-11T21:15:01.234Z,1749676501.234 [DAT](INFO): got valid direction response:
21:15:02.5336 LVL= 32752, 23313, 29810, 32755, AGC= 68, IDX= 505, 0.05,-1.691, 0.005,-2.060,-1.276, PHS=-0.327, 1.329,-0.786, RAW= 341.9, -2.3, CAL= 343.2, -3.5, ROT= 166.8, 3.5
2025-06-11T21:15:01.234Z,1749676501.234 [DAT](INFO): #Rx 50: Read direction message, but no range.
2025-06-11T21:15:01.235Z,1749676501.235 [DAT](INFO): direction in FSK: [-0.971763,0.227925,-0.061049]
2025-06-11T21:15:01.239Z,1749676501.239 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.223087
2025-06-11T21:15:01.451Z,1749676501.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.69 m.
2025-06-11T21:15:01.485Z,1749676501.485 [DAT](INFO): DAT read: Rx Time:21:15:03.0339
2025-06-11T21:15:01.487Z,1749676501.487 [DAT](INFO): Rx dataTimestamp_ set to:1749676501.485710
2025-06-11T21:15:01.491Z,1749676501.491 [DAT](INFO): DAT read: Bearing 165.8, 4.3 (Local)
2025-06-11T21:15:01.492Z,1749676501.492 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.8, 4.3 (Local)
2025-06-11T21:15:01.499Z,1749676501.499 [DAT](INFO): DAT read: Range 10 to 50 : 36.5 m (trip time 24.3 ms) speed -0.8
2025-06-11T21:15:01.501Z,1749676501.501 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-06-11T21:15:01.514Z,1749676501.514 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.497730
2025-06-11T21:15:01.737Z,1749676501.737 [DAT](INFO): DAT read: 21:15:03.0339 LVL= 25552, 26481, 24114, 32755, AGC= 70, IDX= 508, 0.40,-0.903, 0.744,-1.303,-0.534, PHS=-0.281, 1.325,-0.772, RAW= 343.0, -2.9, CAL= 344.2, -4.3, ROT= 165.8, 4.3
2025-06-11T21:15:01.738Z,1749676501.738 [DAT](INFO): got valid direction response:
21:15:03.0339 LVL= 25552, 26481, 24114, 32755, AGC= 70, IDX= 508, 0.40,-0.903, 0.744,-1.303,-0.534, PHS=-0.281, 1.325,-0.772, RAW= 343.0, -2.9, CAL= 344.2, -4.3, ROT= 165.8, 4.3
2025-06-11T21:15:01.738Z,1749676501.738 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-06-11T21:15:01.739Z,1749676501.739 [DAT](INFO): direction in FSK: [-0.966716,0.244617,-0.074979]
2025-06-11T21:15:01.743Z,1749676501.743 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.727129
2025-06-11T21:15:01.884Z,1749676501.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.500000 m,
deltaT: 0.504321 s,
deltaX: 0.500000 m,
approachRate: 0.991432 m/s,
rangeRepo size: 4
2025-06-11T21:15:01.886Z,1749676501.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.187622 m,
bearing: 87.299170 deg,
lat: 36.906727 deg,
lon: -122.115715 deg,
deltaT: 0.504321 s,
deltaX: 0.495724 m,
approachRate: 0.982953 m/s,
posRepo size: 4
2025-06-11T21:15:01.887Z,1749676501.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.19 m.
2025-06-11T21:15:01.989Z,1749676501.989 [DAT](INFO): DAT read: Rx Time:21:15:03.5341
2025-06-11T21:15:01.991Z,1749676501.991 [DAT](INFO): Rx dataTimestamp_ set to:1749676501.989615
2025-06-11T21:15:01.995Z,1749676501.995 [DAT](INFO): DAT read: Bearing 166.5, 1.0 (Local)
2025-06-11T21:15:01.997Z,1749676501.997 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.5, 1.0 (Local)
2025-06-11T21:15:02.009Z,1749676502.009 [DAT](INFO): DAT read: Range 10 to 50 : 36.8 m (trip time 24.5 ms) speed -0.4
2025-06-11T21:15:02.025Z,1749676502.025 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-06-11T21:15:02.029Z,1749676502.029 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.012955
2025-06-11T21:15:02.242Z,1749676502.242 [DAT](INFO): DAT read: 21:15:03.5341 LVL= 32752, 21361, 32754, 32755, AGC= 69, IDX= 494,-0.35,-1.527, 0.166,-1.914,-1.058, PHS=-0.381, 1.271,-0.859, RAW= 342.3, -0.3, CAL= 343.5, -1.0, ROT= 166.5, 1.0
2025-06-11T21:15:02.244Z,1749676502.244 [DAT](INFO): got valid direction response:
21:15:03.5341 LVL= 32752, 21361, 32754, 32755, AGC= 69, IDX= 494,-0.35,-1.527, 0.166,-1.914,-1.058, PHS=-0.381, 1.271,-0.859, RAW= 342.3, -0.3, CAL= 343.5, -1.0, ROT= 166.5, 1.0
2025-06-11T21:15:02.245Z,1749676502.245 [DAT](INFO): #Rx 54: Read direction message, but no range.
2025-06-11T21:15:02.246Z,1749676502.246 [DAT](INFO): direction in FSK: [-0.972222,0.233410,-0.017452]
2025-06-11T21:15:02.251Z,1749676502.251 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.235237
2025-06-11T21:15:02.371Z,1749676502.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.799999 m,
deltaT: 0.503905 s,
deltaX: 0.299999 m,
approachRate: 0.595349 m/s,
rangeRepo size: 4
2025-06-11T21:15:02.382Z,1749676502.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.485310 m,
bearing: 88.070385 deg,
lat: 36.906728 deg,
lon: -122.115714 deg,
deltaT: 0.503905 s,
deltaX: 0.297688 m,
approachRate: 0.590761 m/s,
posRepo size: 4
2025-06-11T21:15:02.383Z,1749676502.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.49 m.
2025-06-11T21:15:02.490Z,1749676502.490 [DAT](INFO): DAT read: Rx Time:21:15:04.0344
2025-06-11T21:15:02.491Z,1749676502.491 [DAT](INFO): Rx dataTimestamp_ set to:1749676502.490273
2025-06-11T21:15:02.493Z,1749676502.493 [DAT](INFO): DAT read: Range 10 to 50 : 37.2 m (trip time 24.8 ms) speed -0.5
2025-06-11T21:15:02.493Z,1749676502.493 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-06-11T21:15:02.494Z,1749676502.494 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.478544
2025-06-11T21:15:02.704Z,1749676502.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.200001 m,
deltaT: 0.500658 s,
deltaX: 0.400002 m,
approachRate: 0.798952 m/s,
rangeRepo size: 4
2025-06-11T21:15:02.705Z,1749676502.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.49 m.
2025-06-11T21:15:02.743Z,1749676502.743 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.726978
2025-06-11T21:15:02.998Z,1749676502.998 [DAT](INFO): DAT read: Rx Time:21:15:04.5345
2025-06-11T21:15:03.001Z,1749676503.001 [DAT](INFO): Rx dataTimestamp_ set to:1749676502.998465
2025-06-11T21:15:03.005Z,1749676503.005 [DAT](INFO): DAT read: Bearing 166.8, 3.9 (Local)
2025-06-11T21:15:03.006Z,1749676503.006 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, 3.9 (Local)
2025-06-11T21:15:03.022Z,1749676503.022 [DAT](INFO): DAT read: Range 10 to 50 : 37.4 m (trip time 24.9 ms) speed -0.8
2025-06-11T21:15:03.031Z,1749676503.031 [DAT](INFO): DAT read: 21:15:04.5345 LVL= 32752, 25185, 29282, 32755, AGC= 70, IDX= 2, 0.34,-0.006, 1.744,-0.386, 0.411, PHS=-0.328, 1.380,-0.800, RAW= 341.9, -2.6, CAL= 343.2, -3.9, ROT= 166.8, 3.9
2025-06-11T21:15:03.036Z,1749676503.036 [DAT](INFO): got valid direction response:
21:15:04.5345 LVL= 32752, 25185, 29282, 32755, AGC= 70, IDX= 2, 0.34,-0.006, 1.744,-0.386, 0.411, PHS=-0.328, 1.380,-0.800, RAW= 341.9, -2.6, CAL= 343.2, -3.9, ROT= 166.8, 3.9
2025-06-11T21:15:03.036Z,1749676503.036 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-11T21:15:03.037Z,1749676503.037 [DAT](INFO): direction in FSK: [-0.971324,0.227822,-0.068015]
2025-06-11T21:15:03.038Z,1749676503.038 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:03.045Z,1749676503.045 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.029667
2025-06-11T21:15:03.173Z,1749676503.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.400002 m,
deltaT: 0.508192 s,
deltaX: 0.200001 m,
approachRate: 0.393554 m/s,
rangeRepo size: 4
2025-06-11T21:15:03.175Z,1749676503.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.080181 m,
bearing: 88.382634 deg,
lat: 36.906728 deg,
lon: -122.115713 deg,
deltaT: 1.008850 s,
deltaX: 0.594872 m,
approachRate: 0.589653 m/s,
posRepo size: 4
2025-06-11T21:15:03.185Z,1749676503.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.08 m.
2025-06-11T21:15:03.246Z,1749676503.246 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.229856
2025-06-11T21:15:03.501Z,1749676503.501 [DAT](INFO): DAT read: Rx Time:21:15:05.0348
2025-06-11T21:15:03.503Z,1749676503.503 [DAT](INFO): Rx dataTimestamp_ set to:1749676503.502019
2025-06-11T21:15:03.508Z,1749676503.508 [DAT](INFO): DAT read: Bearing 166.7, 1.2 (Local)
2025-06-11T21:15:03.510Z,1749676503.510 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 1.2 (Local)
2025-06-11T21:15:03.517Z,1749676503.517 [DAT](INFO): DAT read: Range 10 to 50 : 37.7 m (trip time 25.1 ms) speed -0.7
2025-06-11T21:15:03.520Z,1749676503.520 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-06-11T21:15:03.522Z,1749676503.522 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.506145
2025-06-11T21:15:03.655Z,1749676503.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.700001 m,
deltaT: 0.503554 s,
deltaX: 0.299999 m,
approachRate: 0.595764 m/s,
rangeRepo size: 4
2025-06-11T21:15:03.656Z,1749676503.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.08 m.
2025-06-11T21:15:03.753Z,1749676503.753 [DAT](INFO): DAT read: 21:15:05.0348 LVL= 32752, 29873, 32754, 32755, AGC= 69, IDX= 485,-0.17,-1.904,-0.302,-2.254,-1.457, PHS=-0.358, 1.203,-0.800, RAW= 342.1, -0.5, CAL= 343.3, -1.2, ROT= 166.7, 1.2
2025-06-11T21:15:03.754Z,1749676503.754 [DAT](INFO): got valid direction response:
21:15:05.0348 LVL= 32752, 29873, 32754, 32755, AGC= 69, IDX= 485,-0.17,-1.904,-0.302,-2.254,-1.457, PHS=-0.358, 1.203,-0.800, RAW= 342.1, -0.5, CAL= 343.3, -1.2, ROT= 166.7, 1.2
2025-06-11T21:15:03.754Z,1749676503.754 [DAT](INFO): #Rx 58: Read direction message, but no range.
2025-06-11T21:15:03.755Z,1749676503.755 [DAT](INFO): direction in FSK: [-0.972965,0.229999,-0.020942]
2025-06-11T21:15:03.759Z,1749676503.759 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.743364
2025-06-11T21:15:03.914Z,1749676503.914 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-11T21:15:04.006Z,1749676504.006 [DAT](INFO): DAT read: Rx Time:21:15:05.5349
2025-06-11T21:15:04.008Z,1749676504.008 [DAT](INFO): Rx dataTimestamp_ set to:1749676504.006715
2025-06-11T21:15:04.013Z,1749676504.013 [DAT](INFO): DAT read: Bearing 167.1, 1.4 (Local)
2025-06-11T21:15:04.014Z,1749676504.014 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, 1.4 (Local)
2025-06-11T21:15:04.036Z,1749676504.036 [DAT](INFO): DAT read: Range 10 to 50 : 37.8 m (trip time 25.2 ms) speed -0.4
2025-06-11T21:15:04.050Z,1749676504.050 [DAT](INFO): DAT read: 21:15:05.5349 LVL= 32752, 28913, 32754, 32755, AGC= 68, IDX= 502, 0.14,-1.979,-0.300,-2.332,-1.515, PHS=-0.376, 1.262,-0.820, RAW= 341.7, -0.7, CAL= 342.9, -1.4, ROT= 167.1, 1.4
2025-06-11T21:15:04.051Z,1749676504.051 [DAT](INFO): got valid direction response:
21:15:05.5349 LVL= 32752, 28913, 32754, 32755, AGC= 68, IDX= 502, 0.14,-1.979,-0.300,-2.332,-1.515, PHS=-0.376, 1.262,-0.820, RAW= 341.7, -0.7, CAL= 342.9, -1.4, ROT= 167.1, 1.4
2025-06-11T21:15:04.056Z,1749676504.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.08 m.
2025-06-11T21:15:04.060Z,1749676504.060 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-11T21:15:04.061Z,1749676504.061 [DAT](INFO): direction in FSK: [-0.974470,0.223183,-0.024432]
2025-06-11T21:15:04.061Z,1749676504.061 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:04.073Z,1749676504.073 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.057373
2025-06-11T21:15:04.256Z,1749676504.256 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.240255
2025-06-11T21:15:04.425Z,1749676504.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.799999 m,
deltaT: 0.504696 s,
deltaX: 0.099998 m,
approachRate: 0.198136 m/s,
rangeRepo size: 4
2025-06-11T21:15:04.427Z,1749676504.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 37.477119 m,
bearing: 88.727851 deg,
lat: 36.906728 deg,
lon: -122.115714 deg,
deltaT: 1.008250 s,
deltaX: 0.396938 m,
approachRate: 0.393690 m/s,
posRepo size: 4
2025-06-11T21:15:04.427Z,1749676504.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.48 m.
2025-06-11T21:15:04.509Z,1749676504.509 [DAT](INFO): DAT read: Rx Time:21:15:06.0353
2025-06-11T21:15:04.511Z,1749676504.511 [DAT](INFO): Rx dataTimestamp_ set to:1749676504.509900
2025-06-11T21:15:04.515Z,1749676504.515 [DAT](INFO): DAT read: Bearing 166.6, 2.1 (Local)
2025-06-11T21:15:04.517Z,1749676504.517 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.6, 2.1 (Local)
2025-06-11T21:15:04.537Z,1749676504.537 [DAT](INFO): DAT read: Range 10 to 50 : 38.4 m (trip time 25.6 ms) speed -0.4
2025-06-11T21:15:04.560Z,1749676504.560 [DAT](INFO): DAT read: 21:15:06.0353 LVL= 32752, 29233, 32722, 32755, AGC= 71, IDX= 506,-0.44,-2.515,-0.913,-2.869,-2.091, PHS=-0.335, 1.225,-0.781, RAW= 342.2, -1.2, CAL= 343.4, -2.1, ROT= 166.6, 2.1
2025-06-11T21:15:04.562Z,1749676504.562 [DAT](INFO): got valid direction response:
21:15:06.0353 LVL= 32752, 29233, 32722, 32755, AGC= 71, IDX= 506,-0.44,-2.515,-0.913,-2.869,-2.091, PHS=-0.335, 1.225,-0.781, RAW= 342.2, -1.2, CAL= 343.4, -2.1, ROT= 166.6, 2.1
2025-06-11T21:15:04.562Z,1749676504.562 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-11T21:15:04.563Z,1749676504.563 [DAT](INFO): direction in FSK: [-0.972123,0.231592,-0.036644]
2025-06-11T21:15:04.563Z,1749676504.563 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:04.567Z,1749676504.567 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.551014
2025-06-11T21:15:04.757Z,1749676504.757 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.741278
2025-06-11T21:15:04.791Z,1749676504.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.400002 m,
deltaT: 0.503185 s,
deltaX: 0.600002 m,
approachRate: 1.192409 m/s,
rangeRepo size: 4
2025-06-11T21:15:04.793Z,1749676504.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.071995 m,
bearing: 88.143805 deg,
lat: 36.906729 deg,
lon: -122.115713 deg,
deltaT: 0.503185 s,
deltaX: 0.594875 m,
approachRate: 1.182220 m/s,
posRepo size: 4
2025-06-11T21:15:04.794Z,1749676504.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.07 m.
2025-06-11T21:15:05.018Z,1749676505.018 [DAT](INFO): DAT read: Rx Time:21:15:06.5354
2025-06-11T21:15:05.020Z,1749676505.020 [DAT](INFO): Rx dataTimestamp_ set to:1749676505.018458
2025-06-11T21:15:05.022Z,1749676505.022 [DAT](INFO): DAT read: Bearing 167.4, 5.0 (Local)
2025-06-11T21:15:05.022Z,1749676505.022 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.4, 5.0 (Local)
2025-06-11T21:15:05.025Z,1749676505.025 [DAT](INFO): DAT read: Range 10 to 50 : 38.6 m (trip time 25.7 ms) speed -0.5
2025-06-11T21:15:05.030Z,1749676505.030 [DAT](INFO): DAT read: 21:15:06.5354 LVL= 32752, 22849, 30482, 32755, AGC= 70, IDX= 507,-0.15,-3.110,-1.417, 2.837,-2.722, PHS=-0.300, 1.352,-0.728, RAW= 341.2, -3.4, CAL= 342.6, -5.0, ROT= 167.4, 5.0
2025-06-11T21:15:05.031Z,1749676505.031 [DAT](INFO): got valid direction response:
21:15:06.5354 LVL= 32752, 22849, 30482, 32755, AGC= 70, IDX= 507,-0.15,-3.110,-1.417, 2.837,-2.722, PHS=-0.300, 1.352,-0.728, RAW= 341.2, -3.4, CAL= 342.6, -5.0, ROT= 167.4, 5.0
2025-06-11T21:15:05.031Z,1749676505.031 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-11T21:15:05.032Z,1749676505.032 [DAT](INFO): direction in FSK: [-0.972203,0.217313,-0.087156]
2025-06-11T21:15:05.033Z,1749676505.033 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:05.036Z,1749676505.036 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.020632
2025-06-11T21:15:05.258Z,1749676505.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.599998 m,
deltaT: 0.508558 s,
deltaX: 0.199997 m,
approachRate: 0.393263 m/s,
rangeRepo size: 4
2025-06-11T21:15:05.261Z,1749676505.261 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.245251
2025-06-11T21:15:05.265Z,1749676505.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.269981 m,
bearing: 88.851796 deg,
lat: 36.906728 deg,
lon: -122.115713 deg,
deltaT: 0.508558 s,
deltaX: 0.197987 m,
approachRate: 0.389310 m/s,
posRepo size: 4
2025-06-11T21:15:05.265Z,1749676505.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.27 m.
2025-06-11T21:15:05.518Z,1749676505.518 [DAT](INFO): DAT read: Rx Time:21:15:07.0357
2025-06-11T21:15:05.519Z,1749676505.519 [DAT](INFO): Rx dataTimestamp_ set to:1749676505.518427
2025-06-11T21:15:05.523Z,1749676505.523 [DAT](INFO): DAT read: Bearing 167.1, 2.4 (Local)
2025-06-11T21:15:05.523Z,1749676505.523 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, 2.4 (Local)
2025-06-11T21:15:05.527Z,1749676505.527 [DAT](INFO): DAT read: Range 10 to 50 : 39.0 m (trip time 26.0 ms) speed -0.8
2025-06-11T21:15:05.552Z,1749676505.552 [DAT](INFO): DAT read: 21:15:07.0357 LVL= 32752, 26929, 31026, 32755, AGC= 70, IDX= 510, 0.02,-0.342, 1.320,-0.690, 0.094, PHS=-0.348, 1.272,-0.787, RAW= 341.7, -1.5, CAL= 342.9, -2.4, ROT= 167.1, 2.4
2025-06-11T21:15:05.553Z,1749676505.553 [DAT](INFO): got valid direction response:
21:15:07.0357 LVL= 32752, 26929, 31026, 32755, AGC= 70, IDX= 510, 0.02,-0.342, 1.320,-0.690, 0.094, PHS=-0.348, 1.272,-0.787, RAW= 341.7, -1.5, CAL= 342.9, -2.4, ROT= 167.1, 2.4
2025-06-11T21:15:05.553Z,1749676505.553 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-11T21:15:05.554Z,1749676505.554 [DAT](INFO): direction in FSK: [-0.973906,0.223054,-0.041876]
2025-06-11T21:15:05.555Z,1749676505.555 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:05.562Z,1749676505.562 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.546747
2025-06-11T21:15:05.659Z,1749676505.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.000000 m,
deltaT: 0.499969 s,
deltaX: 0.400002 m,
approachRate: 0.800053 m/s,
rangeRepo size: 4
2025-06-11T21:15:05.665Z,1749676505.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.666565 m,
bearing: 88.504945 deg,
lat: 36.906728 deg,
lon: -122.115713 deg,
deltaT: 0.499969 s,
deltaX: 0.396584 m,
approachRate: 0.793216 m/s,
posRepo size: 4
2025-06-11T21:15:05.665Z,1749676505.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.67 m.
2025-06-11T21:15:05.765Z,1749676505.765 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.749268
2025-06-11T21:15:06.023Z,1749676506.023 [DAT](INFO): DAT read: Rx Time:21:15:07.5359
2025-06-11T21:15:06.023Z,1749676506.023 [DAT](INFO): Rx dataTimestamp_ set to:1749676506.023169
2025-06-11T21:15:06.025Z,1749676506.025 [DAT](INFO): DAT read: Bearing 167.8, 6.1 (Local)
2025-06-11T21:15:06.025Z,1749676506.025 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.8, 6.1 (Local)
2025-06-11T21:15:06.028Z,1749676506.028 [DAT](INFO): DAT read: Range 10 to 50 : 39.3 m (trip time 26.2 ms) speed -0.2
2025-06-11T21:15:06.033Z,1749676506.033 [DAT](INFO): DAT read: 21:15:07.5359 LVL= 32752, 25073, 32466, 32755, AGC= 71, IDX= 495, 0.15,-0.484, 1.278,-0.815,-0.101, PHS=-0.294, 1.426,-0.716, RAW= 340.7, -4.3, CAL= 342.2, -6.1, ROT= 167.8, 6.1
2025-06-11T21:15:06.034Z,1749676506.034 [DAT](INFO): got valid direction response:
21:15:07.5359 LVL= 32752, 25073, 32466, 32755, AGC= 71, IDX= 495, 0.15,-0.484, 1.278,-0.815,-0.101, PHS=-0.294, 1.426,-0.716, RAW= 340.7, -4.3, CAL= 342.2, -6.1, ROT= 167.8, 6.1
2025-06-11T21:15:06.034Z,1749676506.034 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-11T21:15:06.035Z,1749676506.035 [DAT](INFO): direction in FSK: [-0.971882,0.210128,-0.106264]
2025-06-11T21:15:06.035Z,1749676506.035 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:06.039Z,1749676506.039 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.023062
2025-06-11T21:15:06.211Z,1749676506.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.299999 m,
deltaT: 0.504742 s,
deltaX: 0.299999 m,
approachRate: 0.594362 m/s,
rangeRepo size: 4
2025-06-11T21:15:06.217Z,1749676506.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.963997 m,
bearing: 89.130229 deg,
lat: 36.906727 deg,
lon: -122.115716 deg,
deltaT: 0.504742 s,
deltaX: 0.297432 m,
approachRate: 0.589275 m/s,
posRepo size: 4
2025-06-11T21:15:06.217Z,1749676506.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-06-11T21:15:06.271Z,1749676506.271 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.254797
2025-06-11T21:15:06.523Z,1749676506.523 [DAT](INFO): DAT read: Rx Time:21:15:08.0363
2025-06-11T21:15:06.523Z,1749676506.523 [DAT](INFO): Rx dataTimestamp_ set to:1749676506.522711
2025-06-11T21:15:06.525Z,1749676506.525 [DAT](INFO): DAT read: Bearing 167.4, 3.1 (Local)
2025-06-11T21:15:06.525Z,1749676506.525 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.4, 3.1 (Local)
2025-06-11T21:15:06.527Z,1749676506.527 [DAT](INFO): DAT read: Range 10 to 50 : 39.9 m (trip time 26.6 ms) speed -0.7
2025-06-11T21:15:06.532Z,1749676506.532 [DAT](INFO): DAT read: 21:15:08.0363 LVL= 31936, 21969, 27698, 32755, AGC= 69, IDX= 2, 0.39, 0.133, 1.835,-0.211, 0.567, PHS=-0.345, 1.315,-0.781, RAW= 341.4, -2.0, CAL= 342.6, -3.1, ROT= 167.4, 3.1
2025-06-11T21:15:06.533Z,1749676506.533 [DAT](INFO): got valid direction response:
21:15:08.0363 LVL= 31936, 21969, 27698, 32755, AGC= 69, IDX= 2, 0.39, 0.133, 1.835,-0.211, 0.567, PHS=-0.345, 1.315,-0.781, RAW= 341.4, -2.0, CAL= 342.6, -3.1, ROT= 167.4, 3.1
2025-06-11T21:15:06.534Z,1749676506.534 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-11T21:15:06.535Z,1749676506.535 [DAT](INFO): direction in FSK: [-0.974489,0.217824,-0.054079]
2025-06-11T21:15:06.535Z,1749676506.535 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:06.539Z,1749676506.539 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.522867
2025-06-11T21:15:06.645Z,1749676506.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.900002 m,
deltaT: 0.499542 s,
deltaX: 0.600002 m,
approachRate: 1.201105 m/s,
rangeRepo size: 4
2025-06-11T21:15:06.647Z,1749676506.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.558331 m,
bearing: 88.742736 deg,
lat: 36.906730 deg,
lon: -122.115713 deg,
deltaT: 0.499542 s,
deltaX: 0.594334 m,
approachRate: 1.189757 m/s,
posRepo size: 4
2025-06-11T21:15:06.652Z,1749676506.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.56 m.
2025-06-11T21:15:06.773Z,1749676506.773 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.757257
2025-06-11T21:15:06.951Z,1749676506.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.56 m.
2025-06-11T21:15:07.026Z,1749676507.026 [DAT](INFO): DAT read: Rx Time:21:15:08.5363
2025-06-11T21:15:07.026Z,1749676507.026 [DAT](INFO): Rx dataTimestamp_ set to:1749676507.025923
2025-06-11T21:15:07.028Z,1749676507.028 [DAT](INFO): DAT read: Bearing 166.7, 5.9 (Local)
2025-06-11T21:15:07.028Z,1749676507.028 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 5.9 (Local)
2025-06-11T21:15:07.030Z,1749676507.030 [DAT](INFO): DAT read: Range 10 to 50 : 39.9 m (trip time 26.6 ms) speed -0.8
2025-06-11T21:15:07.035Z,1749676507.035 [DAT](INFO): DAT read: 21:15:08.5363 LVL= 22064, 18209, 19762, 32083, AGC= 67, IDX= 500,-0.34,-2.867,-1.193, 3.053,-2.514, PHS=-0.265, 1.368,-0.718, RAW= 341.9, -4.1, CAL= 343.3, -5.9, ROT= 166.7, 5.9
2025-06-11T21:15:07.036Z,1749676507.036 [DAT](INFO): got valid direction response:
21:15:08.5363 LVL= 22064, 18209, 19762, 32083, AGC= 67, IDX= 500,-0.34,-2.867,-1.193, 3.053,-2.514, PHS=-0.265, 1.368,-0.718, RAW= 341.9, -4.1, CAL= 343.3, -5.9, ROT= 166.7, 5.9
2025-06-11T21:15:07.037Z,1749676507.037 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-11T21:15:07.038Z,1749676507.038 [DAT](INFO): direction in FSK: [-0.968024,0.228831,-0.102793]
2025-06-11T21:15:07.038Z,1749676507.038 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:07.050Z,1749676507.050 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.033836
2025-06-11T21:15:07.277Z,1749676507.277 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.261131
2025-06-11T21:15:07.383Z,1749676507.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.900002 m,
deltaT: 0.503212 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:15:07.391Z,1749676507.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.558201 m,
bearing: 87.942660 deg,
lat: 36.906730 deg,
lon: -122.115716 deg,
deltaT: 0.503212 s,
deltaX: -0.000130 m,
approachRate: -0.000258 m/s,
posRepo size: 4
2025-06-11T21:15:07.396Z,1749676507.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.56 m.
2025-06-11T21:15:07.530Z,1749676507.530 [DAT](INFO): DAT read: Rx Time:21:15:09.0366
2025-06-11T21:15:07.530Z,1749676507.530 [DAT](INFO): Rx dataTimestamp_ set to:1749676507.529737
2025-06-11T21:15:07.531Z,1749676507.531 [DAT](INFO): DAT read: Bearing 167.4, 4.6 (Local)
2025-06-11T21:15:07.532Z,1749676507.532 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.4, 4.6 (Local)
2025-06-11T21:15:07.534Z,1749676507.534 [DAT](INFO): DAT read: Range 10 to 50 : 40.4 m (trip time 26.9 ms) speed -0.4
2025-06-11T21:15:07.548Z,1749676507.548 [DAT](INFO): DAT read: 21:15:09.0366 LVL= 26032, 23953, 25810, 32755, AGC= 70, IDX= 486,-0.20,-2.570,-0.889,-2.905,-2.175, PHS=-0.307, 1.333,-0.733, RAW= 341.3, -3.1, CAL= 342.6, -4.6, ROT= 167.4, 4.6
2025-06-11T21:15:07.549Z,1749676507.549 [DAT](INFO): got valid direction response:
21:15:09.0366 LVL= 26032, 23953, 25810, 32755, AGC= 70, IDX= 486,-0.20,-2.570,-0.889,-2.905,-2.175, PHS=-0.307, 1.333,-0.733, RAW= 341.3, -3.1, CAL= 342.6, -4.6, ROT= 167.4, 4.6
2025-06-11T21:15:07.549Z,1749676507.549 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-11T21:15:07.550Z,1749676507.550 [DAT](INFO): direction in FSK: [-0.972773,0.217441,-0.080199]
2025-06-11T21:15:07.551Z,1749676507.551 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:07.559Z,1749676507.559 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.542873
2025-06-11T21:15:07.770Z,1749676507.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.400002 m,
deltaT: 0.503814 s,
deltaX: 0.500000 m,
approachRate: 0.992430 m/s,
rangeRepo size: 4
2025-06-11T21:15:07.772Z,1749676507.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.053917 m,
bearing: 88.674964 deg,
lat: 36.906730 deg,
lon: -122.115714 deg,
deltaT: 0.503814 s,
deltaX: 0.495716 m,
approachRate: 0.983927 m/s,
posRepo size: 4
2025-06-11T21:15:07.773Z,1749676507.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.05 m.
2025-06-11T21:15:07.781Z,1749676507.781 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.765251
2025-06-11T21:15:08.037Z,1749676508.037 [DAT](INFO): DAT read: Rx Time:21:15:09.5367
2025-06-11T21:15:08.039Z,1749676508.039 [DAT](INFO): Rx dataTimestamp_ set to:1749676508.038190
2025-06-11T21:15:08.043Z,1749676508.043 [DAT](INFO): DAT read: Bearing 167.3, 3.1 (Local)
2025-06-11T21:15:08.044Z,1749676508.044 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.3, 3.1 (Local)
2025-06-11T21:15:08.051Z,1749676508.051 [DAT](INFO): DAT read: Range 10 to 50 : 40.5 m (trip time 27.0 ms) speed -0.6
2025-06-11T21:15:08.061Z,1749676508.061 [DAT](INFO): DAT read: 21:15:09.5367 LVL= 32752, 30257, 32754, 32755, AGC= 71, IDX= 503,-0.07, 2.755,-1.818, 2.407,-3.093, PHS=-0.347, 1.322,-0.786, RAW= 341.4, -2.0, CAL= 342.7, -3.1, ROT= 167.3, 3.1
2025-06-11T21:15:08.062Z,1749676508.062 [DAT](INFO): got valid direction response:
21:15:09.5367 LVL= 32752, 30257, 32754, 32755, AGC= 71, IDX= 503,-0.07, 2.755,-1.818, 2.407,-3.093, PHS=-0.347, 1.322,-0.786, RAW= 341.4, -2.0, CAL= 342.7, -3.1, ROT= 167.3, 3.1
2025-06-11T21:15:08.062Z,1749676508.062 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-11T21:15:08.063Z,1749676508.063 [DAT](INFO): direction in FSK: [-0.974107,0.219524,-0.054079]
2025-06-11T21:15:08.084Z,1749676508.084 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:08.087Z,1749676508.087 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.071716
2025-06-11T21:15:08.229Z,1749676508.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.500000 m,
deltaT: 0.508453 s,
deltaX: 0.099998 m,
approachRate: 0.196672 m/s,
rangeRepo size: 4
2025-06-11T21:15:08.231Z,1749676508.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.153061 m,
bearing: 88.624210 deg,
lat: 36.906731 deg,
lon: -122.115715 deg,
deltaT: 0.508453 s,
deltaX: 0.099144 m,
approachRate: 0.194991 m/s,
posRepo size: 4
2025-06-11T21:15:08.231Z,1749676508.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-06-11T21:15:08.286Z,1749676508.286 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.270287
2025-06-11T21:15:08.539Z,1749676508.539 [DAT](INFO): DAT read: Rx Time:21:15:10.0370
2025-06-11T21:15:08.540Z,1749676508.540 [DAT](INFO): Rx dataTimestamp_ set to:1749676508.539241
2025-06-11T21:15:08.542Z,1749676508.542 [DAT](INFO): DAT read: Bearing 167.2, 5.6 (Local)
2025-06-11T21:15:08.543Z,1749676508.543 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.2, 5.6 (Local)
2025-06-11T21:15:08.547Z,1749676508.547 [DAT](INFO): DAT read: Range 10 to 50 : 41.0 m (trip time 27.3 ms) speed -0.6
2025-06-11T21:15:08.562Z,1749676508.562 [DAT](INFO): DAT read: 21:15:10.0370 LVL= 24144, 28657, 27586, 32755, AGC= 69, IDX= 506, 0.14,-2.747,-1.088,-3.080,-2.381, PHS=-0.278, 1.340,-0.702, RAW= 341.4, -3.9, CAL= 342.8, -5.6, ROT= 167.2, 5.6
2025-06-11T21:15:08.563Z,1749676508.563 [DAT](INFO): got valid direction response:
21:15:10.0370 LVL= 24144, 28657, 27586, 32755, AGC= 69, IDX= 506, 0.14,-2.747,-1.088,-3.080,-2.381, PHS=-0.278, 1.340,-0.702, RAW= 341.4, -3.9, CAL= 342.8, -5.6, ROT= 167.2, 5.6
2025-06-11T21:15:08.563Z,1749676508.563 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-11T21:15:08.565Z,1749676508.565 [DAT](INFO): direction in FSK: [-0.970495,0.220491,-0.097583]
2025-06-11T21:15:08.565Z,1749676508.565 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:08.569Z,1749676508.569 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.553131
2025-06-11T21:15:08.676Z,1749676508.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.000000 m,
deltaT: 0.501051 s,
deltaX: 0.500000 m,
approachRate: 0.997902 m/s,
rangeRepo size: 4
2025-06-11T21:15:08.678Z,1749676508.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.648243 m,
bearing: 88.475923 deg,
lat: 36.906732 deg,
lon: -122.115715 deg,
deltaT: 0.501051 s,
deltaX: 0.495182 m,
approachRate: 0.988287 m/s,
posRepo size: 4
2025-06-11T21:15:08.678Z,1749676508.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.65 m.
2025-06-11T21:15:08.789Z,1749676508.789 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.773338
2025-06-11T21:15:09.010Z,1749676509.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.65 m.
2025-06-11T21:15:09.045Z,1749676509.045 [DAT](INFO): DAT read: Rx Time:21:15:10.5371
2025-06-11T21:15:09.047Z,1749676509.047 [DAT](INFO): Rx dataTimestamp_ set to:1749676509.045549
2025-06-11T21:15:09.051Z,1749676509.051 [DAT](INFO): DAT read: Bearing 168.1, 1.4 (Local)
2025-06-11T21:15:09.052Z,1749676509.052 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.1, 1.4 (Local)
2025-06-11T21:15:09.055Z,1749676509.055 [DAT](INFO): DAT read: Range 10 to 50 : 41.1 m (trip time 27.4 ms) speed -0.5
2025-06-11T21:15:09.069Z,1749676509.069 [DAT](INFO): DAT read: 21:15:10.5371 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507, 0.23,-2.794,-1.126,-3.099,-2.316, PHS=-0.390, 1.238,-0.786, RAW= 340.6, -0.7, CAL= 341.9, -1.4, ROT= 168.1, 1.4
2025-06-11T21:15:09.070Z,1749676509.070 [DAT](INFO): got valid direction response:
21:15:10.5371 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507, 0.23,-2.794,-1.126,-3.099,-2.316, PHS=-0.390, 1.238,-0.786, RAW= 340.6, -0.7, CAL= 341.9, -1.4, ROT= 168.1, 1.4
2025-06-11T21:15:09.070Z,1749676509.070 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-11T21:15:09.071Z,1749676509.071 [DAT](INFO): direction in FSK: [-0.978217,0.206142,-0.024432]
2025-06-11T21:15:09.071Z,1749676509.071 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:09.093Z,1749676509.093 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.068008
2025-06-11T21:15:09.294Z,1749676509.294 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.277874
2025-06-11T21:15:09.428Z,1749676509.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.099998 m,
deltaT: 0.506308 s,
deltaX: 0.099998 m,
approachRate: 0.197505 m/s,
rangeRepo size: 4
2025-06-11T21:15:09.430Z,1749676509.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.747742 m,
bearing: 89.555074 deg,
lat: 36.906732 deg,
lon: -122.115715 deg,
deltaT: 0.506308 s,
deltaX: 0.099499 m,
approachRate: 0.196518 m/s,
posRepo size: 4
2025-06-11T21:15:09.431Z,1749676509.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.75 m.
2025-06-11T21:15:09.546Z,1749676509.546 [DAT](INFO): DAT read: Rx Time:21:15:11.0375
2025-06-11T21:15:09.546Z,1749676509.546 [DAT](INFO): Rx dataTimestamp_ set to:1749676509.546040
2025-06-11T21:15:09.548Z,1749676509.548 [DAT](INFO): DAT read: Bearing 167.3, 4.2 (Local)
2025-06-11T21:15:09.548Z,1749676509.548 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.3, 4.2 (Local)
2025-06-11T21:15:09.550Z,1749676509.550 [DAT](INFO): DAT read: Range 10 to 50 : 41.7 m (trip time 27.8 ms) speed -0.2
2025-06-11T21:15:09.555Z,1749676509.555 [DAT](INFO): DAT read: 21:15:11.0375 LVL= 27600, 23857, 23714, 32755, AGC= 71, IDX= 511,-0.43, 2.211,-2.412, 1.877, 2.611, PHS=-0.312, 1.308,-0.737, RAW= 341.4, -2.8, CAL= 342.7, -4.2, ROT= 167.3, 4.2
2025-06-11T21:15:09.556Z,1749676509.556 [DAT](INFO): got valid direction response:
21:15:11.0375 LVL= 27600, 23857, 23714, 32755, AGC= 71, IDX= 511,-0.43, 2.211,-2.412, 1.877, 2.611, PHS=-0.312, 1.308,-0.737, RAW= 341.4, -2.8, CAL= 342.7, -4.2, ROT= 167.3, 4.2
2025-06-11T21:15:09.557Z,1749676509.557 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-11T21:15:09.558Z,1749676509.558 [DAT](INFO): direction in FSK: [-0.972915,0.219256,-0.073238]
2025-06-11T21:15:09.558Z,1749676509.558 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:09.562Z,1749676509.562 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.546505
2025-06-11T21:15:09.783Z,1749676509.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.700001 m,
deltaT: 0.500491 s,
deltaX: 0.600002 m,
approachRate: 1.198827 m/s,
rangeRepo size: 4
2025-06-11T21:15:09.785Z,1749676509.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.342602 m,
bearing: 88.765304 deg,
lat: 36.906732 deg,
lon: -122.115715 deg,
deltaT: 0.500491 s,
deltaX: 0.594860 m,
approachRate: 1.188553 m/s,
posRepo size: 4
2025-06-11T21:15:09.786Z,1749676509.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m.
2025-06-11T21:15:09.797Z,1749676509.797 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.781563
2025-06-11T21:15:10.053Z,1749676510.053 [DAT](INFO): DAT read: Rx Time:21:15:11.5375
2025-06-11T21:15:10.055Z,1749676510.055 [DAT](INFO): Rx dataTimestamp_ set to:1749676510.053846
2025-06-11T21:15:10.059Z,1749676510.059 [DAT](INFO): DAT read: Bearing 171.8, 11.8 (Local)
2025-06-11T21:15:10.060Z,1749676510.060 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.8, 11.8 (Local)
2025-06-11T21:15:10.066Z,1749676510.066 [DAT](INFO): DAT read: Range 10 to 50 : 41.9 m (trip time 27.9 ms) speed -0.8
2025-06-11T21:15:10.095Z,1749676510.095 [DAT](INFO): DAT read: 21:15:11.5375 LVL= 30272, 26609, 25714, 32755, AGC= 70, IDX= 512,-0.14,-2.736,-1.326,-2.818,-2.459, PHS=-0.189, 1.180,-0.363, RAW= 335.9, -8.6, CAL= 338.2, -11.8, ROT= 171.8, 11.8
2025-06-11T21:15:10.104Z,1749676510.104 [DAT](INFO): got valid direction response:
21:15:11.5375 LVL= 30272, 26609, 25714, 32755, AGC= 70, IDX= 512,-0.14,-2.736,-1.326,-2.818,-2.459, PHS=-0.189, 1.180,-0.363, RAW= 335.9, -8.6, CAL= 338.2, -11.8, ROT= 171.8, 11.8
2025-06-11T21:15:10.104Z,1749676510.104 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-11T21:15:10.105Z,1749676510.105 [DAT](INFO): direction in FSK: [-0.968860,0.139615,-0.204496]
2025-06-11T21:15:10.106Z,1749676510.106 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:10.113Z,1749676510.113 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.097771
2025-06-11T21:15:10.245Z,1749676510.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.900002 m,
deltaT: 0.507806 s,
deltaX: 0.200001 m,
approachRate: 0.393853 m/s,
rangeRepo size: 4
2025-06-11T21:15:10.247Z,1749676510.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.540890 m,
bearing: 93.182097 deg,
lat: 36.906732 deg,
lon: -122.115715 deg,
deltaT: 0.507806 s,
deltaX: 0.198288 m,
approachRate: 0.390480 m/s,
posRepo size: 4
2025-06-11T21:15:10.247Z,1749676510.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.54 m.
2025-06-11T21:15:10.305Z,1749676510.305 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.289017
2025-06-11T21:15:10.553Z,1749676510.553 [DAT](INFO): DAT read: Rx Time:21:15:12.0378
2025-06-11T21:15:10.554Z,1749676510.554 [DAT](INFO): Rx dataTimestamp_ set to:1749676510.553675
2025-06-11T21:15:10.555Z,1749676510.555 [DAT](INFO): DAT read: Bearing 166.7, 6.3 (Local)
2025-06-11T21:15:10.556Z,1749676510.556 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 6.3 (Local)
2025-06-11T21:15:10.558Z,1749676510.558 [DAT](INFO): DAT read: Range 10 to 50 : 42.3 m (trip time 28.2 ms) speed -0.7
2025-06-11T21:15:10.571Z,1749676510.571 [DAT](INFO): DAT read: 21:15:12.0378 LVL= 25712, 26001, 23890, 32755, AGC= 71, IDX= 499, 0.08,-2.775,-1.123,-3.130,-2.435, PHS=-0.252, 1.359,-0.698, RAW= 341.9, -4.4, CAL= 343.3, -6.3, ROT= 166.7, 6.3
2025-06-11T21:15:10.580Z,1749676510.580 [DAT](INFO): got valid direction response:
21:15:12.0378 LVL= 25712, 26001, 23890, 32755, AGC= 71, IDX= 499, 0.08,-2.775,-1.123,-3.130,-2.435, PHS=-0.252, 1.359,-0.698, RAW= 341.9, -4.4, CAL= 343.3, -6.3, ROT= 166.7, 6.3
2025-06-11T21:15:10.580Z,1749676510.580 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-11T21:15:10.582Z,1749676510.582 [DAT](INFO): direction in FSK: [-0.967302,0.228660,-0.109734]
2025-06-11T21:15:10.582Z,1749676510.582 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:10.622Z,1749676510.622 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.605873
2025-06-11T21:15:10.662Z,1749676510.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.299999 m,
deltaT: 0.499829 s,
deltaX: 0.399998 m,
approachRate: 0.800269 m/s,
rangeRepo size: 4
2025-06-11T21:15:10.668Z,1749676510.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.936722 m,
bearing: 88.248823 deg,
lat: 36.906732 deg,
lon: -122.115715 deg,
deltaT: 0.499829 s,
deltaX: 0.395832 m,
approachRate: 0.791935 m/s,
posRepo size: 4
2025-06-11T21:15:10.669Z,1749676510.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-06-11T21:15:10.807Z,1749676510.807 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.790920
2025-06-11T21:15:11.061Z,1749676511.061 [DAT](INFO): DAT read: Rx Time:21:15:12.5379
2025-06-11T21:15:11.063Z,1749676511.063 [DAT](INFO): Rx dataTimestamp_ set to:1749676511.061694
2025-06-11T21:15:11.067Z,1749676511.067 [DAT](INFO): DAT read: Bearing 167.1, 4.0 (Local)
2025-06-11T21:15:11.068Z,1749676511.068 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, 4.0 (Local)
2025-06-11T21:15:11.077Z,1749676511.077 [DAT](INFO): DAT read: Range 10 to 50 : 42.5 m (trip time 28.3 ms) speed -0.4
2025-06-11T21:15:11.126Z,1749676511.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.94 m.
2025-06-11T21:15:11.119Z,1749676511.119 [DAT](INFO): DAT read: 21:15:12.5379 LVL= 32752, 32113, 29938, 32755, AGC= 71, IDX= 500, 0.28,-2.349,-0.625,-2.708,-1.936, PHS=-0.325, 1.358,-0.775, RAW= 341.5, -2.7, CAL= 342.9, -4.0, ROT= 167.1, 4.0
2025-06-11T21:15:11.129Z,1749676511.129 [DAT](INFO): got valid direction response:
21:15:12.5379 LVL= 32752, 32113, 29938, 32755, AGC= 71, IDX= 500, 0.28,-2.349,-0.625,-2.708,-1.936, PHS=-0.325, 1.358,-0.775, RAW= 341.5, -2.7, CAL= 342.9, -4.0, ROT= 167.1, 4.0
2025-06-11T21:15:11.129Z,1749676511.129 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-11T21:15:11.130Z,1749676511.130 [DAT](INFO): direction in FSK: [-0.972387,0.222706,-0.069756]
2025-06-11T21:15:11.130Z,1749676511.130 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:11.145Z,1749676511.145 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.129528
2025-06-11T21:15:11.309Z,1749676511.309 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.293411
2025-06-11T21:15:11.459Z,1749676511.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.500000 m,
deltaT: 0.508019 s,
deltaX: 0.200001 m,
approachRate: 0.393688 m/s,
rangeRepo size: 4
2025-06-11T21:15:11.465Z,1749676511.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.135311 m,
bearing: 88.763891 deg,
lat: 36.906732 deg,
lon: -122.115716 deg,
deltaT: 0.508019 s,
deltaX: 0.198589 m,
approachRate: 0.390909 m/s,
posRepo size: 4
2025-06-11T21:15:11.467Z,1749676511.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.14 m.
2025-06-11T21:15:11.563Z,1749676511.563 [DAT](INFO): DAT read: Rx Time:21:15:13.0382
2025-06-11T21:15:11.564Z,1749676511.564 [DAT](INFO): Rx dataTimestamp_ set to:1749676511.563409
2025-06-11T21:15:11.566Z,1749676511.566 [DAT](INFO): DAT read: Bearing 166.0, 5.6 (Local)
2025-06-11T21:15:11.567Z,1749676511.567 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.0, 5.6 (Local)
2025-06-11T21:15:11.570Z,1749676511.570 [DAT](INFO): DAT read: Range 10 to 50 : 42.9 m (trip time 28.6 ms) speed -0.1
2025-06-11T21:15:11.577Z,1749676511.577 [DAT](INFO): DAT read: 21:15:13.0382 LVL= 29568, 25121, 27954, 32755, AGC= 71, IDX= 503,-0.14, 1.454, 3.038, 1.083, 1.787, PHS=-0.245, 1.298,-0.706, RAW= 342.7, -3.9, CAL= 344.0, -5.6, ROT= 166.0, 5.6
2025-06-11T21:15:11.579Z,1749676511.579 [DAT](INFO): got valid direction response:
21:15:13.0382 LVL= 29568, 25121, 27954, 32755, AGC= 71, IDX= 503,-0.14, 1.454, 3.038, 1.083, 1.787, PHS=-0.245, 1.298,-0.706, RAW= 342.7, -3.9, CAL= 344.0, -5.6, ROT= 166.0, 5.6
2025-06-11T21:15:11.579Z,1749676511.579 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-11T21:15:11.580Z,1749676511.580 [DAT](INFO): direction in FSK: [-0.965665,0.240767,-0.097583]
2025-06-11T21:15:11.581Z,1749676511.581 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:11.591Z,1749676511.591 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.574806
2025-06-11T21:15:11.813Z,1749676511.813 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.797138
2025-06-11T21:15:11.840Z,1749676511.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.900002 m,
deltaT: 0.501715 s,
deltaX: 0.400002 m,
approachRate: 0.797268 m/s,
rangeRepo size: 4
2025-06-11T21:15:11.842Z,1749676511.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.531879 m,
bearing: 87.623820 deg,
lat: 36.906732 deg,
lon: -122.115717 deg,
deltaT: 0.501715 s,
deltaX: 0.396568 m,
approachRate: 0.790425 m/s,
posRepo size: 4
2025-06-11T21:15:11.843Z,1749676511.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.53 m.
2025-06-11T21:15:12.069Z,1749676512.069 [DAT](INFO): DAT read: Rx Time:21:15:13.5384
2025-06-11T21:15:12.071Z,1749676512.071 [DAT](INFO): Rx dataTimestamp_ set to:1749676512.070040
2025-06-11T21:15:12.075Z,1749676512.075 [DAT](INFO): DAT read: Bearing 166.8, 2.8 (Local)
2025-06-11T21:15:12.076Z,1749676512.076 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, 2.8 (Local)
2025-06-11T21:15:12.087Z,1749676512.087 [DAT](INFO): DAT read: Range 10 to 50 : 43.2 m (trip time 28.8 ms) speed -0.5
2025-06-11T21:15:12.115Z,1749676512.115 [DAT](INFO): DAT read: 21:15:13.5384 LVL= 32752, 30449, 32754, 32755, AGC= 71, IDX= 504, 0.10, 2.571,-2.007, 2.197, 3.002, PHS=-0.343, 1.321,-0.808, RAW= 342.0, -1.8, CAL= 343.2, -2.8, ROT= 166.8, 2.8
2025-06-11T21:15:12.120Z,1749676512.120 [DAT](INFO): got valid direction response:
21:15:13.5384 LVL= 32752, 30449, 32754, 32755, AGC= 71, IDX= 504, 0.10, 2.571,-2.007, 2.197, 3.002, PHS=-0.343, 1.321,-0.808, RAW= 342.0, -1.8, CAL= 343.2, -2.8, ROT= 166.8, 2.8
2025-06-11T21:15:12.121Z,1749676512.121 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-11T21:15:12.122Z,1749676512.122 [DAT](INFO): direction in FSK: [-0.972417,0.228078,-0.048850]
2025-06-11T21:15:12.122Z,1749676512.122 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:12.130Z,1749676512.130 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.114086
2025-06-11T21:15:12.302Z,1749676512.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.200001 m,
deltaT: 0.506631 s,
deltaX: 0.299999 m,
approachRate: 0.592145 m/s,
rangeRepo size: 4
2025-06-11T21:15:12.309Z,1749676512.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.829620 m,
bearing: 88.594543 deg,
lat: 36.906734 deg,
lon: -122.115717 deg,
deltaT: 0.506631 s,
deltaX: 0.297741 m,
approachRate: 0.587688 m/s,
posRepo size: 4
2025-06-11T21:15:12.309Z,1749676512.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.83 m.
2025-06-11T21:15:12.317Z,1749676512.317 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.301296
2025-06-11T21:15:12.569Z,1749676512.569 [DAT](INFO): DAT read: Rx Time:21:15:14.0388
2025-06-11T21:15:12.570Z,1749676512.570 [DAT](INFO): Rx dataTimestamp_ set to:1749676512.569583
2025-06-11T21:15:12.571Z,1749676512.571 [DAT](INFO): DAT read: Bearing 166.6, 6.0 (Local)
2025-06-11T21:15:12.572Z,1749676512.572 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.6, 6.0 (Local)
2025-06-11T21:15:12.574Z,1749676512.574 [DAT](INFO): DAT read: Range 10 to 50 : 43.7 m (trip time 29.1 ms) speed -0.4
2025-06-11T21:15:12.579Z,1749676512.579 [DAT](INFO): DAT read: 21:15:14.0388 LVL= 25952, 23889, 25218, 32755, AGC= 71, IDX= 508,-0.30, 0.981, 2.606, 0.627, 1.322, PHS=-0.253, 1.332,-0.697, RAW= 342.0, -4.2, CAL= 343.4, -6.0, ROT= 166.6, 6.0
2025-06-11T21:15:12.580Z,1749676512.580 [DAT](INFO): got valid direction response:
21:15:14.0388 LVL= 25952, 23889, 25218, 32755, AGC= 71, IDX= 508,-0.30, 0.981, 2.606, 0.627, 1.322, PHS=-0.253, 1.332,-0.697, RAW= 342.0, -4.2, CAL= 343.4, -6.0, ROT= 166.6, 6.0
2025-06-11T21:15:12.580Z,1749676512.580 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-11T21:15:12.581Z,1749676512.581 [DAT](INFO): direction in FSK: [-0.967447,0.230478,-0.104528]
2025-06-11T21:15:12.581Z,1749676512.581 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:12.593Z,1749676512.593 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.577602
2025-06-11T21:15:12.705Z,1749676512.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.700001 m,
deltaT: 0.499543 s,
deltaX: 0.500000 m,
approachRate: 1.000915 m/s,
rangeRepo size: 4
2025-06-11T21:15:12.707Z,1749676512.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.325333 m,
bearing: 88.319667 deg,
lat: 36.906735 deg,
lon: -122.115715 deg,
deltaT: 0.499543 s,
deltaX: 0.495712 m,
approachRate: 0.992332 m/s,
posRepo size: 4
2025-06-11T21:15:12.712Z,1749676512.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.33 m.
2025-06-11T21:15:12.821Z,1749676512.821 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.805359
2025-06-11T21:15:13.085Z,1749676513.085 [DAT](INFO): DAT read: Rx Time:21:15:14.5389
2025-06-11T21:15:13.087Z,1749676513.087 [DAT](INFO): Rx dataTimestamp_ set to:1749676513.085812
2025-06-11T21:15:13.091Z,1749676513.091 [DAT](INFO): DAT read: Bearing 167.0, 4.3 (Local)
2025-06-11T21:15:13.093Z,1749676513.093 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.0, 4.3 (Local)
2025-06-11T21:15:13.099Z,1749676513.099 [DAT](INFO): DAT read: Range 10 to 50 : 43.8 m (trip time 29.2 ms) speed -0.3
2025-06-11T21:15:13.139Z,1749676513.139 [DAT](INFO): DAT read: 21:15:14.5389 LVL= 28256, 27057, 26098, 32755, AGC= 72, IDX= 509, 0.07, 0.988, 2.689, 0.630, 1.389, PHS=-0.313, 1.347,-0.762, RAW= 341.6, -2.9, CAL= 343.0, -4.3, ROT= 167.0, 4.3
2025-06-11T21:15:13.148Z,1749676513.148 [DAT](INFO): got valid direction response:
21:15:14.5389 LVL= 28256, 27057, 26098, 32755, AGC= 72, IDX= 509, 0.07, 0.988, 2.689, 0.630, 1.389, PHS=-0.313, 1.347,-0.762, RAW= 341.6, -2.9, CAL= 343.0, -4.3, ROT= 167.0, 4.3
2025-06-11T21:15:13.149Z,1749676513.149 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-11T21:15:13.150Z,1749676513.150 [DAT](INFO): direction in FSK: [-0.971627,0.224318,-0.074979]
2025-06-11T21:15:13.150Z,1749676513.150 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:13.189Z,1749676513.189 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.173809
2025-06-11T21:15:13.277Z,1749676513.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.799999 m,
deltaT: 0.516229 s,
deltaX: 0.099998 m,
approachRate: 0.193710 m/s,
rangeRepo size: 4
2025-06-11T21:15:13.279Z,1749676513.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.424473 m,
bearing: 88.763346 deg,
lat: 36.906734 deg,
lon: -122.115716 deg,
deltaT: 0.516229 s,
deltaX: 0.099140 m,
approachRate: 0.192047 m/s,
posRepo size: 4
2025-06-11T21:15:13.279Z,1749676513.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.42 m.
2025-06-11T21:15:13.334Z,1749676513.334 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.318623
2025-06-11T21:15:13.570Z,1749676513.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.42 m.
2025-06-11T21:15:13.585Z,1749676513.585 [DAT](INFO): DAT read: Rx Time:21:15:15.0393
2025-06-11T21:15:13.586Z,1749676513.586 [DAT](INFO): Rx dataTimestamp_ set to:1749676513.585595
2025-06-11T21:15:13.587Z,1749676513.587 [DAT](INFO): DAT read: Bearing 167.3, 2.9 (Local)
2025-06-11T21:15:13.588Z,1749676513.588 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.3, 2.9 (Local)
2025-06-11T21:15:13.590Z,1749676513.590 [DAT](INFO): DAT read: Range 10 to 50 : 44.4 m (trip time 29.6 ms) speed -0.8
2025-06-11T21:15:13.595Z,1749676513.595 [DAT](INFO): DAT read: 21:15:15.0393 LVL= 21696, 30065, 20866, 32755, AGC= 71, IDX= 513,-0.45,-2.751,-1.555,-2.967,-2.420, PHS=-0.243, 0.912,-0.550, RAW= 341.5, -1.8, CAL= 342.7, -2.9, ROT= 167.3, 2.9
2025-06-11T21:15:13.596Z,1749676513.596 [DAT](INFO): got valid direction response:
21:15:15.0393 LVL= 21696, 30065, 20866, 32755, AGC= 71, IDX= 513,-0.45,-2.751,-1.555,-2.967,-2.420, PHS=-0.243, 0.912,-0.550, RAW= 341.5, -1.8, CAL= 342.7, -2.9, ROT= 167.3, 2.9
2025-06-11T21:15:13.596Z,1749676513.596 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-11T21:15:13.597Z,1749676513.597 [DAT](INFO): direction in FSK: [-0.974285,0.219565,-0.050593]
2025-06-11T21:15:13.597Z,1749676513.597 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:13.601Z,1749676513.601 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.585529
2025-06-11T21:15:13.838Z,1749676513.838 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.821655
2025-06-11T21:15:14.041Z,1749676514.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.400002 m,
deltaT: 0.499783 s,
deltaX: 0.600002 m,
approachRate: 1.200526 m/s,
rangeRepo size: 4
2025-06-11T21:15:14.043Z,1749676514.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.019424 m,
bearing: 89.048792 deg,
lat: 36.906734 deg,
lon: -122.115714 deg,
deltaT: 0.499783 s,
deltaX: 0.594952 m,
approachRate: 1.190420 m/s,
posRepo size: 4
2025-06-11T21:15:14.043Z,1749676514.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.02 m.
2025-06-11T21:15:14.093Z,1749676514.093 [DAT](INFO): DAT read: Rx Time:21:15:15.5394
2025-06-11T21:15:14.095Z,1749676514.095 [DAT](INFO): Rx dataTimestamp_ set to:1749676514.093698
2025-06-11T21:15:14.099Z,1749676514.099 [DAT](INFO): DAT read: Bearing 166.8, 3.1 (Local)
2025-06-11T21:15:14.100Z,1749676514.100 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, 3.1 (Local)
2025-06-11T21:15:14.122Z,1749676514.122 [DAT](INFO): DAT read: Range 10 to 50 : 44.6 m (trip time 29.7 ms) speed -0.5
2025-06-11T21:15:14.163Z,1749676514.163 [DAT](INFO): DAT read: 21:15:15.5394 LVL= 30240, 20881, 29746, 32755, AGC= 71, IDX= 498,-0.07, 0.273, 1.963,-0.096, 0.695, PHS=-0.335, 1.314,-0.795, RAW= 342.0, -2.0, CAL= 343.2, -3.1, ROT= 166.8, 3.1
2025-06-11T21:15:14.181Z,1749676514.181 [DAT](INFO): got valid direction response:
21:15:15.5394 LVL= 30240, 20881, 29746, 32755, AGC= 71, IDX= 498,-0.07, 0.273, 1.963,-0.096, 0.695, PHS=-0.335, 1.314,-0.795, RAW= 342.0, -2.0, CAL= 343.2, -3.1, ROT= 166.8, 3.1
2025-06-11T21:15:14.182Z,1749676514.182 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-11T21:15:14.192Z,1749676514.192 [DAT](INFO): direction in FSK: [-0.972154,0.228017,-0.054079]
2025-06-11T21:15:14.193Z,1749676514.193 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:14.213Z,1749676514.213 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.197304
2025-06-11T21:15:14.342Z,1749676514.342 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.326641
2025-06-11T21:15:14.455Z,1749676514.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 44.599998 m,
deltaT: 0.508103 s,
deltaX: 0.199997 m,
approachRate: 0.393615 m/s,
rangeRepo size: 4
2025-06-11T21:15:14.470Z,1749676514.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.217892 m,
bearing: 88.497050 deg,
lat: 36.906734 deg,
lon: -122.115714 deg,
deltaT: 0.508103 s,
deltaX: 0.198467 m,
approachRate: 0.390604 m/s,
posRepo size: 4
2025-06-11T21:15:14.477Z,1749676514.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.22 m.
2025-06-11T21:15:14.594Z,1749676514.594 [DAT](INFO): DAT read: Rx Time:21:15:16.0397
2025-06-11T21:15:14.594Z,1749676514.594 [DAT](INFO): Rx dataTimestamp_ set to:1749676514.593788
2025-06-11T21:15:14.595Z,1749676514.595 [DAT](INFO): DAT read: Bearing 166.3, 4.9 (Local)
2025-06-11T21:15:14.596Z,1749676514.596 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.3, 4.9 (Local)
2025-06-11T21:15:14.598Z,1749676514.598 [DAT](INFO): DAT read: Range 10 to 50 : 45.0 m (trip time 30.0 ms) speed -0.7
2025-06-11T21:15:14.603Z,1749676514.603 [DAT](INFO): DAT read: 21:15:16.0397 LVL= 31712, 27761, 32034, 32755, AGC= 69, IDX= 501, 0.29, 2.300,-2.340, 1.925, 2.663, PHS=-0.275, 1.327,-0.741, RAW= 342.4, -3.3, CAL= 343.7, -4.9, ROT= 166.3, 4.9
2025-06-11T21:15:14.604Z,1749676514.604 [DAT](INFO): got valid direction response:
21:15:16.0397 LVL= 31712, 27761, 32034, 32755, AGC= 69, IDX= 501, 0.29, 2.300,-2.340, 1.925, 2.663, PHS=-0.275, 1.327,-0.741, RAW= 342.4, -3.3, CAL= 343.7, -4.9, ROT= 166.3, 4.9
2025-06-11T21:15:14.605Z,1749676514.605 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-11T21:15:14.606Z,1749676514.606 [DAT](INFO): direction in FSK: [-0.967998,0.235973,-0.085417]
2025-06-11T21:15:14.606Z,1749676514.606 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:14.610Z,1749676514.610 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.593960
2025-06-11T21:15:14.815Z,1749676514.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.000000 m,
deltaT: 0.500090 s,
deltaX: 0.400002 m,
approachRate: 0.799859 m/s,
rangeRepo size: 4
2025-06-11T21:15:14.817Z,1749676514.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.614468 m,
bearing: 87.927824 deg,
lat: 36.906735 deg,
lon: -122.115715 deg,
deltaT: 0.500090 s,
deltaX: 0.396576 m,
approachRate: 0.793009 m/s,
posRepo size: 4
2025-06-11T21:15:14.818Z,1749676514.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.61 m.
2025-06-11T21:15:14.845Z,1749676514.845 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.829762
2025-06-11T21:15:15.101Z,1749676515.101 [DAT](INFO): DAT read: Rx Time:21:15:16.5399
2025-06-11T21:15:15.103Z,1749676515.103 [DAT](INFO): Rx dataTimestamp_ set to:1749676515.102015
2025-06-11T21:15:15.107Z,1749676515.107 [DAT](INFO): DAT read: Bearing 166.8, 4.8 (Local)
2025-06-11T21:15:15.109Z,1749676515.109 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, 4.8 (Local)
2025-06-11T21:15:15.119Z,1749676515.119 [DAT](INFO): DAT read: Range 10 to 50 : 45.3 m (trip time 30.2 ms) speed -0.7
2025-06-11T21:15:15.151Z,1749676515.151 [DAT](INFO): DAT read: 21:15:16.5399 LVL= 29104, 23121, 20834, 32755, AGC= 71, IDX= 503,-0.28,-0.650, 1.031,-1.011,-0.269, PHS=-0.293, 1.347,-0.745, RAW= 341.9, -3.3, CAL= 343.2, -4.8, ROT= 166.8, 4.8
2025-06-11T21:15:15.164Z,1749676515.164 [DAT](INFO): got valid direction response:
21:15:16.5399 LVL= 29104, 23121, 20834, 32755, AGC= 71, IDX= 503,-0.28,-0.650, 1.031,-1.011,-0.269, PHS=-0.293, 1.347,-0.745, RAW= 341.9, -3.3, CAL= 343.2, -4.8, ROT= 166.8, 4.8
2025-06-11T21:15:15.165Z,1749676515.165 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-11T21:15:15.166Z,1749676515.166 [DAT](INFO): direction in FSK: [-0.970164,0.227550,-0.083678]
2025-06-11T21:15:15.166Z,1749676515.166 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:15.198Z,1749676515.198 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.182194
2025-06-11T21:15:15.336Z,1749676515.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.299999 m,
deltaT: 0.508227 s,
deltaX: 0.299999 m,
approachRate: 0.590286 m/s,
rangeRepo size: 4
2025-06-11T21:15:15.338Z,1749676515.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 44.912140 m,
bearing: 88.388286 deg,
lat: 36.906735 deg,
lon: -122.115715 deg,
deltaT: 0.508227 s,
deltaX: 0.297672 m,
approachRate: 0.585707 m/s,
posRepo size: 4
2025-06-11T21:15:15.338Z,1749676515.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-06-11T21:15:15.349Z,1749676515.349 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.333225
2025-06-11T21:15:15.601Z,1749676515.601 [DAT](INFO): DAT read: Rx Time:21:15:17.0401
2025-06-11T21:15:15.602Z,1749676515.602 [DAT](INFO): Rx dataTimestamp_ set to:1749676515.601468
2025-06-11T21:15:15.603Z,1749676515.603 [DAT](INFO): DAT read: Bearing 166.8, 2.9 (Local)
2025-06-11T21:15:15.603Z,1749676515.603 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, 2.9 (Local)
2025-06-11T21:15:15.606Z,1749676515.606 [DAT](INFO): DAT read: Range 10 to 50 : 45.6 m (trip time 30.4 ms) speed -0.5
2025-06-11T21:15:15.610Z,1749676515.610 [DAT](INFO): DAT read: 21:15:17.0401 LVL= 30496, 28401, 30770, 32755, AGC= 70, IDX= 505, 0.02, 0.210, 1.841,-0.144, 0.624, PHS=-0.326, 1.264,-0.771, RAW= 342.0, -1.8, CAL= 343.2, -2.9, ROT= 166.8, 2.9
2025-06-11T21:15:15.612Z,1749676515.612 [DAT](INFO): got valid direction response:
21:15:17.0401 LVL= 30496, 28401, 30770, 32755, AGC= 70, IDX= 505, 0.02, 0.210, 1.841,-0.144, 0.624, PHS=-0.326, 1.264,-0.771, RAW= 342.0, -1.8, CAL= 343.2, -2.9, ROT= 166.8, 2.9
2025-06-11T21:15:15.613Z,1749676515.613 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-11T21:15:15.614Z,1749676515.614 [DAT](INFO): direction in FSK: [-0.972332,0.228058,-0.050593]
2025-06-11T21:15:15.614Z,1749676515.614 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:15.618Z,1749676515.618 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.601883
2025-06-11T21:15:15.682Z,1749676515.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.599998 m,
deltaT: 0.499453 s,
deltaX: 0.299999 m,
approachRate: 0.600656 m/s,
rangeRepo size: 4
2025-06-11T21:15:15.697Z,1749676515.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.209572 m,
bearing: 88.374470 deg,
lat: 36.906737 deg,
lon: -122.115715 deg,
deltaT: 0.499453 s,
deltaX: 0.297432 m,
approachRate: 0.595515 m/s,
posRepo size: 4
2025-06-11T21:15:15.697Z,1749676515.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-06-11T21:15:15.858Z,1749676515.858 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.841991
2025-06-11T21:15:16.054Z,1749676516.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-06-11T21:15:16.114Z,1749676516.114 [DAT](INFO): DAT read: Rx Time:21:15:17.5402
2025-06-11T21:15:16.115Z,1749676516.115 [DAT](INFO): Rx dataTimestamp_ set to:1749676516.114563
2025-06-11T21:15:16.123Z,1749676516.123 [DAT](INFO): DAT read: Bearing 166.7, 5.2 (Local)
2025-06-11T21:15:16.145Z,1749676516.145 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 5.2 (Local)
2025-06-11T21:15:16.171Z,1749676516.171 [DAT](INFO): DAT read: Range 10 to 50 : 45.8 m (trip time 30.5 ms) speed -0.8
2025-06-11T21:15:16.197Z,1749676516.197 [DAT](INFO): DAT read: 21:15:17.5402 LVL= 31056, 26993, 27378, 32755, AGC= 69, IDX= 506, 0.27,-0.463, 1.192,-0.821,-0.098, PHS=-0.277, 1.337,-0.726, RAW= 341.9, -3.6, CAL= 343.3, -5.2, ROT= 166.7, 5.2
2025-06-11T21:15:16.198Z,1749676516.198 [DAT](INFO): got valid direction response:
21:15:17.5402 LVL= 31056, 26993, 27378, 32755, AGC= 69, IDX= 506, 0.27,-0.463, 1.192,-0.821,-0.098, PHS=-0.277, 1.337,-0.726, RAW= 341.9, -3.6, CAL= 343.3, -5.2, ROT= 166.7, 5.2
2025-06-11T21:15:16.198Z,1749676516.198 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-11T21:15:16.199Z,1749676516.199 [DAT](INFO): direction in FSK: [-0.969174,0.229103,-0.090633]
2025-06-11T21:15:16.199Z,1749676516.199 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:16.207Z,1749676516.207 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.191250
2025-06-11T21:15:16.361Z,1749676516.361 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.345093
2025-06-11T21:15:16.546Z,1749676516.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.799999 m,
deltaT: 0.513095 s,
deltaX: 0.200001 m,
approachRate: 0.389793 m/s,
rangeRepo size: 4
2025-06-11T21:15:16.553Z,1749676516.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.407780 m,
bearing: 88.065689 deg,
lat: 36.906737 deg,
lon: -122.115715 deg,
deltaT: 0.513095 s,
deltaX: 0.198208 m,
approachRate: 0.386299 m/s,
posRepo size: 4
2025-06-11T21:15:16.553Z,1749676516.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.41 m.
2025-06-11T21:15:16.615Z,1749676516.615 [DAT](INFO): DAT read: Rx Time:21:15:18.0405
2025-06-11T21:15:16.618Z,1749676516.618 [DAT](INFO): Rx dataTimestamp_ set to:1749676516.616573
2025-06-11T21:15:16.621Z,1749676516.621 [DAT](INFO): DAT read: Bearing 166.9, 5.3 (Local)
2025-06-11T21:15:16.622Z,1749676516.622 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.9, 5.3 (Local)
2025-06-11T21:15:16.625Z,1749676516.625 [DAT](INFO): DAT read: Range 10 to 50 : 46.2 m (trip time 30.8 ms) speed -0.4
2025-06-11T21:15:16.632Z,1749676516.632 [DAT](INFO): DAT read: 21:15:18.0405 LVL= 26832, 28657, 28082, 32755, AGC= 70, IDX= 494,-0.44,-0.516, 1.109,-0.858,-0.154, PHS=-0.274, 1.310,-0.707, RAW= 341.8, -3.6, CAL= 343.1, -5.3, ROT= 166.9, 5.3
2025-06-11T21:15:16.633Z,1749676516.633 [DAT](INFO): got valid direction response:
21:15:18.0405 LVL= 26832, 28657, 28082, 32755, AGC= 70, IDX= 494,-0.44,-0.516, 1.109,-0.858,-0.154, PHS=-0.274, 1.310,-0.707, RAW= 341.8, -3.6, CAL= 343.1, -5.3, ROT= 166.9, 5.3
2025-06-11T21:15:16.634Z,1749676516.634 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-11T21:15:16.635Z,1749676516.635 [DAT](INFO): direction in FSK: [-0.969812,0.225682,-0.092371]
2025-06-11T21:15:16.635Z,1749676516.635 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:16.639Z,1749676516.639 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.622971
2025-06-11T21:15:16.865Z,1749676516.865 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.849220
2025-06-11T21:15:16.921Z,1749676516.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.200001 m,
deltaT: 0.502010 s,
deltaX: 0.400002 m,
approachRate: 0.796800 m/s,
rangeRepo size: 4
2025-06-11T21:15:16.929Z,1749676516.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.804356 m,
bearing: 88.210103 deg,
lat: 36.906739 deg,
lon: -122.115716 deg,
deltaT: 0.502010 s,
deltaX: 0.396576 m,
approachRate: 0.789976 m/s,
posRepo size: 4
2025-06-11T21:15:16.929Z,1749676516.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.80 m.
2025-06-11T21:15:17.121Z,1749676517.121 [DAT](INFO): DAT read: Rx Time:21:15:18.5407
2025-06-11T21:15:17.122Z,1749676517.122 [DAT](INFO): Rx dataTimestamp_ set to:1749676517.121287
2025-06-11T21:15:17.126Z,1749676517.126 [DAT](INFO): DAT read: Bearing 167.1, 4.6 (Local)
2025-06-11T21:15:17.127Z,1749676517.127 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, 4.6 (Local)
2025-06-11T21:15:17.135Z,1749676517.135 [DAT](INFO): DAT read: Range 10 to 50 : 46.5 m (trip time 31.0 ms) speed -0.4
2025-06-11T21:15:17.181Z,1749676517.181 [DAT](INFO): DAT read: 21:15:18.5407 LVL= 26096, 24897, 29938, 32755, AGC= 70, IDX= 511,-0.13,-1.643, 0.046,-1.995,-1.252, PHS=-0.303, 1.345,-0.746, RAW= 341.6, -3.1, CAL= 342.9, -4.6, ROT= 167.1, 4.6
2025-06-11T21:15:17.183Z,1749676517.183 [DAT](INFO): got valid direction response:
21:15:18.5407 LVL= 26096, 24897, 29938, 32755, AGC= 70, IDX= 511,-0.13,-1.643, 0.046,-1.995,-1.252, PHS=-0.303, 1.345,-0.746, RAW= 341.6, -3.1, CAL= 342.9, -4.6, ROT= 167.1, 4.6
2025-06-11T21:15:17.183Z,1749676517.183 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-11T21:15:17.193Z,1749676517.193 [DAT](INFO): direction in FSK: [-0.971621,0.222531,-0.080199]
2025-06-11T21:15:17.194Z,1749676517.194 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:17.206Z,1749676517.206 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.189835
2025-06-11T21:15:17.339Z,1749676517.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.500000 m,
deltaT: 0.504714 s,
deltaX: 0.299999 m,
approachRate: 0.594395 m/s,
rangeRepo size: 4
2025-06-11T21:15:17.345Z,1749676517.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.101963 m,
bearing: 88.368074 deg,
lat: 36.906738 deg,
lon: -122.115717 deg,
deltaT: 0.504714 s,
deltaX: 0.297607 m,
approachRate: 0.589656 m/s,
posRepo size: 4
2025-06-11T21:15:17.346Z,1749676517.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-06-11T21:15:17.369Z,1749676517.369 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.353203
2025-06-11T21:15:17.621Z,1749676517.621 [DAT](INFO): DAT read: Rx Time:21:15:19.0410
2025-06-11T21:15:17.622Z,1749676517.622 [DAT](INFO): Rx dataTimestamp_ set to:1749676517.621552
2025-06-11T21:15:17.623Z,1749676517.623 [DAT](INFO): DAT read: Bearing 166.6, 4.8 (Local)
2025-06-11T21:15:17.623Z,1749676517.623 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.6, 4.8 (Local)
2025-06-11T21:15:17.626Z,1749676517.626 [DAT](INFO): DAT read: Range 10 to 50 : 47.0 m (trip time 31.3 ms) speed -0.4
2025-06-11T21:15:17.630Z,1749676517.630 [DAT](INFO): DAT read: 21:15:19.0410 LVL= 28400, 23777, 24994, 32755, AGC= 71, IDX= 2, 0.05, 0.933, 2.567, 0.578, 1.304, PHS=-0.282, 1.310,-0.729, RAW= 342.0, -3.3, CAL= 343.4, -4.8, ROT= 166.6, 4.8
2025-06-11T21:15:17.631Z,1749676517.631 [DAT](INFO): got valid direction response:
21:15:19.0410 LVL= 28400, 23777, 24994, 32755, AGC= 71, IDX= 2, 0.05, 0.933, 2.567, 0.578, 1.304, PHS=-0.282, 1.310,-0.729, RAW= 342.0, -3.3, CAL= 343.4, -4.8, ROT= 166.6, 4.8
2025-06-11T21:15:17.632Z,1749676517.632 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-11T21:15:17.633Z,1749676517.633 [DAT](INFO): direction in FSK: [-0.969364,0.230935,-0.083678]
2025-06-11T21:15:17.633Z,1749676517.633 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:17.637Z,1749676517.637 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.621094
2025-06-11T21:15:17.745Z,1749676517.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.000000 m,
deltaT: 0.500265 s,
deltaX: 0.500000 m,
approachRate: 0.999470 m/s,
rangeRepo size: 4
2025-06-11T21:15:17.747Z,1749676517.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.597687 m,
bearing: 87.863202 deg,
lat: 36.906739 deg,
lon: -122.115717 deg,
deltaT: 0.500265 s,
deltaX: 0.495724 m,
approachRate: 0.990922 m/s,
posRepo size: 4
2025-06-11T21:15:17.753Z,1749676517.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-06-11T21:15:17.873Z,1749676517.873 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.857273
2025-06-11T21:15:18.080Z,1749676518.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-06-11T21:15:18.126Z,1749676518.126 [DAT](INFO): DAT read: Rx Time:21:15:19.5411
2025-06-11T21:15:18.127Z,1749676518.127 [DAT](INFO): Rx dataTimestamp_ set to:1749676518.126220
2025-06-11T21:15:18.129Z,1749676518.129 [DAT](INFO): DAT read: Bearing 166.8, 7.4 (Local)
2025-06-11T21:15:18.129Z,1749676518.129 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, 7.4 (Local)
2025-06-11T21:15:18.133Z,1749676518.133 [DAT](INFO): DAT read: Range 10 to 50 : 47.1 m (trip time 31.4 ms) speed -0.5
2025-06-11T21:15:18.146Z,1749676518.146 [DAT](INFO): DAT read: 21:15:19.5411 LVL= 31024, 20945, 30194, 32755, AGC= 71, IDX= 499, 0.20, 0.356, 2.065,-0.008, 0.681, PHS=-0.237, 1.431,-0.692, RAW= 341.7, -5.2, CAL= 343.2, -7.4, ROT= 166.8, 7.4
2025-06-11T21:15:18.166Z,1749676518.166 [DAT](INFO): got valid direction response:
21:15:19.5411 LVL= 31024, 20945, 30194, 32755, AGC= 71, IDX= 499, 0.20, 0.356, 2.065,-0.008, 0.681, PHS=-0.237, 1.431,-0.692, RAW= 341.7, -5.2, CAL= 343.2, -7.4, ROT= 166.8, 7.4
2025-06-11T21:15:18.167Z,1749676518.167 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-11T21:15:18.181Z,1749676518.181 [DAT](INFO): direction in FSK: [-0.965470,0.226449,-0.128796]
2025-06-11T21:15:18.182Z,1749676518.182 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:18.213Z,1749676518.213 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.197659
2025-06-11T21:15:18.377Z,1749676518.377 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.361614
2025-06-11T21:15:18.552Z,1749676518.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.099998 m,
deltaT: 0.504668 s,
deltaX: 0.099998 m,
approachRate: 0.198147 m/s,
rangeRepo size: 4
2025-06-11T21:15:18.554Z,1749676518.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.696785 m,
bearing: 87.977402 deg,
lat: 36.906740 deg,
lon: -122.115718 deg,
deltaT: 0.504668 s,
deltaX: 0.099098 m,
approachRate: 0.196363 m/s,
posRepo size: 4
2025-06-11T21:15:18.554Z,1749676518.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m.
2025-06-11T21:15:18.630Z,1749676518.630 [DAT](INFO): DAT read: Rx Time:21:15:20.0415
2025-06-11T21:15:18.630Z,1749676518.630 [DAT](INFO): Rx dataTimestamp_ set to:1749676518.629834
2025-06-11T21:15:18.631Z,1749676518.631 [DAT](INFO): DAT read: Bearing 166.7, 4.6 (Local)
2025-06-11T21:15:18.632Z,1749676518.632 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 4.6 (Local)
2025-06-11T21:15:18.634Z,1749676518.634 [DAT](INFO): DAT read: Range 10 to 50 : 47.7 m (trip time 31.8 ms) speed -0.4
2025-06-11T21:15:18.642Z,1749676518.642 [DAT](INFO): DAT read: 21:15:20.0415 LVL= 25472, 24241, 25970, 32755, AGC= 71, IDX= 503,-0.43,-0.331, 1.312,-0.685, 0.048, PHS=-0.291, 1.311,-0.736, RAW= 341.9, -3.1, CAL= 343.3, -4.6, ROT= 166.7, 4.6
2025-06-11T21:15:18.643Z,1749676518.643 [DAT](INFO): got valid direction response:
21:15:20.0415 LVL= 25472, 24241, 25970, 32755, AGC= 71, IDX= 503,-0.43,-0.331, 1.312,-0.685, 0.048, PHS=-0.291, 1.311,-0.736, RAW= 341.9, -3.1, CAL= 343.3, -4.6, ROT= 166.7, 4.6
2025-06-11T21:15:18.645Z,1749676518.645 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-11T21:15:18.646Z,1749676518.646 [DAT](INFO): direction in FSK: [-0.970044,0.229309,-0.080199]
2025-06-11T21:15:18.646Z,1749676518.646 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:18.650Z,1749676518.650 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.634640
2025-06-11T21:15:18.881Z,1749676518.881 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.865211
2025-06-11T21:15:18.885Z,1749676518.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.700001 m,
deltaT: 0.503614 s,
deltaX: 0.600002 m,
approachRate: 1.191393 m/s,
rangeRepo size: 4
2025-06-11T21:15:18.887Z,1749676518.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.291653 m,
bearing: 87.954867 deg,
lat: 36.906742 deg,
lon: -122.115717 deg,
deltaT: 0.503614 s,
deltaX: 0.594868 m,
approachRate: 1.181198 m/s,
posRepo size: 4
2025-06-11T21:15:18.887Z,1749676518.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.29 m.
2025-06-11T21:15:19.136Z,1749676519.136 [DAT](INFO): DAT read: Rx Time:21:15:20.5416
2025-06-11T21:15:19.138Z,1749676519.138 [DAT](INFO): Rx dataTimestamp_ set to:1749676519.136565
2025-06-11T21:15:19.141Z,1749676519.141 [DAT](INFO): DAT read: Bearing 167.0, 4.5 (Local)
2025-06-11T21:15:19.142Z,1749676519.142 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.0, 4.5 (Local)
2025-06-11T21:15:19.155Z,1749676519.155 [DAT](INFO): DAT read: Range 10 to 50 : 47.9 m (trip time 31.9 ms) speed -0.4
2025-06-11T21:15:19.210Z,1749676519.210 [DAT](INFO): DAT read: 21:15:20.5416 LVL= 32752, 20849, 32754, 32755, AGC= 70, IDX= 504,-0.18,-1.088, 0.580,-1.435,-0.699, PHS=-0.301, 1.325,-0.739, RAW= 341.6, -3.1, CAL= 343.0, -4.5, ROT= 167.0, 4.5
2025-06-11T21:15:19.211Z,1749676519.211 [DAT](INFO): got valid direction response:
21:15:20.5416 LVL= 32752, 20849, 32754, 32755, AGC= 70, IDX= 504,-0.18,-1.088, 0.580,-1.435,-0.699, PHS=-0.301, 1.325,-0.739, RAW= 341.6, -3.1, CAL= 343.0, -4.5, ROT= 167.0, 4.5
2025-06-11T21:15:19.211Z,1749676519.211 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-11T21:15:19.217Z,1749676519.217 [DAT](INFO): direction in FSK: [-0.971366,0.224258,-0.078459]
2025-06-11T21:15:19.217Z,1749676519.217 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:19.233Z,1749676519.233 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.217342
2025-06-11T21:15:19.363Z,1749676519.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.900002 m,
deltaT: 0.506731 s,
deltaX: 0.200001 m,
approachRate: 0.394688 m/s,
rangeRepo size: 4
2025-06-11T21:15:19.370Z,1749676519.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.490135 m,
bearing: 88.283245 deg,
lat: 36.906742 deg,
lon: -122.115716 deg,
deltaT: 0.506731 s,
deltaX: 0.198483 m,
approachRate: 0.391692 m/s,
posRepo size: 4
2025-06-11T21:15:19.371Z,1749676519.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-06-11T21:15:19.385Z,1749676519.385 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.369205
2025-06-11T21:15:19.637Z,1749676519.637 [DAT](INFO): DAT read: Rx Time:21:15:21.0417
2025-06-11T21:15:19.638Z,1749676519.638 [DAT](INFO): Rx dataTimestamp_ set to:1749676519.637627
2025-06-11T21:15:19.639Z,1749676519.639 [DAT](INFO): DAT read: Bearing 166.7, 6.7 (Local)
2025-06-11T21:15:19.640Z,1749676519.640 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 6.7 (Local)
2025-06-11T21:15:19.642Z,1749676519.642 [DAT](INFO): DAT read: Range 10 to 50 : 48.2 m (trip time 32.1 ms) speed -0.3
2025-06-11T21:15:19.651Z,1749676519.651 [DAT](INFO): DAT read: 21:15:21.0417 LVL= 26208, 23089, 26258, 32755, AGC= 71, IDX= 506, 0.08,-0.007, 1.670,-0.367, 0.327, PHS=-0.246, 1.390,-0.697, RAW= 341.8, -4.7, CAL= 343.3, -6.7, ROT= 166.7, 6.7
2025-06-11T21:15:19.660Z,1749676519.660 [DAT](INFO): got valid direction response:
21:15:21.0417 LVL= 26208, 23089, 26258, 32755, AGC= 71, IDX= 506, 0.08,-0.007, 1.670,-0.367, 0.327, PHS=-0.246, 1.390,-0.697, RAW= 341.8, -4.7, CAL= 343.3, -6.7, ROT= 166.7, 6.7
2025-06-11T21:15:19.660Z,1749676519.660 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-11T21:15:19.661Z,1749676519.661 [DAT](INFO): direction in FSK: [-0.966533,0.228479,-0.116671]
2025-06-11T21:15:19.662Z,1749676519.662 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:19.665Z,1749676519.665 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.649563
2025-06-11T21:15:19.823Z,1749676519.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.200001 m,
deltaT: 0.501062 s,
deltaX: 0.299999 m,
approachRate: 0.598727 m/s,
rangeRepo size: 4
2025-06-11T21:15:19.831Z,1749676519.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.787567 m,
bearing: 87.970816 deg,
lat: 36.906743 deg,
lon: -122.115716 deg,
deltaT: 0.501062 s,
deltaX: 0.297432 m,
approachRate: 0.593603 m/s,
posRepo size: 4
2025-06-11T21:15:19.836Z,1749676519.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.79 m.
2025-06-11T21:15:19.889Z,1749676519.889 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.873127
2025-06-11T21:15:20.141Z,1749676520.141 [DAT](INFO): DAT read: Rx Time:21:15:21.5418
2025-06-11T21:15:20.142Z,1749676520.142 [DAT](INFO): Rx dataTimestamp_ set to:1749676520.141666
2025-06-11T21:15:20.143Z,1749676520.143 [DAT](INFO): DAT read: Bearing 167.1, 5.9 (Local)
2025-06-11T21:15:20.144Z,1749676520.144 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, 5.9 (Local)
2025-06-11T21:15:20.149Z,1749676520.149 [DAT](INFO): DAT read: Range 10 to 50 : 48.3 m (trip time 32.2 ms) speed -0.6
2025-06-11T21:15:20.155Z,1749676520.155 [DAT](INFO): DAT read: 21:15:21.5418 LVL= 32752, 32753, 32578, 32755, AGC= 70, IDX= 507, 0.34,-0.874, 0.836,-1.226,-0.508, PHS=-0.278, 1.391,-0.721, RAW= 341.5, -4.1, CAL= 342.9, -5.9, ROT= 167.1, 5.9
2025-06-11T21:15:20.169Z,1749676520.169 [DAT](INFO): got valid direction response:
21:15:21.5418 LVL= 32752, 32753, 32578, 32755, AGC= 70, IDX= 507, 0.34,-0.874, 0.836,-1.226,-0.508, PHS=-0.278, 1.391,-0.721, RAW= 341.5, -4.1, CAL= 342.9, -5.9, ROT= 167.1, 5.9
2025-06-11T21:15:20.171Z,1749676520.171 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-11T21:15:20.187Z,1749676520.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.79 m.
2025-06-11T21:15:20.191Z,1749676520.191 [DAT](INFO): direction in FSK: [-0.969598,0.222067,-0.102793]
2025-06-11T21:15:20.197Z,1749676520.197 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:20.234Z,1749676520.234 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.218342
2025-06-11T21:15:20.393Z,1749676520.393 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.377544
2025-06-11T21:15:20.612Z,1749676520.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.299999 m,
deltaT: 0.504039 s,
deltaX: 0.099998 m,
approachRate: 0.198394 m/s,
rangeRepo size: 4
2025-06-11T21:15:20.614Z,1749676520.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.887032 m,
bearing: 88.511689 deg,
lat: 36.906742 deg,
lon: -122.115718 deg,
deltaT: 0.504039 s,
deltaX: 0.099464 m,
approachRate: 0.197335 m/s,
posRepo size: 4
2025-06-11T21:15:20.614Z,1749676520.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.89 m.
2025-06-11T21:15:20.646Z,1749676520.646 [DAT](INFO): DAT read: Rx Time:21:15:22.0422
2025-06-11T21:15:20.646Z,1749676520.646 [DAT](INFO): Rx dataTimestamp_ set to:1749676520.645776
2025-06-11T21:15:20.647Z,1749676520.647 [DAT](INFO): DAT read: Bearing 166.8, 6.0 (Local)
2025-06-11T21:15:20.648Z,1749676520.648 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, 6.0 (Local)
2025-06-11T21:15:20.650Z,1749676520.650 [DAT](INFO): DAT read: Range 10 to 50 : 48.9 m (trip time 32.6 ms) speed -0.5
2025-06-11T21:15:20.655Z,1749676520.655 [DAT](INFO): DAT read: 21:15:22.0422 LVL= 28080, 23089, 27474, 32755, AGC= 71, IDX= 511,-0.31,-0.572, 1.095,-0.924,-0.219, PHS=-0.264, 1.361,-0.708, RAW= 341.7, -4.2, CAL= 343.2, -6.0, ROT= 166.8, 6.0
2025-06-11T21:15:20.656Z,1749676520.656 [DAT](INFO): got valid direction response:
21:15:22.0422 LVL= 28080, 23089, 27474, 32755, AGC= 71, IDX= 511,-0.31,-0.572, 1.095,-0.924,-0.219, PHS=-0.264, 1.361,-0.708, RAW= 341.7, -4.2, CAL= 343.2, -6.0, ROT= 166.8, 6.0
2025-06-11T21:15:20.656Z,1749676520.656 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-11T21:15:20.658Z,1749676520.658 [DAT](INFO): direction in FSK: [-0.968246,0.227100,-0.104528]
2025-06-11T21:15:20.658Z,1749676520.658 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:20.674Z,1749676520.674 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.657890
2025-06-11T21:15:20.897Z,1749676520.897 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.881531
2025-06-11T21:15:21.000Z,1749676521.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.900002 m,
deltaT: 0.504110 s,
deltaX: 0.600002 m,
approachRate: 1.190221 m/s,
rangeRepo size: 4
2025-06-11T21:15:21.002Z,1749676521.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.481903 m,
bearing: 88.327106 deg,
lat: 36.906743 deg,
lon: -122.115717 deg,
deltaT: 0.504110 s,
deltaX: 0.594872 m,
approachRate: 1.180043 m/s,
posRepo size: 4
2025-06-11T21:15:21.003Z,1749676521.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.48 m.
2025-06-11T21:15:21.151Z,1749676521.151 [DAT](INFO): DAT read: Rx Time:21:15:22.5424
2025-06-11T21:15:21.151Z,1749676521.151 [DAT](INFO): Rx dataTimestamp_ set to:1749676521.150944
2025-06-11T21:15:21.153Z,1749676521.153 [DAT](INFO): DAT read: Range 10 to 50 : 49.2 m (trip time 32.8 ms) speed -0.5
2025-06-11T21:15:21.153Z,1749676521.153 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-06-11T21:15:21.154Z,1749676521.154 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.138519
2025-06-11T21:15:21.401Z,1749676521.401 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.385239
2025-06-11T21:15:21.404Z,1749676521.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.200001 m,
deltaT: 0.505168 s,
deltaX: 0.299999 m,
approachRate: 0.593860 m/s,
rangeRepo size: 4
2025-06-11T21:15:21.404Z,1749676521.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.48 m.
2025-06-11T21:15:21.653Z,1749676521.653 [DAT](INFO): DAT read: Rx Time:21:15:23.0427
2025-06-11T21:15:21.654Z,1749676521.654 [DAT](INFO): Rx dataTimestamp_ set to:1749676521.653657
2025-06-11T21:15:21.655Z,1749676521.655 [DAT](INFO): DAT read: Bearing 167.5, 5.9 (Local)
2025-06-11T21:15:21.656Z,1749676521.656 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.5, 5.9 (Local)
2025-06-11T21:15:21.658Z,1749676521.658 [DAT](INFO): DAT read: Range 10 to 50 : 49.7 m (trip time 33.1 ms) speed -0.7
2025-06-11T21:15:21.663Z,1749676521.663 [DAT](INFO): DAT read: 21:15:23.0427 LVL= 32752, 27185, 25650, 32755, AGC= 70, IDX= 3, 0.12, 1.699,-2.860, 1.365, 2.076, PHS=-0.288, 1.395,-0.714, RAW= 341.0, -4.1, CAL= 342.5, -5.9, ROT= 167.5, 5.9
2025-06-11T21:15:21.664Z,1749676521.664 [DAT](INFO): got valid direction response:
21:15:23.0427 LVL= 32752, 27185, 25650, 32755, AGC= 70, IDX= 3, 0.12, 1.699,-2.860, 1.365, 2.076, PHS=-0.288, 1.395,-0.714, RAW= 341.0, -4.1, CAL= 342.5, -5.9, ROT= 167.5, 5.9
2025-06-11T21:15:21.664Z,1749676521.664 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-11T21:15:21.665Z,1749676521.665 [DAT](INFO): direction in FSK: [-0.971124,0.215293,-0.102793]
2025-06-11T21:15:21.666Z,1749676521.666 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:21.693Z,1749676521.693 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.677700
2025-06-11T21:15:21.806Z,1749676521.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.700001 m,
deltaT: 0.502713 s,
deltaX: 0.500000 m,
approachRate: 0.994603 m/s,
rangeRepo size: 4
2025-06-11T21:15:21.812Z,1749676521.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.275124 m,
bearing: 89.091392 deg,
lat: 36.906741 deg,
lon: -122.115717 deg,
deltaT: 1.007881 s,
deltaX: 0.793221 m,
approachRate: 0.787018 m/s,
posRepo size: 4
2025-06-11T21:15:21.813Z,1749676521.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.28 m.
2025-06-11T21:15:21.906Z,1749676521.906 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.890343
2025-06-11T21:15:22.158Z,1749676522.158 [DAT](INFO): DAT read: Rx Time:21:15:23.5429
2025-06-11T21:15:22.158Z,1749676522.158 [DAT](INFO): Rx dataTimestamp_ set to:1749676522.157716
2025-06-11T21:15:22.159Z,1749676522.159 [DAT](INFO): DAT read: Bearing 166.8, 3.6 (Local)
2025-06-11T21:15:22.160Z,1749676522.160 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.8, 3.6 (Local)
2025-06-11T21:15:22.162Z,1749676522.162 [DAT](INFO): DAT read: Range 10 to 50 : 50.0 m (trip time 33.3 ms) speed -0.2
2025-06-11T21:15:22.167Z,1749676522.167 [DAT](INFO): DAT read: 21:15:23.5429 LVL= 32752, 23985, 31586, 32755, AGC= 71, IDX= 500, 0.42, 0.292, 2.014,-0.084, 0.709, PHS=-0.329, 1.352,-0.797, RAW= 341.9, -2.3, CAL= 343.2, -3.6, ROT= 166.8, 3.6
2025-06-11T21:15:22.168Z,1749676522.168 [DAT](INFO): got valid direction response:
21:15:23.5429 LVL= 32752, 23985, 31586, 32755, AGC= 71, IDX= 500, 0.42, 0.292, 2.014,-0.084, 0.709, PHS=-0.329, 1.352,-0.797, RAW= 341.9, -2.3, CAL= 343.2, -3.6, ROT= 166.8, 3.6
2025-06-11T21:15:22.168Z,1749676522.168 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-11T21:15:22.169Z,1749676522.169 [DAT](INFO): direction in FSK: [-0.971658,0.227900,-0.062791]
2025-06-11T21:15:22.170Z,1749676522.170 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:22.182Z,1749676522.182 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.166096
2025-06-11T21:15:22.255Z,1749676522.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.000000 m,
deltaT: 0.504059 s,
deltaX: 0.299999 m,
approachRate: 0.595167 m/s,
rangeRepo size: 4
2025-06-11T21:15:22.270Z,1749676522.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.572559 m,
bearing: 88.446517 deg,
lat: 36.906743 deg,
lon: -122.115717 deg,
deltaT: 0.504059 s,
deltaX: 0.297436 m,
approachRate: 0.590081 m/s,
posRepo size: 4
2025-06-11T21:15:22.270Z,1749676522.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.57 m.
2025-06-11T21:15:22.409Z,1749676522.409 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.393414
2025-06-11T21:15:22.609Z,1749676522.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:15:22.611Z,1749676522.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.57 m.
2025-06-11T21:15:22.662Z,1749676522.662 [DAT](INFO): DAT read: Rx Time:21:15:24.0432
2025-06-11T21:15:22.663Z,1749676522.663 [DAT](INFO): Rx dataTimestamp_ set to:1749676522.662673
2025-06-11T21:15:22.665Z,1749676522.665 [DAT](INFO): DAT read: Bearing 167.3, 5.2 (Local)
2025-06-11T21:15:22.666Z,1749676522.666 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.3, 5.2 (Local)
2025-06-11T21:15:22.674Z,1749676522.674 [DAT](INFO): DAT read: Range 10 to 50 : 50.3 m (trip time 33.5 ms) speed -0.6
2025-06-11T21:15:22.688Z,1749676522.688 [DAT](INFO): DAT read: 21:15:24.0432 LVL= 25872, 25169, 27634, 32755, AGC= 68, IDX= 504,-0.16,-0.859, 0.807,-1.190,-0.481, PHS=-0.289, 1.335,-0.712, RAW= 341.3, -3.6, CAL= 342.7, -5.2, ROT= 167.3, 5.2
2025-06-11T21:15:22.690Z,1749676522.690 [DAT](INFO): got valid direction response:
21:15:24.0432 LVL= 25872, 25169, 27634, 32755, AGC= 68, IDX= 504,-0.16,-0.859, 0.807,-1.190,-0.481, PHS=-0.289, 1.335,-0.712, RAW= 341.3, -3.6, CAL= 342.7, -5.2, ROT= 167.3, 5.2
2025-06-11T21:15:22.690Z,1749676522.690 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-11T21:15:22.700Z,1749676522.700 [DAT](INFO): direction in FSK: [-0.971520,0.218941,-0.090633]
2025-06-11T21:15:22.700Z,1749676522.700 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:22.708Z,1749676522.708 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.692467
2025-06-11T21:15:22.913Z,1749676522.913 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.897156
2025-06-11T21:15:23.054Z,1749676523.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.299999 m,
deltaT: 0.504957 s,
deltaX: 0.299999 m,
approachRate: 0.594108 m/s,
rangeRepo size: 4
2025-06-11T21:15:23.061Z,1749676523.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.870094 m,
bearing: 89.097294 deg,
lat: 36.906741 deg,
lon: -122.115714 deg,
deltaT: 0.504957 s,
deltaX: 0.297535 m,
approachRate: 0.589228 m/s,
posRepo size: 4
2025-06-11T21:15:23.061Z,1749676523.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.87 m.
2025-06-11T21:15:23.165Z,1749676523.165 [DAT](INFO): DAT read: Rx Time:21:15:24.5433
2025-06-11T21:15:23.166Z,1749676523.166 [DAT](INFO): Rx dataTimestamp_ set to:1749676523.165645
2025-06-11T21:15:23.167Z,1749676523.167 [DAT](INFO): DAT read: Bearing 167.1, 5.6 (Local)
2025-06-11T21:15:23.168Z,1749676523.168 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, 5.6 (Local)
2025-06-11T21:15:23.170Z,1749676523.170 [DAT](INFO): DAT read: Range 10 to 50 : 50.4 m (trip time 33.6 ms) speed -0.5
2025-06-11T21:15:23.177Z,1749676523.177 [DAT](INFO): DAT read: 21:15:24.5433 LVL= 31696, 29537, 32754, 32755, AGC= 71, IDX= 505, 0.03,-0.205, 1.513,-0.558, 0.170, PHS=-0.286, 1.390,-0.730, RAW= 341.4, -3.9, CAL= 342.9, -5.6, ROT= 167.1, 5.6
2025-06-11T21:15:23.184Z,1749676523.184 [DAT](INFO): got valid direction response:
21:15:24.5433 LVL= 31696, 29537, 32754, 32755, AGC= 71, IDX= 505, 0.03,-0.205, 1.513,-0.558, 0.170, PHS=-0.286, 1.390,-0.730, RAW= 341.4, -3.9, CAL= 342.9, -5.6, ROT= 167.1, 5.6
2025-06-11T21:15:23.185Z,1749676523.185 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-11T21:15:23.187Z,1749676523.187 [DAT](INFO): direction in FSK: [-0.970109,0.222185,-0.097583]
2025-06-11T21:15:23.201Z,1749676523.201 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:23.264Z,1749676523.264 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.231377
2025-06-11T21:15:23.417Z,1749676523.417 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.401237
2025-06-11T21:15:23.451Z,1749676523.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.400002 m,
deltaT: 0.502972 s,
deltaX: 0.100002 m,
approachRate: 0.198823 m/s,
rangeRepo size: 4
2025-06-11T21:15:23.458Z,1749676523.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.968994 m,
bearing: 88.927150 deg,
lat: 36.906741 deg,
lon: -122.115714 deg,
deltaT: 0.502972 s,
deltaX: 0.098900 m,
approachRate: 0.196631 m/s,
posRepo size: 4
2025-06-11T21:15:23.458Z,1749676523.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.97 m.
2025-06-11T21:15:23.669Z,1749676523.669 [DAT](INFO): DAT read: Rx Time:21:15:25.0435
2025-06-11T21:15:23.670Z,1749676523.670 [DAT](INFO): Rx dataTimestamp_ set to:1749676523.669578
2025-06-11T21:15:23.671Z,1749676523.671 [DAT](INFO): DAT read: Bearing 167.6, 2.1 (Local)
2025-06-11T21:15:23.671Z,1749676523.671 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.6, 2.1 (Local)
2025-06-11T21:15:23.674Z,1749676523.674 [DAT](INFO): DAT read: Range 10 to 50 : 50.7 m (trip time 33.8 ms) speed -0.5
2025-06-11T21:15:23.679Z,1749676523.679 [DAT](INFO): DAT read: 21:15:25.0435 LVL= 32752, 24145, 32754, 32755, AGC= 71, IDX= 507, 0.22, 0.875, 2.572, 0.538, 1.334, PHS=-0.371, 1.285,-0.799, RAW= 341.2, -1.2, CAL= 342.4, -2.1, ROT= 167.6, 2.1
2025-06-11T21:15:23.680Z,1749676523.680 [DAT](INFO): got valid direction response:
21:15:25.0435 LVL= 32752, 24145, 32754, 32755, AGC= 71, IDX= 507, 0.22, 0.875, 2.572, 0.538, 1.334, PHS=-0.371, 1.285,-0.799, RAW= 341.2, -1.2, CAL= 342.4, -2.1, ROT= 167.6, 2.1
2025-06-11T21:15:23.680Z,1749676523.680 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-11T21:15:23.681Z,1749676523.681 [DAT](INFO): direction in FSK: [-0.976016,0.214591,-0.036644]
2025-06-11T21:15:23.681Z,1749676523.681 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:23.685Z,1749676523.685 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.669365
2025-06-11T21:15:23.845Z,1749676523.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.700001 m,
deltaT: 0.503933 s,
deltaX: 0.299999 m,
approachRate: 0.595316 m/s,
rangeRepo size: 4
2025-06-11T21:15:23.847Z,1749676523.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.266426 m,
bearing: 89.510743 deg,
lat: 36.906739 deg,
lon: -122.115713 deg,
deltaT: 0.503933 s,
deltaX: 0.297432 m,
approachRate: 0.590221 m/s,
posRepo size: 4
2025-06-11T21:15:23.852Z,1749676523.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.27 m.
2025-06-11T21:15:23.922Z,1749676523.922 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.905720
2025-06-11T21:15:24.173Z,1749676524.173 [DAT](INFO): DAT read: Rx Time:21:15:25.5436
2025-06-11T21:15:24.174Z,1749676524.174 [DAT](INFO): Rx dataTimestamp_ set to:1749676524.173640
2025-06-11T21:15:24.175Z,1749676524.175 [DAT](INFO): DAT read: Bearing 167.7, 7.0 (Local)
2025-06-11T21:15:24.176Z,1749676524.176 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.7, 7.0 (Local)
2025-06-11T21:15:24.178Z,1749676524.178 [DAT](INFO): DAT read: Range 10 to 50 : 50.9 m (trip time 33.9 ms) speed -0.8
2025-06-11T21:15:24.187Z,1749676524.187 [DAT](INFO): DAT read: 21:15:25.5436 LVL= 30784, 25633, 25586, 32755, AGC= 71, IDX= 509,-0.30, 3.118,-1.462, 2.802,-2.814, PHS=-0.263, 1.399,-0.670, RAW= 340.7, -5.0, CAL= 342.3, -7.0, ROT= 167.7, 7.0
2025-06-11T21:15:24.200Z,1749676524.200 [DAT](INFO): got valid direction response:
21:15:25.5436 LVL= 30784, 25633, 25586, 32755, AGC= 71, IDX= 509,-0.30, 3.118,-1.462, 2.802,-2.814, PHS=-0.263, 1.399,-0.670, RAW= 340.7, -5.0, CAL= 342.3, -7.0, ROT= 167.7, 7.0
2025-06-11T21:15:24.200Z,1749676524.200 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-11T21:15:24.201Z,1749676524.201 [DAT](INFO): direction in FSK: [-0.969763,0.211443,-0.121869]
2025-06-11T21:15:24.202Z,1749676524.202 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:24.211Z,1749676524.211 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.195400
2025-06-11T21:15:24.357Z,1749676524.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 50.900002 m,
deltaT: 0.504062 s,
deltaX: 0.200001 m,
approachRate: 0.396778 m/s,
rangeRepo size: 4
2025-06-11T21:15:24.359Z,1749676524.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.464718 m,
bearing: 89.517976 deg,
lat: 36.906739 deg,
lon: -122.115714 deg,
deltaT: 0.504062 s,
deltaX: 0.198292 m,
approachRate: 0.393388 m/s,
posRepo size: 4
2025-06-11T21:15:24.364Z,1749676524.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-06-11T21:15:24.426Z,1749676524.426 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.410011
2025-06-11T21:15:24.675Z,1749676524.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-06-11T21:15:24.678Z,1749676524.678 [DAT](INFO): DAT read: Rx Time:21:15:26.0440
2025-06-11T21:15:24.678Z,1749676524.678 [DAT](INFO): Rx dataTimestamp_ set to:1749676524.677689
2025-06-11T21:15:24.679Z,1749676524.679 [DAT](INFO): DAT read: Bearing 167.3, 2.9 (Local)
2025-06-11T21:15:24.680Z,1749676524.680 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.3, 2.9 (Local)
2025-06-11T21:15:24.682Z,1749676524.682 [DAT](INFO): DAT read: Range 10 to 50 : 51.5 m (trip time 34.3 ms) speed -0.7
2025-06-11T21:15:24.703Z,1749676524.703 [DAT](INFO): DAT read: 21:15:26.0440 LVL= 30160, 26513, 30338, 32755, AGC= 72, IDX= 496,-0.10,-1.020, 0.651,-1.358,-0.587, PHS=-0.345, 1.286,-0.774, RAW= 341.4, -1.8, CAL= 342.7, -2.9, ROT= 167.3, 2.9
2025-06-11T21:15:24.704Z,1749676524.704 [DAT](INFO): got valid direction response:
21:15:26.0440 LVL= 30160, 26513, 30338, 32755, AGC= 72, IDX= 496,-0.10,-1.020, 0.651,-1.358,-0.587, PHS=-0.345, 1.286,-0.774, RAW= 341.4, -1.8, CAL= 342.7, -2.9, ROT= 167.3, 2.9
2025-06-11T21:15:24.704Z,1749676524.704 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-06-11T21:15:24.705Z,1749676524.705 [DAT](INFO): direction in FSK: [-0.974285,0.219565,-0.050593]
2025-06-11T21:15:24.706Z,1749676524.706 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:24.721Z,1749676524.721 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.705692
2025-06-11T21:15:24.929Z,1749676524.929 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.913616
2025-06-11T21:15:25.076Z,1749676525.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.500000 m,
deltaT: 0.504049 s,
deltaX: 0.599998 m,
approachRate: 1.190357 m/s,
rangeRepo size: 4
2025-06-11T21:15:25.078Z,1749676525.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.059586 m,
bearing: 89.149606 deg,
lat: 36.906739 deg,
lon: -122.115714 deg,
deltaT: 0.504049 s,
deltaX: 0.594868 m,
approachRate: 1.180178 m/s,
posRepo size: 4
2025-06-11T21:15:25.079Z,1749676525.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.06 m.
2025-06-11T21:15:25.182Z,1749676525.182 [DAT](INFO): DAT read: Rx Time:21:15:26.5441
2025-06-11T21:15:25.182Z,1749676525.182 [DAT](INFO): Rx dataTimestamp_ set to:1749676525.181958
2025-06-11T21:15:25.184Z,1749676525.184 [DAT](INFO): DAT read: Bearing 164.3, -3.8 (Local)
2025-06-11T21:15:25.184Z,1749676525.184 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.3, -3.8 (Local)
2025-06-11T21:15:25.186Z,1749676525.186 [DAT](INFO): DAT read: Range 10 to 50 : 51.6 m (trip time 34.4 ms) speed -0.1
2025-06-11T21:15:25.191Z,1749676525.191 [DAT](INFO): DAT read: 21:15:26.5441 LVL= 32752, 27025, 32050, 32755, AGC= 71, IDX= 513, 0.12, 1.505, 2.955, 1.096, 1.979, PHS=-0.385, 1.023,-0.886, RAW= 344.6, 2.9, CAL= 345.7, 3.8, ROT= 164.3, -3.8
2025-06-11T21:15:25.193Z,1749676525.193 [DAT](INFO): got valid direction response:
21:15:26.5441 LVL= 32752, 27025, 32050, 32755, AGC= 71, IDX= 513, 0.12, 1.505, 2.955, 1.096, 1.979, PHS=-0.385, 1.023,-0.886, RAW= 344.6, 2.9, CAL= 345.7, 3.8, ROT= 164.3, -3.8
2025-06-11T21:15:25.193Z,1749676525.193 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-11T21:15:25.194Z,1749676525.194 [DAT](INFO): direction in FSK: [-0.960575,0.270005,0.066274]
2025-06-11T21:15:25.195Z,1749676525.195 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:25.198Z,1749676525.198 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.182537
2025-06-11T21:15:25.433Z,1749676525.433 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.417583
2025-06-11T21:15:25.597Z,1749676525.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.599998 m,
deltaT: 0.504269 s,
deltaX: 0.099998 m,
approachRate: 0.198304 m/s,
rangeRepo size: 4
2025-06-11T21:15:25.599Z,1749676525.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.158535 m,
bearing: 86.208017 deg,
lat: 36.906740 deg,
lon: -122.115716 deg,
deltaT: 0.504269 s,
deltaX: 0.098949 m,
approachRate: 0.196224 m/s,
posRepo size: 4
2025-06-11T21:15:25.604Z,1749676525.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.16 m.
2025-06-11T21:15:25.687Z,1749676525.687 [DAT](INFO): DAT read: Rx Time:21:15:27.0444
2025-06-11T21:15:25.688Z,1749676525.688 [DAT](INFO): Rx dataTimestamp_ set to:1749676525.687278
2025-06-11T21:15:25.689Z,1749676525.689 [DAT](INFO): DAT read: Bearing 167.1, 4.2 (Local)
2025-06-11T21:15:25.689Z,1749676525.689 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, 4.2 (Local)
2025-06-11T21:15:25.691Z,1749676525.691 [DAT](INFO): DAT read: Range 10 to 50 : 52.1 m (trip time 34.7 ms) speed -0.6
2025-06-11T21:15:25.705Z,1749676525.705 [DAT](INFO): DAT read: 21:15:27.0444 LVL= 24368, 21985, 21842, 29731, AGC= 70, IDX= 4, 0.40,-0.318, 1.305,-0.649, 0.071, PHS=-0.301, 1.281,-0.723, RAW= 341.5, -2.8, CAL= 342.9, -4.2, ROT= 167.1, 4.2
2025-06-11T21:15:25.706Z,1749676525.706 [DAT](INFO): got valid direction response:
21:15:27.0444 LVL= 24368, 21985, 21842, 29731, AGC= 70, IDX= 4, 0.40,-0.318, 1.305,-0.649, 0.071, PHS=-0.301, 1.281,-0.723, RAW= 341.5, -2.8, CAL= 342.9, -4.2, ROT= 167.1, 4.2
2025-06-11T21:15:25.706Z,1749676525.706 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-11T21:15:25.707Z,1749676525.707 [DAT](INFO): direction in FSK: [-0.972143,0.222650,-0.073238]
2025-06-11T21:15:25.708Z,1749676525.708 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:25.711Z,1749676525.711 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.695732
2025-06-11T21:15:25.923Z,1749676525.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.099998 m,
deltaT: 0.505320 s,
deltaX: 0.500000 m,
approachRate: 0.989472 m/s,
rangeRepo size: 4
2025-06-11T21:15:25.931Z,1749676525.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.654259 m,
bearing: 88.884205 deg,
lat: 36.906740 deg,
lon: -122.115714 deg,
deltaT: 0.505320 s,
deltaX: 0.495724 m,
approachRate: 0.981009 m/s,
posRepo size: 4
2025-06-11T21:15:25.931Z,1749676525.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.65 m.
2025-06-11T21:15:25.937Z,1749676525.937 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.921310
2025-06-11T21:15:26.189Z,1749676526.189 [DAT](INFO): DAT read: Rx Time:21:15:27.5446
2025-06-11T21:15:26.190Z,1749676526.190 [DAT](INFO): Rx dataTimestamp_ set to:1749676526.189614
2025-06-11T21:15:26.191Z,1749676526.191 [DAT](INFO): DAT read: Bearing 167.7, 6.9 (Local)
2025-06-11T21:15:26.192Z,1749676526.192 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.7, 6.9 (Local)
2025-06-11T21:15:26.194Z,1749676526.194 [DAT](INFO): DAT read: Range 10 to 50 : 52.4 m (trip time 34.9 ms) speed -0.9
2025-06-11T21:15:26.199Z,1749676526.199 [DAT](INFO): DAT read: 21:15:27.5446 LVL= 29616, 25265, 28610, 32755, AGC= 71, IDX= 502,-0.28, 3.129,-1.453, 2.812,-2.801, PHS=-0.265, 1.395,-0.673, RAW= 340.7, -4.9, CAL= 342.3, -6.9, ROT= 167.7, 6.9
2025-06-11T21:15:26.205Z,1749676526.205 [DAT](INFO): got valid direction response:
21:15:27.5446 LVL= 29616, 25265, 28610, 32755, AGC= 71, IDX= 502,-0.28, 3.129,-1.453, 2.812,-2.801, PHS=-0.265, 1.395,-0.673, RAW= 340.7, -4.9, CAL= 342.3, -6.9, ROT= 167.7, 6.9
2025-06-11T21:15:26.205Z,1749676526.205 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-11T21:15:26.206Z,1749676526.206 [DAT](INFO): direction in FSK: [-0.969969,0.211488,-0.120137]
2025-06-11T21:15:26.207Z,1749676526.207 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:26.210Z,1749676526.210 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.194736
2025-06-11T21:15:26.411Z,1749676526.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.400002 m,
deltaT: 0.502336 s,
deltaX: 0.300003 m,
approachRate: 0.597216 m/s,
rangeRepo size: 4
2025-06-11T21:15:26.414Z,1749676526.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.951717 m,
bearing: 89.450020 deg,
lat: 36.906740 deg,
lon: -122.115717 deg,
deltaT: 0.502336 s,
deltaX: 0.297459 m,
approachRate: 0.592151 m/s,
posRepo size: 4
2025-06-11T21:15:26.414Z,1749676526.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.95 m.
2025-06-11T21:15:26.441Z,1749676526.441 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.425217
2025-06-11T21:15:26.693Z,1749676526.693 [DAT](INFO): DAT read: Rx Time:21:15:28.0449
2025-06-11T21:15:26.694Z,1749676526.694 [DAT](INFO): Rx dataTimestamp_ set to:1749676526.693488
2025-06-11T21:15:26.695Z,1749676526.695 [DAT](INFO): DAT read: Bearing 167.4, 6.9 (Local)
2025-06-11T21:15:26.695Z,1749676526.695 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.4, 6.9 (Local)
2025-06-11T21:15:26.698Z,1749676526.698 [DAT](INFO): DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.7
2025-06-11T21:15:26.702Z,1749676526.702 [DAT](INFO): DAT read: 21:15:28.0449 LVL= 23616, 22097, 26786, 32755, AGC= 70, IDX= 489,-0.03,-2.098,-0.428,-2.421,-1.756, PHS=-0.254, 1.375,-0.668, RAW= 341.0, -4.9, CAL= 342.6, -6.9, ROT= 167.4, 6.9
2025-06-11T21:15:26.703Z,1749676526.703 [DAT](INFO): got valid direction response:
21:15:28.0449 LVL= 23616, 22097, 26786, 32755, AGC= 70, IDX= 489,-0.03,-2.098,-0.428,-2.421,-1.756, PHS=-0.254, 1.375,-0.668, RAW= 341.0, -4.9, CAL= 342.6, -6.9, ROT= 167.4, 6.9
2025-06-11T21:15:26.704Z,1749676526.704 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-11T21:15:26.705Z,1749676526.705 [DAT](INFO): direction in FSK: [-0.968849,0.216563,-0.120137]
2025-06-11T21:15:26.705Z,1749676526.705 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:26.709Z,1749676526.709 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.693104
2025-06-11T21:15:26.781Z,1749676526.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.799999 m,
deltaT: 0.503874 s,
deltaX: 0.399998 m,
approachRate: 0.793845 m/s,
rangeRepo size: 4
2025-06-11T21:15:26.783Z,1749676526.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.348293 m,
bearing: 89.150432 deg,
lat: 36.906741 deg,
lon: -122.115715 deg,
deltaT: 0.503874 s,
deltaX: 0.396576 m,
approachRate: 0.787054 m/s,
posRepo size: 4
2025-06-11T21:15:26.792Z,1749676526.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-06-11T21:15:26.945Z,1749676526.945 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.929329
2025-06-11T21:15:27.112Z,1749676527.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-06-11T21:15:27.202Z,1749676527.202 [DAT](INFO): DAT read: Rx Time:21:15:28.5450
2025-06-11T21:15:27.203Z,1749676527.203 [DAT](INFO): Rx dataTimestamp_ set to:1749676527.202471
2025-06-11T21:15:27.204Z,1749676527.204 [DAT](INFO): DAT read: Bearing 167.7, 6.5 (Local)
2025-06-11T21:15:27.205Z,1749676527.205 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.7, 6.5 (Local)
2025-06-11T21:15:27.207Z,1749676527.207 [DAT](INFO): DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed -0.8
2025-06-11T21:15:27.218Z,1749676527.218 [DAT](INFO): DAT read: 21:15:28.5450 LVL= 29040, 22465, 28194, 32755, AGC= 70, IDX= 506, 0.11,-1.695, 0.036,-2.022,-1.328, PHS=-0.279, 1.410,-0.697, RAW= 340.8, -4.5, CAL= 342.3, -6.5, ROT= 167.7, 6.5
2025-06-11T21:15:27.219Z,1749676527.219 [DAT](INFO): got valid direction response:
21:15:28.5450 LVL= 29040, 22465, 28194, 32755, AGC= 70, IDX= 506, 0.11,-1.695, 0.036,-2.022,-1.328, PHS=-0.279, 1.410,-0.697, RAW= 340.8, -4.5, CAL= 342.3, -6.5, ROT= 167.7, 6.5
2025-06-11T21:15:27.244Z,1749676527.244 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-11T21:15:27.245Z,1749676527.245 [DAT](INFO): direction in FSK: [-0.970765,0.211661,-0.113203]
2025-06-11T21:15:27.245Z,1749676527.245 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:27.269Z,1749676527.269 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.252983
2025-06-11T21:15:27.453Z,1749676527.453 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.437050
2025-06-11T21:15:27.591Z,1749676527.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 53.000000 m,
deltaT: 0.508983 s,
deltaX: 0.200001 m,
approachRate: 0.392942 m/s,
rangeRepo size: 4
2025-06-11T21:15:27.593Z,1749676527.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.546696 m,
bearing: 89.364188 deg,
lat: 36.906741 deg,
lon: -122.115717 deg,
deltaT: 0.508983 s,
deltaX: 0.198402 m,
approachRate: 0.389802 m/s,
posRepo size: 4
2025-06-11T21:15:27.594Z,1749676527.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.55 m.
2025-06-11T21:15:27.708Z,1749676527.708 [DAT](INFO): DAT read: Rx Time:21:15:29.0452
2025-06-11T21:15:27.709Z,1749676527.709 [DAT](INFO): Rx dataTimestamp_ set to:1749676527.708090
2025-06-11T21:15:27.712Z,1749676527.712 [DAT](INFO): DAT read: Bearing 168.1, 6.4 (Local)
2025-06-11T21:15:27.713Z,1749676527.713 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.1, 6.4 (Local)
2025-06-11T21:15:27.717Z,1749676527.717 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed -0.4
2025-06-11T21:15:27.727Z,1749676527.727 [DAT](INFO): DAT read: 21:15:29.0452 LVL= 19840, 18033, 17986, 30707, AGC= 71, IDX= 492, 0.27,-1.594, 0.161,-1.908,-1.214, PHS=-0.292, 1.423,-0.697, RAW= 340.4, -4.5, CAL= 341.9, -6.4, ROT= 168.1, 6.4
2025-06-11T21:15:27.728Z,1749676527.728 [DAT](INFO): got valid direction response:
21:15:29.0452 LVL= 19840, 18033, 17986, 30707, AGC= 71, IDX= 492, 0.27,-1.594, 0.161,-1.908,-1.214, PHS=-0.292, 1.423,-0.697, RAW= 340.4, -4.5, CAL= 341.9, -6.4, ROT= 168.1, 6.4
2025-06-11T21:15:27.729Z,1749676527.729 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-11T21:15:27.730Z,1749676527.730 [DAT](INFO): direction in FSK: [-0.972411,0.204919,-0.111469]
2025-06-11T21:15:27.730Z,1749676527.730 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:27.738Z,1749676527.738 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.722088
2025-06-11T21:15:27.933Z,1749676527.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 53.299999 m,
deltaT: 0.505619 s,
deltaX: 0.299999 m,
approachRate: 0.593331 m/s,
rangeRepo size: 4
2025-06-11T21:15:27.935Z,1749676527.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.844131 m,
bearing: 89.691824 deg,
lat: 36.906740 deg,
lon: -122.115717 deg,
deltaT: 0.505619 s,
deltaX: 0.297436 m,
approachRate: 0.588261 m/s,
posRepo size: 4
2025-06-11T21:15:27.935Z,1749676527.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.84 m.
2025-06-11T21:15:27.957Z,1749676527.957 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.941181
2025-06-11T21:15:28.209Z,1749676528.209 [DAT](INFO): DAT read: Rx Time:21:15:29.5455
2025-06-11T21:15:28.210Z,1749676528.210 [DAT](INFO): Rx dataTimestamp_ set to:1749676528.209645
2025-06-11T21:15:28.211Z,1749676528.211 [DAT](INFO): DAT read: Bearing 168.2, 5.0 (Local)
2025-06-11T21:15:28.212Z,1749676528.212 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.2, 5.0 (Local)
2025-06-11T21:15:28.214Z,1749676528.214 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed -0.8
2025-06-11T21:15:28.219Z,1749676528.219 [DAT](INFO): DAT read: 21:15:29.5455 LVL= 27456, 22961, 26946, 32755, AGC= 72, IDX= 510,-0.37, 0.805, 2.557, 0.493, 1.218, PHS=-0.325, 1.386,-0.729, RAW= 340.4, -3.4, CAL= 341.8, -5.0, ROT= 168.2, 5.0
2025-06-11T21:15:28.220Z,1749676528.220 [DAT](INFO): got valid direction response:
21:15:29.5455 LVL= 27456, 22961, 26946, 32755, AGC= 72, IDX= 510,-0.37, 0.805, 2.557, 0.493, 1.218, PHS=-0.325, 1.386,-0.729, RAW= 340.4, -3.4, CAL= 341.8, -5.0, ROT= 168.2, 5.0
2025-06-11T21:15:28.220Z,1749676528.220 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-11T21:15:28.221Z,1749676528.221 [DAT](INFO): direction in FSK: [-0.975142,0.203718,-0.087156]
2025-06-11T21:15:28.222Z,1749676528.222 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:28.225Z,1749676528.225 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.209644
2025-06-11T21:15:28.441Z,1749676528.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 53.700001 m,
deltaT: 0.501555 s,
deltaX: 0.400002 m,
approachRate: 0.797523 m/s,
rangeRepo size: 4
2025-06-11T21:15:28.443Z,1749676528.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 53.240788 m,
bearing: 89.776636 deg,
lat: 36.906739 deg,
lon: -122.115717 deg,
deltaT: 0.501555 s,
deltaX: 0.396656 m,
approachRate: 0.790853 m/s,
posRepo size: 4
2025-06-11T21:15:28.443Z,1749676528.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.24 m.
2025-06-11T21:15:28.462Z,1749676528.462 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.446156
2025-06-11T21:15:28.713Z,1749676528.713 [DAT](INFO): DAT read: Rx Time:21:15:30.0458
2025-06-11T21:15:28.714Z,1749676528.714 [DAT](INFO): Rx dataTimestamp_ set to:1749676528.713619
2025-06-11T21:15:28.716Z,1749676528.716 [DAT](INFO): DAT read: Bearing 168.0, 1.3 (Local)
2025-06-11T21:15:28.717Z,1749676528.717 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.0, 1.3 (Local)
2025-06-11T21:15:28.721Z,1749676528.721 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed -0.8
2025-06-11T21:15:28.751Z,1749676528.751 [DAT](INFO): DAT read: 21:15:30.0458 LVL= 28256, 26609, 30434, 32755, AGC= 68, IDX= 497,-0.20, 3.060,-1.595, 2.761,-2.755, PHS=-0.380, 1.207,-0.770, RAW= 340.7, -0.6, CAL= 342.0, -1.3, ROT= 168.0, 1.3
2025-06-11T21:15:28.765Z,1749676528.765 [DAT](INFO): got valid direction response:
21:15:30.0458 LVL= 28256, 26609, 30434, 32755, AGC= 68, IDX= 497,-0.20, 3.060,-1.595, 2.761,-2.755, PHS=-0.380, 1.207,-0.770, RAW= 340.7, -0.6, CAL= 342.0, -1.3, ROT= 168.0, 1.3
2025-06-11T21:15:28.765Z,1749676528.765 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-11T21:15:28.766Z,1749676528.766 [DAT](INFO): direction in FSK: [-0.977896,0.207858,-0.022687]
2025-06-11T21:15:28.766Z,1749676528.766 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:28.778Z,1749676528.778 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.762280
2025-06-11T21:15:28.947Z,1749676528.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.200001 m,
deltaT: 0.503974 s,
deltaX: 0.500000 m,
approachRate: 0.992115 m/s,
rangeRepo size: 4
2025-06-11T21:15:28.953Z,1749676528.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 53.736511 m,
bearing: 89.557722 deg,
lat: 36.906739 deg,
lon: -122.115715 deg,
deltaT: 0.503974 s,
deltaX: 0.495724 m,
approachRate: 0.983630 m/s,
posRepo size: 4
2025-06-11T21:15:28.954Z,1749676528.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.74 m.
2025-06-11T21:15:28.965Z,1749676528.965 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.949295
2025-06-11T21:15:29.218Z,1749676529.218 [DAT](INFO): DAT read: Rx Time:21:15:30.5458
2025-06-11T21:15:29.219Z,1749676529.219 [DAT](INFO): Rx dataTimestamp_ set to:1749676529.218521
2025-06-11T21:15:29.221Z,1749676529.221 [DAT](INFO): DAT read: Bearing 167.7, 3.9 (Local)
2025-06-11T21:15:29.222Z,1749676529.222 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.7, 3.9 (Local)
2025-06-11T21:15:29.225Z,1749676529.225 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.8
2025-06-11T21:15:29.230Z,1749676529.230 [DAT](INFO): DAT read: 21:15:30.5458 LVL= 28400, 22609, 29042, 32755, AGC= 70, IDX= 498, 0.03, 2.286,-2.339, 1.970, 2.699, PHS=-0.325, 1.292,-0.732, RAW= 340.9, -2.6, CAL= 342.3, -3.9, ROT= 167.7, 3.9
2025-06-11T21:15:29.231Z,1749676529.231 [DAT](INFO): got valid direction response:
21:15:30.5458 LVL= 28400, 22609, 29042, 32755, AGC= 70, IDX= 498, 0.03, 2.286,-2.339, 1.970, 2.699, PHS=-0.325, 1.292,-0.732, RAW= 340.9, -2.6, CAL= 342.3, -3.9, ROT= 167.7, 3.9
2025-06-11T21:15:29.231Z,1749676529.231 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-11T21:15:29.237Z,1749676529.237 [DAT](INFO): direction in FSK: [-0.974783,0.212537,-0.068015]
2025-06-11T21:15:29.237Z,1749676529.237 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:29.241Z,1749676529.241 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.225475
2025-06-11T21:15:29.432Z,1749676529.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:15:29.470Z,1749676529.470 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.453541
2025-06-11T21:15:29.546Z,1749676529.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.299999 m,
deltaT: 0.504902 s,
deltaX: 0.099998 m,
approachRate: 0.198055 m/s,
rangeRepo size: 4
2025-06-11T21:15:29.556Z,1749676529.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 53.835735 m,
bearing: 89.206456 deg,
lat: 36.906739 deg,
lon: -122.115716 deg,
deltaT: 0.504902 s,
deltaX: 0.099224 m,
approachRate: 0.196521 m/s,
posRepo size: 4
2025-06-11T21:15:29.556Z,1749676529.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.84 m.
2025-06-11T21:15:29.722Z,1749676529.722 [DAT](INFO): DAT read: Rx Time:21:15:31.0461
2025-06-11T21:15:29.723Z,1749676529.723 [DAT](INFO): Rx dataTimestamp_ set to:1749676529.722638
2025-06-11T21:15:29.725Z,1749676529.725 [DAT](INFO): DAT read: Bearing 167.7, 3.9 (Local)
2025-06-11T21:15:29.726Z,1749676529.726 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.7, 3.9 (Local)
2025-06-11T21:15:29.729Z,1749676529.729 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed -0.7
2025-06-11T21:15:29.751Z,1749676529.751 [DAT](INFO): DAT read: 21:15:31.0461 LVL= 28224, 22641, 32754, 32755, AGC= 71, IDX= 485, 0.13,-1.436, 0.244,-1.756,-1.019, PHS=-0.329, 1.310,-0.740, RAW= 340.9, -2.6, CAL= 342.3, -3.9, ROT= 167.7, 3.9
2025-06-11T21:15:29.792Z,1749676529.792 [DAT](INFO): got valid direction response:
21:15:31.0461 LVL= 28224, 22641, 32754, 32755, AGC= 71, IDX= 485, 0.13,-1.436, 0.244,-1.756,-1.019, PHS=-0.329, 1.310,-0.740, RAW= 340.9, -2.6, CAL= 342.3, -3.9, ROT= 167.7, 3.9
2025-06-11T21:15:29.792Z,1749676529.792 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-11T21:15:29.793Z,1749676529.793 [DAT](INFO): direction in FSK: [-0.974783,0.212537,-0.068015]
2025-06-11T21:15:29.794Z,1749676529.794 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:29.802Z,1749676529.802 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.785889
2025-06-11T21:15:29.977Z,1749676529.977 [DAT](INFO): DAT read: Rx Time:21:15:31.5462
2025-06-11T21:15:29.978Z,1749676529.978 [DAT](INFO): Rx dataTimestamp_ set to:1749676529.977410
2025-06-11T21:15:29.982Z,1749676529.982 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.965214
2025-06-11T21:15:30.047Z,1749676530.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.799999 m,
deltaT: 0.504117 s,
deltaX: 0.500000 m,
approachRate: 0.991833 m/s,
rangeRepo size: 4
2025-06-11T21:15:30.053Z,1749676530.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.331463 m,
bearing: 89.182688 deg,
lat: 36.906739 deg,
lon: -122.115715 deg,
deltaT: 0.504117 s,
deltaX: 0.495728 m,
approachRate: 0.983358 m/s,
posRepo size: 4
2025-06-11T21:15:30.054Z,1749676530.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.33 m.
2025-06-11T21:15:30.226Z,1749676530.226 [DAT](INFO): DAT read: Bearing 168.0, 8.0 (Local)
2025-06-11T21:15:30.226Z,1749676530.226 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.0, 8.0 (Local)
2025-06-11T21:15:30.228Z,1749676530.228 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (trip time 36.6 ms) speed -0.8
2025-06-11T21:15:30.233Z,1749676530.233 [DAT](INFO): DAT read: 21:15:31.5462 LVL= 26032, 28209, 23362, 32755, AGC= 72, IDX= 502, 0.39,-2.100,-0.406,-2.402,-1.769, PHS=-0.243, 1.410,-0.636, RAW= 340.4, -5.7, CAL= 342.0, -8.0, ROT= 168.0, 8.0
2025-06-11T21:15:30.234Z,1749676530.234 [DAT](INFO): got valid direction response:
21:15:31.5462 LVL= 26032, 28209, 23362, 32755, AGC= 72, IDX= 502, 0.39,-2.100,-0.406,-2.402,-1.769, PHS=-0.243, 1.410,-0.636, RAW= 340.4, -5.7, CAL= 342.0, -8.0, ROT= 168.0, 8.0
2025-06-11T21:15:30.234Z,1749676530.234 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-11T21:15:30.235Z,1749676530.235 [DAT](INFO): direction in FSK: [-0.968628,0.205888,-0.139173]
2025-06-11T21:15:30.240Z,1749676530.240 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:30.243Z,1749676530.243 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.227665
2025-06-11T21:15:30.436Z,1749676530.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:15:30.480Z,1749676530.480 [DAT](INFO): DAT read: Rx Time:21:15:32.0465
2025-06-11T21:15:30.483Z,1749676530.483 [DAT](INFO): Rx dataTimestamp_ set to:1749676530.481307
2025-06-11T21:15:30.486Z,1749676530.486 [DAT](INFO): DAT read: Bearing 167.5, 4.2 (Local)
2025-06-11T21:15:30.487Z,1749676530.487 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.5, 4.2 (Local)
2025-06-11T21:15:30.502Z,1749676530.502 [DAT](INFO): DAT read: Range 10 to 50 : 55.4 m (trip time 36.9 ms) speed -0.6
2025-06-11T21:15:30.529Z,1749676530.529 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-06-11T21:15:30.531Z,1749676530.531 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.515305
2025-06-11T21:15:30.667Z,1749676530.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 55.400002 m,
deltaT: 0.758669 s,
deltaX: 0.600002 m,
approachRate: 0.790862 m/s,
rangeRepo size: 4
2025-06-11T21:15:30.673Z,1749676530.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.926731 m,
bearing: 89.410938 deg,
lat: 36.906741 deg,
lon: -122.115715 deg,
deltaT: 0.758669 s,
deltaX: 0.595268 m,
approachRate: 0.784622 m/s,
posRepo size: 4
2025-06-11T21:15:30.673Z,1749676530.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.93 m.
2025-06-11T21:15:30.735Z,1749676530.735 [DAT](INFO): DAT read: 21:15:32.0465 LVL= 30496, 25505, 27330, 32755, AGC= 69, IDX= 489,-0.14, 2.477,-2.251, 2.179, 2.860, PHS=-0.296, 1.219,-0.684, RAW= 341.1, -2.8, CAL= 342.5, -4.2, ROT= 167.5, 4.2
2025-06-11T21:15:30.737Z,1749676530.737 [DAT](INFO): got valid direction response:
21:15:32.0465 LVL= 30496, 25505, 27330, 32755, AGC= 69, IDX= 489,-0.14, 2.477,-2.251, 2.179, 2.860, PHS=-0.296, 1.219,-0.684, RAW= 341.1, -2.8, CAL= 342.5, -4.2, ROT= 167.5, 4.2
2025-06-11T21:15:30.737Z,1749676530.737 [DAT](INFO): #Rx 113: Read direction message, but no range.
2025-06-11T21:15:30.739Z,1749676530.739 [DAT](INFO): direction in FSK: [-0.973674,0.215858,-0.073238]
2025-06-11T21:15:30.752Z,1749676530.752 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.727970
2025-06-11T21:15:30.985Z,1749676530.985 [DAT](INFO): DAT read: Rx Time:21:15:32.5466
2025-06-11T21:15:30.987Z,1749676530.987 [DAT](INFO): Rx dataTimestamp_ set to:1749676530.985966
2025-06-11T21:15:30.991Z,1749676530.991 [DAT](INFO): DAT read: Bearing 168.3, 7.2 (Local)
2025-06-11T21:15:30.997Z,1749676530.997 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.3, 7.2 (Local)
2025-06-11T21:15:31.007Z,1749676531.007 [DAT](INFO): DAT read: Range 10 to 50 : 55.5 m (trip time 37.0 ms) speed -0.2
2025-06-11T21:15:31.023Z,1749676531.023 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-06-11T21:15:31.037Z,1749676531.037 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.020969
2025-06-11T21:15:31.192Z,1749676531.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 55.500000 m,
deltaT: 0.504659 s,
deltaX: 0.099998 m,
approachRate: 0.198151 m/s,
rangeRepo size: 4
2025-06-11T21:15:31.194Z,1749676531.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.025875 m,
bearing: 88.907894 deg,
lat: 36.906742 deg,
lon: -122.115715 deg,
deltaT: 0.504659 s,
deltaX: 0.099144 m,
approachRate: 0.196457 m/s,
posRepo size: 4
2025-06-11T21:15:31.195Z,1749676531.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.03 m.
2025-06-11T21:15:31.237Z,1749676531.237 [DAT](INFO): DAT read: 21:15:32.5466 LVL= 24800, 18785, 23826, 32755, AGC= 69, IDX= 506, 0.19, 2.168,-2.480, 1.893, 2.514, PHS=-0.257, 1.337,-0.623, RAW= 340.1, -5.1, CAL= 341.7, -7.2, ROT= 168.3, 7.2
2025-06-11T21:15:31.238Z,1749676531.238 [DAT](INFO): got valid direction response:
21:15:32.5466 LVL= 24800, 18785, 23826, 32755, AGC= 69, IDX= 506, 0.19, 2.168,-2.480, 1.893, 2.514, PHS=-0.257, 1.337,-0.623, RAW= 340.1, -5.1, CAL= 341.7, -7.2, ROT= 168.3, 7.2
2025-06-11T21:15:31.238Z,1749676531.238 [DAT](INFO): #Rx 115: Read direction message, but no range.
2025-06-11T21:15:31.239Z,1749676531.239 [DAT](INFO): direction in FSK: [-0.971501,0.201188,-0.125333]
2025-06-11T21:15:31.244Z,1749676531.244 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.228745
2025-06-11T21:15:31.489Z,1749676531.489 [DAT](INFO): DAT read: Rx Time:21:15:33.0470
2025-06-11T21:15:31.491Z,1749676531.491 [DAT](INFO): Rx dataTimestamp_ set to:1749676531.489701
2025-06-11T21:15:31.500Z,1749676531.500 [DAT](INFO): DAT read: Bearing 167.6, 5.0 (Local)
2025-06-11T21:15:31.501Z,1749676531.501 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.6, 5.0 (Local)
2025-06-11T21:15:31.520Z,1749676531.520 [DAT](INFO): DAT read: Range 10 to 50 : 56.1 m (trip time 37.4 ms) speed -0.5
2025-06-11T21:15:31.523Z,1749676531.523 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-06-11T21:15:31.533Z,1749676531.533 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.516930
2025-06-11T21:15:31.610Z,1749676531.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.099998 m,
deltaT: 0.503735 s,
deltaX: 0.599998 m,
approachRate: 1.191099 m/s,
rangeRepo size: 4
2025-06-11T21:15:31.625Z,1749676531.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.620815 m,
bearing: 89.638261 deg,
lat: 36.906742 deg,
lon: -122.115715 deg,
deltaT: 0.503735 s,
deltaX: 0.594940 m,
approachRate: 1.181058 m/s,
posRepo size: 4
2025-06-11T21:15:31.625Z,1749676531.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.62 m.
2025-06-11T21:15:31.742Z,1749676531.742 [DAT](INFO): DAT read: 21:15:33.0470 LVL= 24880, 23089, 26322, 32755, AGC= 73, IDX= 510,-0.33, 2.533,-2.112, 2.220, 2.914, PHS=-0.293, 1.304,-0.697, RAW= 341.0, -3.5, CAL= 342.4, -5.0, ROT= 167.6, 5.0
2025-06-11T21:15:31.743Z,1749676531.743 [DAT](INFO): got valid direction response:
21:15:33.0470 LVL= 24880, 23089, 26322, 32755, AGC= 73, IDX= 510,-0.33, 2.533,-2.112, 2.220, 2.914, PHS=-0.293, 1.304,-0.697, RAW= 341.0, -3.5, CAL= 342.4, -5.0, ROT= 167.6, 5.0
2025-06-11T21:15:31.744Z,1749676531.744 [DAT](INFO): #Rx 117: Read direction message, but no range.
2025-06-11T21:15:31.745Z,1749676531.745 [DAT](INFO): direction in FSK: [-0.972956,0.213918,-0.087156]
2025-06-11T21:15:31.749Z,1749676531.749 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.733112
2025-06-11T21:15:31.941Z,1749676531.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.62 m.
2025-06-11T21:15:31.993Z,1749676531.993 [DAT](INFO): DAT read: Rx Time:21:15:33.5471
2025-06-11T21:15:31.995Z,1749676531.995 [DAT](INFO): Rx dataTimestamp_ set to:1749676531.993601
2025-06-11T21:15:31.000Z,1749676532.000 [DAT](INFO): DAT read: Bearing 168.3, 5.0 (Local)
2025-06-11T21:15:32.001Z,1749676532.001 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.3, 5.0 (Local)
2025-06-11T21:15:32.031Z,1749676532.031 [DAT](INFO): DAT read: Range 10 to 50 : 56.3 m (trip time 37.5 ms) speed -0.7
2025-06-11T21:15:32.048Z,1749676532.048 [DAT](INFO): DAT read: 21:15:33.5471 LVL= 22448, 20193, 25074, 32755, AGC= 69, IDX= 511, 0.14, 1.408, 3.052, 1.125, 1.802, PHS=-0.306, 1.297,-0.680, RAW= 340.3, -3.5, CAL= 341.7, -5.0, ROT= 168.3, 5.0
2025-06-11T21:15:32.049Z,1749676532.049 [DAT](INFO): got valid direction response:
21:15:33.5471 LVL= 22448, 20193, 25074, 32755, AGC= 69, IDX= 511, 0.14, 1.408, 3.052, 1.125, 1.802, PHS=-0.306, 1.297,-0.680, RAW= 340.3, -3.5, CAL= 341.7, -5.0, ROT= 168.3, 5.0
2025-06-11T21:15:32.050Z,1749676532.050 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-11T21:15:32.051Z,1749676532.051 [DAT](INFO): direction in FSK: [-0.975497,0.202016,-0.087156]
2025-06-11T21:15:32.051Z,1749676532.051 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:32.059Z,1749676532.059 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.043091
2025-06-11T21:15:32.241Z,1749676532.241 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.224995
2025-06-11T21:15:32.337Z,1749676532.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.299999 m,
deltaT: 0.503900 s,
deltaX: 0.200001 m,
approachRate: 0.396906 m/s,
rangeRepo size: 4
2025-06-11T21:15:32.339Z,1749676532.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 55.819107 m,
bearing: 89.605871 deg,
lat: 36.906741 deg,
lon: -122.115715 deg,
deltaT: 0.503900 s,
deltaX: 0.198292 m,
approachRate: 0.393514 m/s,
posRepo size: 4
2025-06-11T21:15:32.340Z,1749676532.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.82 m.
2025-06-11T21:15:32.497Z,1749676532.497 [DAT](INFO): DAT read: Rx Time:21:15:34.0475
2025-06-11T21:15:32.498Z,1749676532.498 [DAT](INFO): Rx dataTimestamp_ set to:1749676532.497379
2025-06-11T21:15:32.501Z,1749676532.501 [DAT](INFO): DAT read: Bearing 167.8, 5.0 (Local)
2025-06-11T21:15:32.502Z,1749676532.502 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.8, 5.0 (Local)
2025-06-11T21:15:32.508Z,1749676532.508 [DAT](INFO): DAT read: Range 10 to 50 : 56.7 m (trip time 37.8 ms) speed -0.8
2025-06-11T21:15:32.511Z,1749676532.511 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-06-11T21:15:32.515Z,1749676532.515 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.498898
2025-06-11T21:15:32.750Z,1749676532.750 [DAT](INFO): DAT read: 21:15:34.0475 LVL= 28656, 22177, 23122, 31619, AGC= 69, IDX= 3,-0.48, 2.801,-1.826, 2.493,-3.094, PHS=-0.300, 1.316,-0.699, RAW= 340.8, -3.5, CAL= 342.2, -5.0, ROT= 167.8, 5.0
2025-06-11T21:15:32.751Z,1749676532.751 [DAT](INFO): got valid direction response:
21:15:34.0475 LVL= 28656, 22177, 23122, 31619, AGC= 69, IDX= 3,-0.48, 2.801,-1.826, 2.493,-3.094, PHS=-0.300, 1.316,-0.699, RAW= 340.8, -3.5, CAL= 342.2, -5.0, ROT= 167.8, 5.0
2025-06-11T21:15:32.751Z,1749676532.751 [DAT](INFO): #Rx 120: Read direction message, but no range.
2025-06-11T21:15:32.752Z,1749676532.752 [DAT](INFO): direction in FSK: [-0.973697,0.210521,-0.087156]
2025-06-11T21:15:32.755Z,1749676532.755 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:15:32.755Z,1749676532.755 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:15:32.755Z,1749676532.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:32.824Z,1749676532.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.700001 m,
deltaT: 0.503778 s,
deltaX: 0.400002 m,
approachRate: 0.794004 m/s,
rangeRepo size: 4
2025-06-11T21:15:32.826Z,1749676532.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.215481 m,
bearing: 89.106887 deg,
lat: 36.906741 deg,
lon: -122.115715 deg,
deltaT: 0.503778 s,
deltaX: 0.396374 m,
approachRate: 0.786802 m/s,
posRepo size: 4
2025-06-11T21:15:32.827Z,1749676532.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.22 m.
2025-06-11T21:15:33.001Z,1749676533.001 [DAT](INFO): DAT read: Rx Time:21:15:34.5476
2025-06-11T21:15:33.003Z,1749676533.003 [DAT](INFO): Rx dataTimestamp_ set to:1749676533.002076
2025-06-11T21:15:33.007Z,1749676533.007 [DAT](INFO): DAT read: Bearing 167.4, 4.7 (Local)
2025-06-11T21:15:33.009Z,1749676533.009 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.4, 4.7 (Local)
2025-06-11T21:15:33.020Z,1749676533.020 [DAT](INFO): DAT read: Range 10 to 50 : 56.9 m (trip time 37.9 ms) speed -0.6
2025-06-11T21:15:33.023Z,1749676533.023 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:15:33.026Z,1749676533.026 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:33.027Z,1749676533.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:33.154Z,1749676533.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.900002 m,
deltaT: 0.504697 s,
deltaX: 0.200001 m,
approachRate: 0.396279 m/s,
rangeRepo size: 4
2025-06-11T21:15:33.154Z,1749676533.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.22 m.
2025-06-11T21:15:33.254Z,1749676533.254 [DAT](INFO): DAT read: 21:15:34.5476 LVL= 26608, 29681, 29362, 32755, AGC= 74, IDX= 484, 0.02, 2.139,-2.512, 1.819, 2.524, PHS=-0.298, 1.293,-0.709, RAW= 341.2, -3.2, CAL= 342.6, -4.7, ROT= 167.4, 4.7
2025-06-11T21:15:33.255Z,1749676533.255 [DAT](INFO): got valid direction response:
21:15:34.5476 LVL= 26608, 29681, 29362, 32755, AGC= 74, IDX= 484, 0.02, 2.139,-2.512, 1.819, 2.524, PHS=-0.298, 1.293,-0.709, RAW= 341.2, -3.2, CAL= 342.6, -4.7, ROT= 167.4, 4.7
2025-06-11T21:15:33.255Z,1749676533.255 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T21:15:33.256Z,1749676533.256 [DAT](INFO): direction in FSK: [-0.972635,0.217410,-0.081939]
2025-06-11T21:15:33.259Z,1749676533.259 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:33.259Z,1749676533.259 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:33.260Z,1749676533.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:33.505Z,1749676533.505 [DAT](INFO): DAT read: Rx Time:21:15:35.0479
2025-06-11T21:15:33.507Z,1749676533.507 [DAT](INFO): Rx dataTimestamp_ set to:1749676533.505980
2025-06-11T21:15:33.528Z,1749676533.528 [DAT](INFO): DAT read: Bearing 168.4, -2.0 (Local)
2025-06-11T21:15:33.530Z,1749676533.530 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.4, -2.0 (Local)
2025-06-11T21:15:33.532Z,1749676533.532 [DAT](INFO): DAT read: Range 10 to 50 : 57.3 m (trip time 38.2 ms) speed -0.6
2025-06-11T21:15:33.553Z,1749676533.553 [DAT](INFO): DAT read: 21:15:35.0479 LVL= 32752, 22945, 32754, 32755, AGC= 69, IDX= 503, 0.24, 0.031, 1.783,-0.284, 0.608, PHS=-0.489, 1.221,-0.895, RAW= 340.4, 1.7, CAL= 341.6, 2.0, ROT= 168.4, -2.0
2025-06-11T21:15:33.554Z,1749676533.554 [DAT](INFO): got valid direction response:
21:15:35.0479 LVL= 32752, 22945, 32754, 32755, AGC= 69, IDX= 503, 0.24, 0.031, 1.783,-0.284, 0.608, PHS=-0.489, 1.221,-0.895, RAW= 340.4, 1.7, CAL= 341.6, 2.0, ROT= 168.4, -2.0
2025-06-11T21:15:33.555Z,1749676533.555 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:15:33.568Z,1749676533.568 [DAT](INFO): direction in FSK: [-0.978978,0.200956,0.034899]
2025-06-11T21:15:33.568Z,1749676533.568 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:33.580Z,1749676533.580 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:33.581Z,1749676533.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:33.698Z,1749676533.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 57.299999 m,
deltaT: 0.503904 s,
deltaX: 0.399998 m,
approachRate: 0.793797 m/s,
rangeRepo size: 4
2025-06-11T21:15:33.704Z,1749676533.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.810234 m,
bearing: 89.728424 deg,
lat: 36.906740 deg,
lon: -122.115714 deg,
deltaT: 1.008601 s,
deltaX: 0.594753 m,
approachRate: 0.589681 m/s,
posRepo size: 4
2025-06-11T21:15:33.705Z,1749676533.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.81 m.
2025-06-11T21:15:33.753Z,1749676533.753 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:33.753Z,1749676533.753 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:33.754Z,1749676533.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:34.011Z,1749676534.011 [DAT](INFO): DAT read: Rx Time:21:15:35.5482
2025-06-11T21:15:34.013Z,1749676534.013 [DAT](INFO): Rx dataTimestamp_ set to:1749676534.011446
2025-06-11T21:15:34.017Z,1749676534.017 [DAT](INFO): DAT read: Bearing 167.7, 5.0 (Local)
2025-06-11T21:15:34.019Z,1749676534.019 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.7, 5.0 (Local)
2025-06-11T21:15:34.065Z,1749676534.065 [DAT](INFO): DAT read: Range 10 to 50 : 57.8 m (trip time 38.5 ms) speed -0.9
2025-06-11T21:15:34.078Z,1749676534.078 [DAT](INFO): DAT read: 21:15:35.5482 LVL= 32752, 29361, 29506, 32755, AGC= 72, IDX= 505,-0.03, 1.412, 3.056, 1.105, 1.798, PHS=-0.298, 1.305,-0.696, RAW= 340.8, -3.4, CAL= 342.3, -5.0, ROT= 167.7, 5.0
2025-06-11T21:15:34.079Z,1749676534.079 [DAT](INFO): got valid direction response:
21:15:35.5482 LVL= 32752, 29361, 29506, 32755, AGC= 72, IDX= 505,-0.03, 1.412, 3.056, 1.105, 1.798, PHS=-0.298, 1.305,-0.696, RAW= 340.8, -3.4, CAL= 342.3, -5.0, ROT= 167.7, 5.0
2025-06-11T21:15:34.079Z,1749676534.079 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:15:34.087Z,1749676534.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.81 m.
2025-06-11T21:15:34.088Z,1749676534.088 [DAT](INFO): direction in FSK: [-0.973328,0.212220,-0.087156]
2025-06-11T21:15:34.089Z,1749676534.089 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:34.092Z,1749676534.092 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:34.093Z,1749676534.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:34.256Z,1749676534.256 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:34.257Z,1749676534.257 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:34.257Z,1749676534.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:34.514Z,1749676534.514 [DAT](INFO): DAT read: Rx Time:21:15:36.0484
2025-06-11T21:15:34.518Z,1749676534.518 [DAT](INFO): Rx dataTimestamp_ set to:1749676534.514587
2025-06-11T21:15:34.523Z,1749676534.523 [DAT](INFO): DAT read: Bearing 167.9, 5.7 (Local)
2025-06-11T21:15:34.530Z,1749676534.530 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.9, 5.7 (Local)
2025-06-11T21:15:34.533Z,1749676534.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 57.799999 m,
deltaT: 0.505466 s,
deltaX: 0.500000 m,
approachRate: 0.989186 m/s,
rangeRepo size: 4
2025-06-11T21:15:34.535Z,1749676534.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.305828 m,
bearing: 88.921250 deg,
lat: 36.906740 deg,
lon: -122.115714 deg,
deltaT: 0.505466 s,
deltaX: 0.495594 m,
approachRate: 0.980470 m/s,
posRepo size: 4
2025-06-11T21:15:34.535Z,1749676534.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.31 m.
2025-06-11T21:15:34.541Z,1749676534.541 [DAT](INFO): DAT read: Range 10 to 50 : 58.1 m (trip time 38.7 ms) speed -1.0
2025-06-11T21:15:34.554Z,1749676534.554 [DAT](INFO): DAT read: 21:15:36.0484 LVL= 32752, 21793, 32754, 32755, AGC= 70, IDX= 491, 0.31,-2.951,-1.254, 3.019,-2.568, PHS=-0.295, 1.361,-0.698, RAW= 340.6, -3.9, CAL= 342.1, -5.7, ROT= 167.9, 5.7
2025-06-11T21:15:34.555Z,1749676534.555 [DAT](INFO): got valid direction response:
21:15:36.0484 LVL= 32752, 21793, 32754, 32755, AGC= 70, IDX= 491, 0.31,-2.951,-1.254, 3.019,-2.568, PHS=-0.295, 1.361,-0.698, RAW= 340.6, -3.9, CAL= 342.1, -5.7, ROT= 167.9, 5.7
2025-06-11T21:15:34.555Z,1749676534.555 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:15:34.564Z,1749676534.564 [DAT](INFO): direction in FSK: [-0.972949,0.208582,-0.099320]
2025-06-11T21:15:34.565Z,1749676534.565 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:34.578Z,1749676534.578 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:34.578Z,1749676534.578 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:34.762Z,1749676534.762 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:34.762Z,1749676534.762 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:34.763Z,1749676534.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:34.819Z,1749676534.819 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061113165655,35.0, +10.2, 0.0,14
2025-06-11T21:15:34.840Z,1749676534.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.099998 m,
deltaT: 0.503141 s,
deltaX: 0.299999 m,
approachRate: 0.596253 m/s,
rangeRepo size: 4
2025-06-11T21:15:34.842Z,1749676534.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.603264 m,
bearing: 89.076913 deg,
lat: 36.906745 deg,
lon: -122.115715 deg,
deltaT: 0.503141 s,
deltaX: 0.297436 m,
approachRate: 0.591158 m/s,
posRepo size: 4
2025-06-11T21:15:34.843Z,1749676534.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-06-11T21:15:35.018Z,1749676535.018 [DAT](INFO): DAT read: Rx Time:21:15:36.5486
2025-06-11T21:15:35.021Z,1749676535.021 [DAT](INFO): Rx dataTimestamp_ set to:1749676535.018835
2025-06-11T21:15:35.025Z,1749676535.025 [DAT](INFO): DAT read: Bearing 168.4, 6.4 (Local)
2025-06-11T21:15:35.027Z,1749676535.027 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.4, 6.4 (Local)
2025-06-11T21:15:35.034Z,1749676535.034 [DAT](INFO): DAT read: Range 10 to 50 : 58.4 m (trip time 38.9 ms) speed -0.7
2025-06-11T21:15:35.043Z,1749676535.043 [DAT](INFO): DAT read: 21:15:36.5486 LVL= 21936, 21585, 24178, 32755, AGC= 70, IDX= 493,-0.11,-1.243, 0.383,-1.512,-0.881, PHS=-0.274, 1.311,-0.635, RAW= 340.0, -4.5, CAL= 341.6, -6.4, ROT= 168.4, 6.4
2025-06-11T21:15:35.048Z,1749676535.048 [DAT](INFO): got valid direction response:
21:15:36.5486 LVL= 21936, 21585, 24178, 32755, AGC= 70, IDX= 493,-0.11,-1.243, 0.383,-1.512,-0.881, PHS=-0.274, 1.311,-0.635, RAW= 340.0, -4.5, CAL= 341.6, -6.4, ROT= 168.4, 6.4
2025-06-11T21:15:35.049Z,1749676535.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:15:35.050Z,1749676535.050 [DAT](INFO): direction in FSK: [-0.973470,0.199825,-0.111469]
2025-06-11T21:15:35.050Z,1749676535.050 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:35.054Z,1749676535.054 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:35.054Z,1749676535.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:35.241Z,1749676535.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.400002 m,
deltaT: 0.504248 s,
deltaX: 0.300003 m,
approachRate: 0.594951 m/s,
rangeRepo size: 4
2025-06-11T21:15:35.243Z,1749676535.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.900703 m,
bearing: 89.544508 deg,
lat: 36.906745 deg,
lon: -122.115715 deg,
deltaT: 0.504248 s,
deltaX: 0.297440 m,
approachRate: 0.589868 m/s,
posRepo size: 4
2025-06-11T21:15:35.243Z,1749676535.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.90 m.
2025-06-11T21:15:35.264Z,1749676535.264 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:35.265Z,1749676535.265 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:35.265Z,1749676535.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:35.522Z,1749676535.522 [DAT](INFO): DAT read: Rx Time:21:15:37.0489
2025-06-11T21:15:35.524Z,1749676535.524 [DAT](INFO): Rx dataTimestamp_ set to:1749676535.522886
2025-06-11T21:15:35.529Z,1749676535.529 [DAT](INFO): DAT read: Bearing 174.6, 11.0 (Local)
2025-06-11T21:15:35.530Z,1749676535.530 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.6, 11.0 (Local)
2025-06-11T21:15:35.534Z,1749676535.534 [DAT](INFO): DAT read: Range 10 to 50 : 58.8 m (trip time 39.2 ms) speed -0.8
2025-06-11T21:15:35.539Z,1749676535.539 [DAT](INFO): DAT read: 21:15:37.0489 LVL= 29024, 25457, 31570, 32755, AGC= 72, IDX= 512, 0.16,-2.424,-0.262,-2.461,-1.964, PHS=-0.372, 1.749,-0.500, RAW= 332.9, -8.1, CAL= 335.4, -11.0, ROT= 174.6, 11.0
2025-06-11T21:15:35.540Z,1749676535.540 [DAT](INFO): got valid direction response:
21:15:37.0489 LVL= 29024, 25457, 31570, 32755, AGC= 72, IDX= 512, 0.16,-2.424,-0.262,-2.461,-1.964, PHS=-0.372, 1.749,-0.500, RAW= 332.9, -8.1, CAL= 335.4, -11.0, ROT= 174.6, 11.0
2025-06-11T21:15:35.540Z,1749676535.540 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:15:35.541Z,1749676535.541 [DAT](INFO): direction in FSK: [-0.977271,0.092379,-0.190809]
2025-06-11T21:15:35.542Z,1749676535.542 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:35.573Z,1749676535.573 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:35.573Z,1749676535.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:35.726Z,1749676535.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.799999 m,
deltaT: 0.504051 s,
deltaX: 0.399998 m,
approachRate: 0.793566 m/s,
rangeRepo size: 4
2025-06-11T21:15:35.740Z,1749676535.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 58.296242 m,
bearing: 95.645138 deg,
lat: 36.906743 deg,
lon: -122.115715 deg,
deltaT: 0.504051 s,
deltaX: 0.395538 m,
approachRate: 0.784719 m/s,
posRepo size: 4
2025-06-11T21:15:35.740Z,1749676535.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.30 m.
2025-06-11T21:15:35.769Z,1749676535.769 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:35.769Z,1749676535.769 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:35.769Z,1749676535.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:36.026Z,1749676536.026 [DAT](INFO): DAT read: Rx Time:21:15:37.5490
2025-06-11T21:15:36.029Z,1749676536.029 [DAT](INFO): Rx dataTimestamp_ set to:1749676536.026780
2025-06-11T21:15:36.031Z,1749676536.031 [DAT](INFO): DAT read: Bearing 167.7, 7.5 (Local)
2025-06-11T21:15:36.032Z,1749676536.032 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.7, 7.5 (Local)
2025-06-11T21:15:36.034Z,1749676536.034 [DAT](INFO): DAT read: Range 10 to 50 : 59.0 m (trip time 39.3 ms) speed -0.6
2025-06-11T21:15:36.043Z,1749676536.043 [DAT](INFO): DAT read: 21:15:37.5490 LVL= 23856, 27889, 23474, 32755, AGC= 69, IDX= 498,-0.50,-1.243, 0.389,-1.542,-0.914, PHS=-0.240, 1.350,-0.630, RAW= 340.7, -5.3, CAL= 342.3, -7.5, ROT= 167.7, 7.5
2025-06-11T21:15:36.048Z,1749676536.048 [DAT](INFO): got valid direction response:
21:15:37.5490 LVL= 23856, 27889, 23474, 32755, AGC= 69, IDX= 498,-0.50,-1.243, 0.389,-1.542,-0.914, PHS=-0.240, 1.350,-0.630, RAW= 340.7, -5.3, CAL= 342.3, -7.5, ROT= 167.7, 7.5
2025-06-11T21:15:36.048Z,1749676536.048 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:15:36.049Z,1749676536.049 [DAT](INFO): direction in FSK: [-0.968687,0.211208,-0.130526]
2025-06-11T21:15:36.050Z,1749676536.050 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:36.081Z,1749676536.081 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:36.082Z,1749676536.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:36.177Z,1749676536.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.000000 m,
deltaT: 0.503894 s,
deltaX: 0.200001 m,
approachRate: 0.396910 m/s,
rangeRepo size: 4
2025-06-11T21:15:36.179Z,1749676536.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 58.494530 m,
bearing: 88.798012 deg,
lat: 36.906747 deg,
lon: -122.115715 deg,
deltaT: 0.503894 s,
deltaX: 0.198288 m,
approachRate: 0.393511 m/s,
posRepo size: 4
2025-06-11T21:15:36.179Z,1749676536.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.49 m.
2025-06-11T21:15:36.273Z,1749676536.273 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:36.274Z,1749676536.274 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:36.274Z,1749676536.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:36.530Z,1749676536.530 [DAT](INFO): DAT read: Rx Time:21:15:38.0494
2025-06-11T21:15:36.531Z,1749676536.531 [DAT](INFO): Rx dataTimestamp_ set to:1749676536.530556
2025-06-11T21:15:36.532Z,1749676536.532 [DAT](INFO): DAT read: Bearing 168.7, 3.9 (Local)
2025-06-11T21:15:36.533Z,1749676536.533 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.7, 3.9 (Local)
2025-06-11T21:15:36.535Z,1749676536.535 [DAT](INFO): DAT read: Range 10 to 50 : 59.6 m (trip time 39.7 ms) speed -0.6
2025-06-11T21:15:36.544Z,1749676536.544 [DAT](INFO): DAT read: 21:15:38.0494 LVL= 27888, 27457, 26226, 32755, AGC= 68, IDX= 5,-0.30, 0.357, 2.059, 0.079, 0.794, PHS=-0.350, 1.311,-0.719, RAW= 339.8, -2.6, CAL= 341.3, -3.9, ROT= 168.7, 3.9
2025-06-11T21:15:36.545Z,1749676536.545 [DAT](INFO): got valid direction response:
21:15:38.0494 LVL= 27888, 27457, 26226, 32755, AGC= 68, IDX= 5,-0.30, 0.357, 2.059, 0.079, 0.794, PHS=-0.350, 1.311,-0.719, RAW= 339.8, -2.6, CAL= 341.3, -3.9, ROT= 168.7, 3.9
2025-06-11T21:15:36.545Z,1749676536.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:15:36.546Z,1749676536.546 [DAT](INFO): direction in FSK: [-0.978344,0.195492,-0.068015]
2025-06-11T21:15:36.547Z,1749676536.547 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:36.586Z,1749676536.586 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:36.586Z,1749676536.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:36.691Z,1749676536.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.599998 m,
deltaT: 0.503776 s,
deltaX: 0.599998 m,
approachRate: 1.191002 m/s,
rangeRepo size: 4
2025-06-11T21:15:36.710Z,1749676536.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.088356 m,
bearing: 89.832531 deg,
lat: 36.906743 deg,
lon: -122.115715 deg,
deltaT: 0.503776 s,
deltaX: 0.593826 m,
approachRate: 1.178751 m/s,
posRepo size: 4
2025-06-11T21:15:36.711Z,1749676536.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.09 m.
2025-06-11T21:15:36.777Z,1749676536.777 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:36.777Z,1749676536.777 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:36.777Z,1749676536.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:37.032Z,1749676537.032 [DAT](INFO): DAT read: Rx Time:21:15:38.5495
2025-06-11T21:15:37.032Z,1749676537.032 [DAT](INFO): Rx dataTimestamp_ set to:1749676537.031879
2025-06-11T21:15:37.034Z,1749676537.034 [DAT](INFO): DAT read: Bearing 168.1, 4.7 (Local)
2025-06-11T21:15:37.034Z,1749676537.034 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.1, 4.7 (Local)
2025-06-11T21:15:37.036Z,1749676537.036 [DAT](INFO): DAT read: Range 10 to 50 : 59.7 m (trip time 39.8 ms) speed -0.7
2025-06-11T21:15:37.041Z,1749676537.041 [DAT](INFO): DAT read: 21:15:38.5495 LVL= 22496, 23025, 24690, 32755, AGC= 72, IDX= 502,-0.21, 0.782, 2.455, 0.482, 1.185, PHS=-0.316, 1.317,-0.707, RAW= 340.5, -3.2, CAL= 341.9, -4.7, ROT= 168.1, 4.7
2025-06-11T21:15:37.042Z,1749676537.042 [DAT](INFO): got valid direction response:
21:15:38.5495 LVL= 22496, 23025, 24690, 32755, AGC= 72, IDX= 502,-0.21, 0.782, 2.455, 0.482, 1.185, PHS=-0.316, 1.317,-0.707, RAW= 340.5, -3.2, CAL= 341.9, -4.7, ROT= 168.1, 4.7
2025-06-11T21:15:37.042Z,1749676537.042 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:15:37.043Z,1749676537.043 [DAT](INFO): direction in FSK: [-0.975219,0.205511,-0.081939]
2025-06-11T21:15:37.048Z,1749676537.048 [DAT](INFO): publishing direction and range info
2025-06-11T21:15:37.051Z,1749676537.051 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:37.051Z,1749676537.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:37.115Z,1749676537.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.700001 m,
deltaT: 0.501323 s,
deltaX: 0.100002 m,
approachRate: 0.199477 m/s,
rangeRepo size: 4
2025-06-11T21:15:37.125Z,1749676537.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.187496 m,
bearing: 89.250945 deg,
lat: 36.906743 deg,
lon: -122.115715 deg,
deltaT: 0.501323 s,
deltaX: 0.099140 m,
approachRate: 0.197757 m/s,
posRepo size: 4
2025-06-11T21:15:37.126Z,1749676537.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:37.281Z,1749676537.281 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:37.281Z,1749676537.281 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:15:37.281Z,1749676537.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:15:37.531Z,1749676537.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:37.533Z,1749676537.533 [DAT](INFO): DAT read: user:821>
2025-06-11T21:15:37.535Z,1749676537.535 [DAT](INFO): DAT read: 0
2025-06-11T21:15:37.539Z,1749676537.539 [DAT](INFO): unknown deviceResponse_: 0
2025-06-11T21:15:37.539Z,1749676537.539 [DAT](INFO): DAT read: Ok
2025-06-11T21:15:37.540Z,1749676537.540 [DAT](INFO): unknown deviceResponse_: Ok
2025-06-11T21:15:37.540Z,1749676537.540 [DAT](INFO): DAT read: user:822>
2025-06-11T21:15:37.541Z,1749676537.541 [DAT](INFO): DAT read: Tx time:21:15:39.4178
2025-06-11T21:15:37.541Z,1749676537.541 [DAT](INFO): Ping request sent.
2025-06-11T21:15:37.541Z,1749676537.541 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:15:37.542Z,1749676537.542 [DAT](INFO): publishing transmit ping time
2025-06-11T21:15:37.542Z,1749676537.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-06-11T21:15:37.785Z,1749676537.785 [DAT](INFO): DAT read: TxSync time:21:15:39.4170
2025-06-11T21:15:37.786Z,1749676537.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244178
2025-06-11T21:15:37.885Z,1749676537.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:38.037Z,1749676538.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495314
2025-06-11T21:15:38.260Z,1749676538.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:38.290Z,1749676538.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748547
2025-06-11T21:15:38.541Z,1749676538.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999498
2025-06-11T21:15:38.686Z,1749676538.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:38.793Z,1749676538.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251756
2025-06-11T21:15:39.045Z,1749676539.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503363
2025-06-11T21:15:39.055Z,1749676539.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:39.297Z,1749676539.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755324
2025-06-11T21:15:39.530Z,1749676539.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:39.549Z,1749676539.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007452
2025-06-11T21:15:39.801Z,1749676539.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259268
2025-06-11T21:15:39.892Z,1749676539.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:40.053Z,1749676540.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511260
2025-06-11T21:15:40.275Z,1749676540.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:40.305Z,1749676540.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763451
2025-06-11T21:15:40.557Z,1749676540.557 [DAT](INFO): DAT read: Rx Time:21:15:41.9042
2025-06-11T21:15:40.558Z,1749676540.558 [DAT](INFO): Rx dataTimestamp_ set to:1749676540.557391
2025-06-11T21:15:40.558Z,1749676540.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016745
2025-06-11T21:15:40.778Z,1749676540.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:40.809Z,1749676540.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267431
2025-06-11T21:15:41.087Z,1749676541.087 [DAT](INFO): DAT read: 21:15:41.9042 LVL= 25232, 20929, 20210, 28739, AGC= 68, IDX= 7, 0.18,-1.772,-0.074,-2.043,-1.320, PHS=-0.364, 1.292,-0.726, RAW= 339.7, -2.2, CAL= 341.1, -3.4, ROT= 168.9, 3.4
2025-06-11T21:15:41.099Z,1749676541.099 [DAT](INFO): got valid direction response:
21:15:41.9042 LVL= 25232, 20929, 20210, 28739, AGC= 68, IDX= 7, 0.18,-1.772,-0.074,-2.043,-1.320, PHS=-0.364, 1.292,-0.726, RAW= 339.7, -2.2, CAL= 341.1, -3.4, ROT= 168.9, 3.4
2025-06-11T21:15:41.100Z,1749676541.100 [DAT](INFO): DAT read: $Error in header
2025-06-11T21:15:41.100Z,1749676541.100 [DAT](INFO): Received a bad header
2025-06-11T21:15:41.135Z,1749676541.135 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T21:15:41.157Z,1749676541.157 [DAT](INFO): direction in FSK: [-0.979565,0.192183,-0.059306]
2025-06-11T21:15:41.220Z,1749676541.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:41.667Z,1749676541.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:42.056Z,1749676542.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:42.471Z,1749676542.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:42.912Z,1749676542.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:43.261Z,1749676543.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:43.689Z,1749676543.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:44.148Z,1749676544.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:44.596Z,1749676544.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:44.946Z,1749676544.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:45.312Z,1749676545.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:45.727Z,1749676545.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:46.105Z,1749676546.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:46.547Z,1749676546.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:46.985Z,1749676546.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:47.386Z,1749676547.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:47.618Z,1749676547.618 [DAT](INFO): Reached modem response timeout
2025-06-11T21:15:47.787Z,1749676547.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:48.181Z,1749676548.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:48.628Z,1749676548.628 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:15:48.629Z,1749676548.629 [DAT](INFO): response not received
2025-06-11T21:15:48.631Z,1749676548.631 [DAT](INFO): DAT read: user:824>
2025-06-11T21:15:48.636Z,1749676548.636 [DAT](INFO): DAT read: Tx time:21:15:50.3695
2025-06-11T21:15:48.637Z,1749676548.637 [DAT](INFO): Ping request sent.
2025-06-11T21:15:48.638Z,1749676548.638 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:15:48.644Z,1749676548.644 [DAT](INFO): DAT read: TxSync time:21:15:50.3687
2025-06-11T21:15:48.645Z,1749676548.645 [DAT](INFO): publishing transmit ping time
2025-06-11T21:15:48.653Z,1749676548.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:49.005Z,1749676549.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:49.411Z,1749676549.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:49.818Z,1749676549.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:50.198Z,1749676550.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:50.608Z,1749676550.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:51.038Z,1749676551.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:51.437Z,1749676551.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:51.847Z,1749676551.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:52.232Z,1749676552.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:52.623Z,1749676552.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:53.061Z,1749676553.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:53.425Z,1749676553.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:53.854Z,1749676553.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:54.297Z,1749676554.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:54.762Z,1749676554.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:55.230Z,1749676555.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:55.650Z,1749676555.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:56.066Z,1749676556.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:56.447Z,1749676556.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:56.866Z,1749676556.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:57.251Z,1749676557.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:57.796Z,1749676557.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:58.117Z,1749676558.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:58.506Z,1749676558.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:58.947Z,1749676558.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:59.279Z,1749676559.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:59.489Z,1749676559.489 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:15:59.489Z,1749676559.489 [DAT](INFO): response not received
2025-06-11T21:15:59.490Z,1749676559.490 [DAT](INFO): DAT read: user:825>
2025-06-11T21:15:59.490Z,1749676559.490 [DAT](INFO): DAT read: Tx time:21:16:01.3181
2025-06-11T21:15:59.491Z,1749676559.491 [DAT](INFO): Ping request sent.
2025-06-11T21:15:59.491Z,1749676559.491 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:15:59.491Z,1749676559.491 [DAT](INFO): publishing transmit ping time
2025-06-11T21:15:59.683Z,1749676559.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:15:59.744Z,1749676559.744 [DAT](INFO): DAT read: TxSync time:21:16:01.3173
2025-06-11T21:16:00.105Z,1749676560.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:00.489Z,1749676560.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:00.560Z,1749676560.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:16:00.932Z,1749676560.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:01.304Z,1749676561.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:01.565Z,1749676561.565 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:16:01.696Z,1749676561.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:02.142Z,1749676562.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:02.513Z,1749676562.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:02.950Z,1749676562.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:03.323Z,1749676563.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:03.719Z,1749676563.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:04.155Z,1749676564.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:04.536Z,1749676564.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:05.006Z,1749676565.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:05.328Z,1749676565.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:05.733Z,1749676565.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:06.184Z,1749676566.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:06.544Z,1749676566.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:06.000Z,1749676567.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:07.376Z,1749676567.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:07.798Z,1749676567.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:08.246Z,1749676568.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:08.618Z,1749676568.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:09.048Z,1749676569.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:09.446Z,1749676569.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:09.854Z,1749676569.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:10.283Z,1749676570.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:10.338Z,1749676570.338 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:16:10.338Z,1749676570.338 [DAT](INFO): response not received
2025-06-11T21:16:10.339Z,1749676570.339 [DAT](INFO): DAT read: user:826>
2025-06-11T21:16:10.340Z,1749676570.340 [DAT](INFO): DAT read: Tx time:21:16:12.2682
2025-06-11T21:16:10.341Z,1749676570.341 [DAT](INFO): Ping request sent.
2025-06-11T21:16:10.341Z,1749676570.341 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:10.341Z,1749676570.341 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:10.590Z,1749676570.590 [DAT](INFO): DAT read: TxSync time:21:16:12.2674
2025-06-11T21:16:10.653Z,1749676570.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:11.176Z,1749676571.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:11.521Z,1749676571.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:11.885Z,1749676571.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:12.334Z,1749676572.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:12.696Z,1749676572.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:13.136Z,1749676573.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:13.495Z,1749676573.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:13.613Z,1749676573.613 [DAT](INFO): DAT read: Rx Time:21:16:14.8783
2025-06-11T21:16:13.613Z,1749676573.613 [DAT](INFO): Rx dataTimestamp_ set to:1749676573.613028
2025-06-11T21:16:13.904Z,1749676573.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:14.118Z,1749676574.118 [DAT](INFO): DAT read: Range 10 to 50 : 154.4 m (Round-trip 205.9 ms) speed -0.5 m/s
2025-06-11T21:16:14.119Z,1749676574.119 [DAT](INFO): DAT read: user:827>
2025-06-11T21:16:14.119Z,1749676574.119 [DAT](INFO): DAT read: Tx time:21:16:15.9682
2025-06-11T21:16:14.120Z,1749676574.120 [DAT](INFO): Ping request sent.
2025-06-11T21:16:14.120Z,1749676574.120 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:14.120Z,1749676574.120 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-11T21:16:14.120Z,1749676574.120 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:14.121Z,1749676574.121 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:14.325Z,1749676574.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 154.399994 m,
deltaT: 37.084330 s,
deltaX: 94.699997 m,
approachRate: 2.553639 m/s,
rangeRepo size: 4
2025-06-11T21:16:14.325Z,1749676574.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.19 m.
2025-06-11T21:16:14.325Z,1749676574.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 154.40 m. Resuming terminal guidance.
2025-06-11T21:16:14.325Z,1749676574.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-11T21:16:14.370Z,1749676574.370 [DAT](INFO): DAT read: TxSync time:21:16:15.9674
2025-06-11T21:16:14.701Z,1749676574.701 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-11T21:16:14.701Z,1749676574.701 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T21:16:14.701Z,1749676574.701 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-11T21:16:14.703Z,1749676574.703 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 154.399994 m (mode 1.000000 count ).
2025-06-11T21:16:14.703Z,1749676574.703 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-11T21:16:14.703Z,1749676574.703 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-11T21:16:15.138Z,1749676575.138 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-11T21:16:15.138Z,1749676575.138 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-11T21:16:15.139Z,1749676575.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:15.377Z,1749676575.377 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:15.377Z,1749676575.377 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:15.377Z,1749676575.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:15.524Z,1749676575.524 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-11T21:16:15.524Z,1749676575.524 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-11T21:16:15.629Z,1749676575.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509373
2025-06-11T21:16:15.881Z,1749676575.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761045
2025-06-11T21:16:15.917Z,1749676575.917 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-11T21:16:15.918Z,1749676575.918 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T21:16:15.918Z,1749676575.918 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-11T21:16:15.918Z,1749676575.918 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-11T21:16:16.133Z,1749676576.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012872
2025-06-11T21:16:16.385Z,1749676576.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264990
2025-06-11T21:16:16.637Z,1749676576.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516899
2025-06-11T21:16:16.889Z,1749676576.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768888
2025-06-11T21:16:17.141Z,1749676577.141 [DAT](INFO): DAT read: Rx Time:21:16:18.5333
2025-06-11T21:16:17.141Z,1749676577.141 [DAT](INFO): Rx dataTimestamp_ set to:1749676577.141030
2025-06-11T21:16:17.142Z,1749676577.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022021
2025-06-11T21:16:17.154Z,1749676577.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:17.393Z,1749676577.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272960
2025-06-11T21:16:17.646Z,1749676577.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525200
2025-06-11T21:16:17.905Z,1749676577.905 [DAT](INFO): DAT read: 21:16:18.5333 LVL= 30320, 27233, 25170, 32755, AGC= 70, IDX= 475,-0.16, 1.213, 2.913, 0.968, 1.590, PHS=-0.289, 1.371,-0.625, RAW= 339.1, -5.0, CAL= 340.7, -7.0, ROT= 169.3, 7.0
2025-06-11T21:16:17.907Z,1749676577.907 [DAT](INFO): got valid direction response:
21:16:18.5333 LVL= 30320, 27233, 25170, 32755, AGC= 70, IDX= 475,-0.16, 1.213, 2.913, 0.968, 1.590, PHS=-0.289, 1.371,-0.625, RAW= 339.1, -5.0, CAL= 340.7, -7.0, ROT= 169.3, 7.0
2025-06-11T21:16:17.908Z,1749676577.908 [DAT](INFO): DAT read: $Error in header
2025-06-11T21:16:17.908Z,1749676577.908 [DAT](INFO): Received a bad header
2025-06-11T21:16:17.920Z,1749676577.920 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-11T21:16:17.922Z,1749676577.922 [DAT](INFO): direction in FSK: [-0.975289,0.184283,-0.121869]
2025-06-11T21:16:17.926Z,1749676577.926 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:17.926Z,1749676577.926 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:17.927Z,1749676577.927 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:18.149Z,1749676578.149 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:18.149Z,1749676578.149 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:18.149Z,1749676578.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:18.401Z,1749676578.401 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:18.401Z,1749676578.401 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:18.401Z,1749676578.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:18.652Z,1749676578.652 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:18.653Z,1749676578.653 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:18.653Z,1749676578.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:18.905Z,1749676578.905 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:18.906Z,1749676578.906 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:18.906Z,1749676578.906 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:19.164Z,1749676579.164 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:19.164Z,1749676579.164 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:19.164Z,1749676579.164 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:19.179Z,1749676579.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:19.417Z,1749676579.417 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:19.417Z,1749676579.417 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:19.417Z,1749676579.417 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:19.669Z,1749676579.669 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:19.669Z,1749676579.669 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:19.669Z,1749676579.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:19.921Z,1749676579.921 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:19.921Z,1749676579.921 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:19.921Z,1749676579.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:20.173Z,1749676580.173 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:20.173Z,1749676580.173 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:20.173Z,1749676580.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:20.425Z,1749676580.425 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:20.425Z,1749676580.425 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:20.425Z,1749676580.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:20.677Z,1749676580.677 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:20.677Z,1749676580.677 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:20.677Z,1749676580.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:20.929Z,1749676580.929 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:20.930Z,1749676580.930 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:20.930Z,1749676580.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:21.182Z,1749676581.182 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:21.182Z,1749676581.182 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:21.182Z,1749676581.182 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:21.279Z,1749676581.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:21.432Z,1749676581.432 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:21.433Z,1749676581.433 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:21.433Z,1749676581.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:21.686Z,1749676581.686 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:21.686Z,1749676581.686 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:21.686Z,1749676581.686 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:21.937Z,1749676581.937 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:21.937Z,1749676581.937 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:21.937Z,1749676581.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:22.189Z,1749676582.189 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:22.189Z,1749676582.189 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:22.189Z,1749676582.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:22.441Z,1749676582.441 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:22.441Z,1749676582.441 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:22.441Z,1749676582.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:22.693Z,1749676582.693 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:22.693Z,1749676582.693 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:22.693Z,1749676582.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:22.945Z,1749676582.945 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:22.945Z,1749676582.945 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:22.945Z,1749676582.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:23.197Z,1749676583.197 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:23.197Z,1749676583.197 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:23.197Z,1749676583.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:23.316Z,1749676583.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:23.449Z,1749676583.449 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:23.449Z,1749676583.449 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:23.449Z,1749676583.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:23.702Z,1749676583.702 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:23.702Z,1749676583.702 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:23.702Z,1749676583.702 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:23.953Z,1749676583.953 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:23.953Z,1749676583.953 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:23.953Z,1749676583.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-11T21:16:24.205Z,1749676584.205 [DAT](INFO): Reached modem response timeout
2025-06-11T21:16:24.205Z,1749676584.205 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:16:24.206Z,1749676584.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:24.456Z,1749676584.456 [DAT](INFO): Reached modem response timeout
2025-06-11T21:16:24.457Z,1749676584.457 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:16:24.457Z,1749676584.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:24.708Z,1749676584.708 [DAT](INFO): Reached modem response timeout
2025-06-11T21:16:24.709Z,1749676584.709 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:16:24.709Z,1749676584.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:24.962Z,1749676584.962 [DAT](INFO): DAT read: Response Not Received
2025-06-11T21:16:24.962Z,1749676584.962 [DAT](INFO): response not received
2025-06-11T21:16:24.963Z,1749676584.963 [DAT](INFO): DAT read: user:829>
2025-06-11T21:16:24.963Z,1749676584.963 [DAT](ERROR): No response from remote modem.
2025-06-11T21:16:24.964Z,1749676584.964 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:16:24.964Z,1749676584.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:25.213Z,1749676585.213 [DAT](INFO): DAT read: Tx time:21:16:26.9183
2025-06-11T21:16:25.213Z,1749676585.213 [DAT](INFO): Ping request sent.
2025-06-11T21:16:25.213Z,1749676585.213 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:25.214Z,1749676585.214 [DAT](INFO): DAT read: TxSync time:21:16:26.9175
2025-06-11T21:16:25.214Z,1749676585.214 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:25.215Z,1749676585.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001621
2025-06-11T21:16:25.352Z,1749676585.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:25.465Z,1749676585.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251613
2025-06-11T21:16:25.717Z,1749676585.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503406
2025-06-11T21:16:25.969Z,1749676585.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755198
2025-06-11T21:16:26.221Z,1749676586.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007335
2025-06-11T21:16:26.473Z,1749676586.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259263
2025-06-11T21:16:26.515Z,1749676586.515 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +484, +1,A
2025-06-11T21:16:26.725Z,1749676586.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511244
2025-06-11T21:16:26.978Z,1749676586.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764530
2025-06-11T21:16:27.229Z,1749676587.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015316
2025-06-11T21:16:27.483Z,1749676587.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268903
2025-06-11T21:16:27.733Z,1749676587.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519357
2025-06-11T21:16:27.751Z,1749676587.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:27.985Z,1749676587.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771308
2025-06-11T21:16:28.238Z,1749676588.238 [DAT](INFO): DAT read: Rx Time:21:16:29.4442
2025-06-11T21:16:28.239Z,1749676588.239 [DAT](INFO): Rx dataTimestamp_ set to:1749676588.238511
2025-06-11T21:16:28.239Z,1749676588.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025862
2025-06-11T21:16:28.489Z,1749676588.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275208
2025-06-11T21:16:28.747Z,1749676588.747 [DAT](INFO): DAT read: 21:16:29.4442 LVL= 31280, 20241, 19954, 26259, AGC= 66, IDX= 43,-0.30,-3.125,-0.808,-1.706,-1.897, PHS=-1.140, 1.136, 0.188, RAW= 294.5, -1.9, CAL= 297.5, -3.2, ROT= 212.5, 3.2
2025-06-11T21:16:28.748Z,1749676588.748 [DAT](INFO): got valid direction response:
21:16:29.4442 LVL= 31280, 20241, 19954, 26259, AGC= 66, IDX= 43,-0.30,-3.125,-0.808,-1.706,-1.897, PHS=-1.140, 1.136, 0.188, RAW= 294.5, -1.9, CAL= 297.5, -3.2, ROT= 212.5, 3.2
2025-06-11T21:16:28.749Z,1749676588.749 [DAT](INFO): DAT read: Bearing 212.5, 3.2 (Local)
2025-06-11T21:16:28.749Z,1749676588.749 [DAT](INFO): Local bearing/azimuth received:
Bearing 212.5, 3.2 (Local)
2025-06-11T21:16:28.751Z,1749676588.751 [DAT](INFO): DAT read: Range 10 to 50 : 91.2 m (Round-trip 121.6 ms) speed -0.1 m/s
2025-06-11T21:16:28.751Z,1749676588.751 [DAT](INFO): DAT read: user:830>
2025-06-11T21:16:28.752Z,1749676588.752 [DAT](INFO): DAT read: Tx time:21:16:30.5684
2025-06-11T21:16:28.753Z,1749676588.753 [DAT](INFO): Ping request sent.
2025-06-11T21:16:28.753Z,1749676588.753 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:28.753Z,1749676588.753 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:16:28.754Z,1749676588.754 [DAT](INFO): direction in FSK: [-0.842076,-0.536462,-0.055822]
2025-06-11T21:16:28.754Z,1749676588.754 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:28.755Z,1749676588.755 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:28.758Z,1749676588.758 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:28.758Z,1749676588.758 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:28.981Z,1749676588.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 91.199997 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-06-11T21:16:28.988Z,1749676588.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 90.411690 m,
bearing: 89.697161 deg,
lat: 36.906747 deg,
lon: -122.115714 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-06-11T21:16:28.989Z,1749676588.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.41 m.
2025-06-11T21:16:28.993Z,1749676588.993 [DAT](INFO): DAT read: TxSync time:21:16:30.5676
2025-06-11T21:16:28.997Z,1749676588.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 90.411690 m,
nav range: 90.410599 m,
bearing: 89.696856 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000000 deg/s,
cmd heading: 101.489198 deg,
new cmd heading: 89.696856 deg.
2025-06-11T21:16:28.997Z,1749676588.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565506 target range: 90.411690 and range: 91.20 m.
2025-06-11T21:16:29.376Z,1749676589.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.41 m.
2025-06-11T21:16:29.379Z,1749676589.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 90.411690 m,
nav range: 90.522667 m,
bearing: 89.592934 deg,
approach rate: 0.283634 m/s,
LOS rate: -0.262691 deg/s,
cmd heading: 89.696858 deg,
new cmd heading: 89.592934 deg.
2025-06-11T21:16:29.379Z,1749676589.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563692 target range: 90.411690 and range: 91.20 m.
2025-06-11T21:16:29.774Z,1749676589.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:29.776Z,1749676589.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.41 m.
2025-06-11T21:16:29.778Z,1749676589.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 90.411690 m,
nav range: 90.628616 m,
bearing: 89.489505 deg,
approach rate: 0.265036 m/s,
LOS rate: -0.258428 deg/s,
cmd heading: 89.592937 deg,
new cmd heading: 89.489505 deg.
2025-06-11T21:16:29.779Z,1749676589.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561887 target range: 90.411690 and range: 91.20 m.
2025-06-11T21:16:30.001Z,1749676590.001 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:30.001Z,1749676590.001 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:30.001Z,1749676590.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:30.170Z,1749676590.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.41 m.
2025-06-11T21:16:30.173Z,1749676590.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 90.411690 m,
nav range: 90.728302 m,
bearing: 89.386964 deg,
approach rate: 0.253098 m/s,
LOS rate: -0.260060 deg/s,
cmd heading: 89.489507 deg,
new cmd heading: 89.386964 deg.
2025-06-11T21:16:30.174Z,1749676590.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560097 target range: 90.411690 and range: 91.20 m.
2025-06-11T21:16:30.254Z,1749676590.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500780
2025-06-11T21:16:30.505Z,1749676590.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751767
2025-06-11T21:16:30.589Z,1749676590.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.41 m.
2025-06-11T21:16:30.591Z,1749676590.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 90.411690 m,
nav range: 90.839485 m,
bearing: 89.269627 deg,
approach rate: 0.265242 m/s,
LOS rate: -0.279581 deg/s,
cmd heading: 89.386966 deg,
new cmd heading: 89.269627 deg.
2025-06-11T21:16:30.597Z,1749676590.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558049 target range: 90.411690 and range: 91.20 m.
2025-06-11T21:16:30.757Z,1749676590.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003833
2025-06-11T21:16:30.978Z,1749676590.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.41 m.
2025-06-11T21:16:30.981Z,1749676590.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 90.411690 m,
nav range: 90.937767 m,
bearing: 89.160055 deg,
approach rate: 0.252258 m/s,
LOS rate: -0.280932 deg/s,
cmd heading: 89.269630 deg,
new cmd heading: 89.160055 deg.
2025-06-11T21:16:30.982Z,1749676590.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556136 target range: 90.411690 and range: 91.20 m.
2025-06-11T21:16:31.022Z,1749676591.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269322
2025-06-11T21:16:31.275Z,1749676591.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521746
2025-06-11T21:16:31.414Z,1749676591.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.41 m.
2025-06-11T21:16:31.421Z,1749676591.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 90.411690 m,
nav range: 91.040215 m,
bearing: 89.041191 deg,
approach rate: 0.235339 m/s,
LOS rate: -0.272742 deg/s,
cmd heading: 89.160053 deg,
new cmd heading: 89.041191 deg.
2025-06-11T21:16:31.421Z,1749676591.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554062 target range: 90.411690 and range: 91.20 m.
2025-06-11T21:16:31.525Z,1749676591.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771788
2025-06-11T21:16:31.685Z,1749676591.685 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:16:31.777Z,1749676591.777 [DAT](INFO): DAT read: Rx Time:21:16:33.0957
2025-06-11T21:16:31.777Z,1749676591.777 [DAT](INFO): Rx dataTimestamp_ set to:1749676591.777008
2025-06-11T21:16:31.778Z,1749676591.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024933
2025-06-11T21:16:31.793Z,1749676591.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:31.795Z,1749676591.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.41 m.
2025-06-11T21:16:31.798Z,1749676591.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 90.411690 m,
nav range: 91.133873 m,
bearing: 88.933154 deg,
approach rate: 0.245631 m/s,
LOS rate: -0.283050 deg/s,
cmd heading: 89.041194 deg,
new cmd heading: 88.933154 deg.
2025-06-11T21:16:31.799Z,1749676591.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552176 target range: 90.411690 and range: 91.20 m.
2025-06-11T21:16:32.029Z,1749676592.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275855
2025-06-11T21:16:32.194Z,1749676592.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.41 m.
2025-06-11T21:16:32.201Z,1749676592.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 90.411690 m,
nav range: 91.230110 m,
bearing: 88.822754 deg,
approach rate: 0.241414 m/s,
LOS rate: -0.276649 deg/s,
cmd heading: 88.933154 deg,
new cmd heading: 88.822754 deg.
2025-06-11T21:16:32.201Z,1749676592.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550249 target range: 90.411690 and range: 91.20 m.
2025-06-11T21:16:32.289Z,1749676592.289 [DAT](INFO): DAT read: 21:16:33.0957 LVL= 23792, 27313, 13714, 26771, AGC= 64, IDX= 441,-0.34, 1.570,-2.224, 3.110, 2.859, PHS=-1.201, 1.248, 0.248, RAW= 294.0, -2.8, CAL= 297.3, -4.5, ROT= 212.7, 4.5
2025-06-11T21:16:32.290Z,1749676592.290 [DAT](INFO): got valid direction response:
21:16:33.0957 LVL= 23792, 27313, 13714, 26771, AGC= 64, IDX= 441,-0.34, 1.570,-2.224, 3.110, 2.859, PHS=-1.201, 1.248, 0.248, RAW= 294.0, -2.8, CAL= 297.3, -4.5, ROT= 212.7, 4.5
2025-06-11T21:16:32.291Z,1749676592.291 [DAT](INFO): DAT read: Bearing 212.7, 4.5 (Local)
2025-06-11T21:16:32.291Z,1749676592.291 [DAT](INFO): Local bearing/azimuth received:
Bearing 212.7, 4.5 (Local)
2025-06-11T21:16:32.293Z,1749676592.293 [DAT](INFO): DAT read: Range 10 to 50 : 92.3 m (Round-trip 123.1 ms) speed -0.2 m/s
2025-06-11T21:16:32.294Z,1749676592.294 [DAT](INFO): DAT read: user:831>
2025-06-11T21:16:32.295Z,1749676592.295 [DAT](INFO): DAT read: Tx time:21:16:34.2184
2025-06-11T21:16:32.295Z,1749676592.295 [DAT](INFO): Ping request sent.
2025-06-11T21:16:32.295Z,1749676592.295 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:32.295Z,1749676592.295 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:16:32.301Z,1749676592.301 [DAT](INFO): direction in FSK: [-0.838917,-0.538575,-0.078459]
2025-06-11T21:16:32.301Z,1749676592.301 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:32.301Z,1749676592.301 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:32.312Z,1749676592.312 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:32.313Z,1749676592.313 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:32.533Z,1749676592.533 [DAT](INFO): DAT read: TxSync time:21:16:34.2176
2025-06-11T21:16:32.629Z,1749676592.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 92.300003 m,
deltaT: 3.541478 s,
deltaX: 1.100006 m,
approachRate: 0.310607 m/s,
rangeRepo size: 2
2025-06-11T21:16:32.631Z,1749676592.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 91.500229 m,
bearing: 75.951237 deg,
lat: 36.906747 deg,
lon: -122.115714 deg,
deltaT: 3.541478 s,
deltaX: 1.088539 m,
approachRate: 0.307369 m/s,
posRepo size: 2
2025-06-11T21:16:32.632Z,1749676592.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.50 m.
2025-06-11T21:16:32.634Z,1749676592.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.500229 m,
nav range: 91.319641 m,
bearing: 88.689157 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.276649 deg/s,
cmd heading: 88.822751 deg,
new cmd heading: 88.461950 deg.
2025-06-11T21:16:32.635Z,1749676592.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543952 target range: 91.500229 and range: 92.30 m.
2025-06-11T21:16:32.688Z,1749676592.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:16:32.991Z,1749676592.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.50 m.
2025-06-11T21:16:32.994Z,1749676592.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.500229 m,
nav range: 91.391182 m,
bearing: 88.575969 deg,
approach rate: 0.196999 m/s,
LOS rate: -0.311436 deg/s,
cmd heading: 88.461946 deg,
new cmd heading: 88.122652 deg.
2025-06-11T21:16:32.995Z,1749676592.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538030 target range: 91.500229 and range: 92.30 m.
2025-06-11T21:16:33.430Z,1749676593.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.50 m.
2025-06-11T21:16:33.433Z,1749676593.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.500229 m,
nav range: 91.467682 m,
bearing: 88.439265 deg,
approach rate: 0.174379 m/s,
LOS rate: -0.311349 deg/s,
cmd heading: 88.122650 deg,
new cmd heading: 87.712890 deg.
2025-06-11T21:16:33.434Z,1749676593.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530879 target range: 91.500229 and range: 92.30 m.
2025-06-11T21:16:33.800Z,1749676593.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:33.802Z,1749676593.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.50 m.
2025-06-11T21:16:33.805Z,1749676593.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.500229 m,
nav range: 91.527504 m,
bearing: 88.323284 deg,
approach rate: 0.160943 m/s,
LOS rate: -0.311828 deg/s,
cmd heading: 87.712893 deg,
new cmd heading: 87.365180 deg.
2025-06-11T21:16:33.806Z,1749676593.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524810 target range: 91.500229 and range: 92.30 m.
2025-06-11T21:16:34.045Z,1749676594.045 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:34.045Z,1749676594.045 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:34.045Z,1749676594.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:34.206Z,1749676594.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.50 m.
2025-06-11T21:16:34.209Z,1749676594.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.500229 m,
nav range: 91.587784 m,
bearing: 88.194561 deg,
approach rate: 0.149124 m/s,
LOS rate: -0.318232 deg/s,
cmd heading: 87.365182 deg,
new cmd heading: 86.979274 deg.
2025-06-11T21:16:34.210Z,1749676594.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.518075 target range: 91.500229 and range: 92.30 m.
2025-06-11T21:16:34.300Z,1749676594.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004467
2025-06-11T21:16:34.549Z,1749676594.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253742
2025-06-11T21:16:34.637Z,1749676594.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.50 m.
2025-06-11T21:16:34.640Z,1749676594.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.500229 m,
nav range: 91.646400 m,
bearing: 88.050817 deg,
approach rate: 0.135910 m/s,
LOS rate: -0.333074 deg/s,
cmd heading: 86.979276 deg,
new cmd heading: 86.548329 deg.
2025-06-11T21:16:34.641Z,1749676594.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510553 target range: 91.500229 and range: 92.30 m.
2025-06-11T21:16:34.801Z,1749676594.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505815
2025-06-11T21:16:35.020Z,1749676595.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.50 m.
2025-06-11T21:16:35.022Z,1749676595.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.500229 m,
nav range: 91.693001 m,
bearing: 87.922618 deg,
approach rate: 0.121884 m/s,
LOS rate: -0.335137 deg/s,
cmd heading: 86.548332 deg,
new cmd heading: 86.163935 deg.
2025-06-11T21:16:35.023Z,1749676595.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503844 target range: 91.500229 and range: 92.30 m.
2025-06-11T21:16:35.053Z,1749676595.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758229
2025-06-11T21:16:35.307Z,1749676595.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011563
2025-06-11T21:16:35.457Z,1749676595.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.50 m.
2025-06-11T21:16:35.459Z,1749676595.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.500229 m,
nav range: 91.747047 m,
bearing: 87.770956 deg,
approach rate: 0.123731 m/s,
LOS rate: -0.346999 deg/s,
cmd heading: 86.163936 deg,
new cmd heading: 85.709229 deg.
2025-06-11T21:16:35.460Z,1749676595.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495908 target range: 91.500229 and range: 92.30 m.
2025-06-11T21:16:35.560Z,1749676595.560 [DAT](INFO): DAT read: Rx Time:21:16:36.7466
2025-06-11T21:16:35.560Z,1749676595.560 [DAT](INFO): Rx dataTimestamp_ set to:1749676595.560081
2025-06-11T21:16:35.561Z,1749676595.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265926
2025-06-11T21:16:35.809Z,1749676595.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513737
2025-06-11T21:16:35.837Z,1749676595.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:35.839Z,1749676595.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.50 m.
2025-06-11T21:16:35.841Z,1749676595.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.500229 m,
nav range: 91.783211 m,
bearing: 87.637194 deg,
approach rate: 0.094660 m/s,
LOS rate: -0.349994 deg/s,
cmd heading: 85.709230 deg,
new cmd heading: 85.308109 deg.
2025-06-11T21:16:35.842Z,1749676595.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488907 target range: 91.500229 and range: 92.30 m.
2025-06-11T21:16:36.067Z,1749676596.067 [DAT](INFO): DAT read: 21:16:36.7466 LVL= 21360, 21041, 15666, 27299, AGC= 60, IDX= 435,-0.44, 2.691,-1.296,-1.671,-2.171, PHS=-1.333, 0.923, 0.497, RAW= 280.2, -0.8, CAL= 282.7, -2.4, ROT= 227.3, 2.4
2025-06-11T21:16:36.068Z,1749676596.068 [DAT](INFO): got valid direction response:
21:16:36.7466 LVL= 21360, 21041, 15666, 27299, AGC= 60, IDX= 435,-0.44, 2.691,-1.296,-1.671,-2.171, PHS=-1.333, 0.923, 0.497, RAW= 280.2, -0.8, CAL= 282.7, -2.4, ROT= 227.3, 2.4
2025-06-11T21:16:36.069Z,1749676596.069 [DAT](INFO): DAT read: Bearing 227.3, 2.4 (Local)
2025-06-11T21:16:36.069Z,1749676596.069 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.3, 2.4 (Local)
2025-06-11T21:16:36.071Z,1749676596.071 [DAT](INFO): DAT read: Range 10 to 50 : 93.0 m (Round-trip 124.1 ms) speed -0.1 m/s
2025-06-11T21:16:36.071Z,1749676596.071 [DAT](INFO): DAT read: user:832>
2025-06-11T21:16:36.072Z,1749676596.072 [DAT](INFO): DAT read: Tx time:21:16:37.8684
2025-06-11T21:16:36.073Z,1749676596.073 [DAT](INFO): Ping request sent.
2025-06-11T21:16:36.073Z,1749676596.073 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:36.073Z,1749676596.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:16:36.074Z,1749676596.074 [DAT](INFO): direction in FSK: [-0.677565,-0.734270,-0.041876]
2025-06-11T21:16:36.074Z,1749676596.074 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:36.074Z,1749676596.074 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:36.078Z,1749676596.078 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:36.078Z,1749676596.078 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:36.281Z,1749676596.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 93.000000 m,
deltaT: 3.778454 s,
deltaX: 0.699997 m,
approachRate: 0.185260 m/s,
rangeRepo size: 3
2025-06-11T21:16:36.296Z,1749676596.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.195992 m,
bearing: 76.356648 deg,
lat: 36.906747 deg,
lon: -122.115714 deg,
deltaT: 3.778454 s,
deltaX: 0.695763 m,
approachRate: 0.184140 m/s,
posRepo size: 3
2025-06-11T21:16:36.298Z,1749676596.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:36.316Z,1749676596.316 [DAT](INFO): DAT read: TxSync time:21:16:37.8676
2025-06-11T21:16:36.323Z,1749676596.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.195992 m,
nav range: 91.816635 m,
bearing: 87.491998 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.349994 deg/s,
cmd heading: 85.308107 deg,
new cmd heading: 84.854029 deg.
2025-06-11T21:16:36.331Z,1749676596.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480982 target range: 92.195992 and range: 93.00 m.
2025-06-11T21:16:36.655Z,1749676596.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:36.678Z,1749676596.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.195992 m,
nav range: 91.847610 m,
bearing: 87.343852 deg,
approach rate: 0.080725 m/s,
LOS rate: -0.385953 deg/s,
cmd heading: 84.854029 deg,
new cmd heading: 84.409749 deg.
2025-06-11T21:16:36.679Z,1749676596.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473228 target range: 92.195992 and range: 93.00 m.
2025-06-11T21:16:37.024Z,1749676597.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:37.027Z,1749676597.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.195992 m,
nav range: 91.870453 m,
bearing: 87.207777 deg,
approach rate: 0.061799 m/s,
LOS rate: -0.368052 deg/s,
cmd heading: 84.409745 deg,
new cmd heading: 84.001630 deg.
2025-06-11T21:16:37.028Z,1749676597.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.466105 target range: 92.195992 and range: 93.00 m.
2025-06-11T21:16:37.459Z,1749676597.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:37.463Z,1749676597.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.195992 m,
nav range: 91.890388 m,
bearing: 87.040236 deg,
approach rate: 0.045834 m/s,
LOS rate: -0.385106 deg/s,
cmd heading: 84.001628 deg,
new cmd heading: 83.499127 deg.
2025-06-11T21:16:37.464Z,1749676597.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457335 target range: 92.195992 and range: 93.00 m.
2025-06-11T21:16:37.869Z,1749676597.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:37.871Z,1749676597.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:37.873Z,1749676597.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.195992 m,
nav range: 91.909286 m,
bearing: 86.887258 deg,
approach rate: 0.045960 m/s,
LOS rate: -0.371968 deg/s,
cmd heading: 83.499124 deg,
new cmd heading: 83.040296 deg.
2025-06-11T21:16:37.874Z,1749676597.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449327 target range: 92.195992 and range: 93.00 m.
2025-06-11T21:16:38.076Z,1749676598.076 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:38.077Z,1749676598.077 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:38.077Z,1749676598.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:38.344Z,1749676598.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258203
2025-06-11T21:16:38.373Z,1749676598.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:38.380Z,1749676598.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.195992 m,
nav range: 91.916672 m,
bearing: 86.710049 deg,
approach rate: 0.014688 m/s,
LOS rate: -0.352410 deg/s,
cmd heading: 83.040299 deg,
new cmd heading: 82.508730 deg.
2025-06-11T21:16:38.381Z,1749676598.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440049 target range: 92.195992 and range: 93.00 m.
2025-06-11T21:16:38.581Z,1749676598.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508738
2025-06-11T21:16:38.723Z,1749676598.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:38.730Z,1749676598.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.195992 m,
nav range: 91.935341 m,
bearing: 86.555648 deg,
approach rate: 0.053423 m/s,
LOS rate: -0.441742 deg/s,
cmd heading: 82.508733 deg,
new cmd heading: 82.045635 deg.
2025-06-11T21:16:38.731Z,1749676598.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431966 target range: 92.195992 and range: 93.00 m.
2025-06-11T21:16:38.833Z,1749676598.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760131
2025-06-11T21:16:39.085Z,1749676599.085 [DAT](INFO): DAT read: Rx Time:21:16:40.3971
2025-06-11T21:16:39.085Z,1749676599.085 [DAT](INFO): Rx dataTimestamp_ set to:1749676599.085066
2025-06-11T21:16:39.086Z,1749676599.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013225
2025-06-11T21:16:39.096Z,1749676599.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:39.099Z,1749676599.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.195992 m,
nav range: 91.941536 m,
bearing: 86.398987 deg,
approach rate: 0.016609 m/s,
LOS rate: -0.419973 deg/s,
cmd heading: 82.045632 deg,
new cmd heading: 81.575692 deg.
2025-06-11T21:16:39.100Z,1749676599.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423764 target range: 92.195992 and range: 93.00 m.
2025-06-11T21:16:39.339Z,1749676599.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266305
2025-06-11T21:16:39.577Z,1749676599.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:39.584Z,1749676599.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.195992 m,
nav range: 91.950439 m,
bearing: 86.214785 deg,
approach rate: 0.018505 m/s,
LOS rate: -0.382810 deg/s,
cmd heading: 81.575695 deg,
new cmd heading: 81.023161 deg.
2025-06-11T21:16:39.585Z,1749676599.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414121 target range: 92.195992 and range: 93.00 m.
2025-06-11T21:16:39.595Z,1749676599.595 [DAT](INFO): DAT read: 21:16:40.3971 LVL= 21600, 16305, 15650, 28963, AGC= 61, IDX= 423, 0.15, 1.445,-3.138,-2.504, 2.880, PHS=-1.347, 0.312, 0.896, RAW= 255.4, 1.4, CAL= 259.1, 2.4, ROT= 250.9, -2.4
2025-06-11T21:16:39.596Z,1749676599.596 [DAT](INFO): got valid direction response:
21:16:40.3971 LVL= 21600, 16305, 15650, 28963, AGC= 61, IDX= 423, 0.15, 1.445,-3.138,-2.504, 2.880, PHS=-1.347, 0.312, 0.896, RAW= 255.4, 1.4, CAL= 259.1, 2.4, ROT= 250.9, -2.4
2025-06-11T21:16:39.597Z,1749676599.597 [DAT](INFO): DAT read: Bearing 250.9, -2.4 (Local)
2025-06-11T21:16:39.597Z,1749676599.597 [DAT](INFO): Local bearing/azimuth received:
Bearing 250.9, -2.4 (Local)
2025-06-11T21:16:39.599Z,1749676599.599 [DAT](INFO): DAT read: Range 10 to 50 : 93.3 m (Round-trip 124.5 ms) speed 0.0 m/s
2025-06-11T21:16:39.600Z,1749676599.600 [DAT](INFO): DAT read: user:833>
2025-06-11T21:16:39.601Z,1749676599.601 [DAT](INFO): DAT read: Tx time:21:16:41.5185
2025-06-11T21:16:39.601Z,1749676599.601 [DAT](INFO): Ping request sent.
2025-06-11T21:16:39.601Z,1749676599.601 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:39.601Z,1749676599.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:16:39.602Z,1749676599.602 [DAT](INFO): direction in FSK: [-0.326931,-0.944120,0.041876]
2025-06-11T21:16:39.602Z,1749676599.602 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:39.603Z,1749676599.603 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:39.610Z,1749676599.610 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:39.610Z,1749676599.610 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:39.841Z,1749676599.841 [DAT](INFO): DAT read: TxSync time:21:16:41.5177
2025-06-11T21:16:39.930Z,1749676599.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 93.300003 m,
deltaT: 3.528122 s,
deltaX: 0.300003 m,
approachRate: 0.085032 m/s,
rangeRepo size: 4
2025-06-11T21:16:39.937Z,1749676599.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.497101 m,
bearing: 86.057594 deg,
lat: 36.906748 deg,
lon: -122.115714 deg,
deltaT: 3.528122 s,
deltaX: 0.301109 m,
approachRate: 0.085345 m/s,
posRepo size: 4
2025-06-11T21:16:39.937Z,1749676599.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-06-11T21:16:39.944Z,1749676599.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.497101 m,
nav range: 91.955284 m,
bearing: 86.039145 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.382810 deg/s,
cmd heading: 81.023160 deg,
new cmd heading: 80.619105 deg.
2025-06-11T21:16:39.945Z,1749676599.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407069 target range: 92.497101 and range: 93.30 m.
2025-06-11T21:16:40.307Z,1749676600.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:40.310Z,1749676600.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-06-11T21:16:40.313Z,1749676600.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.497101 m,
nav range: 91.949776 m,
bearing: 85.863797 deg,
approach rate: -0.014459 m/s,
LOS rate: -0.460297 deg/s,
cmd heading: 80.619107 deg,
new cmd heading: 80.093048 deg.
2025-06-11T21:16:40.314Z,1749676600.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397887 target range: 92.497101 and range: 93.30 m.
2025-06-11T21:16:40.347Z,1749676600.347 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:40.347Z,1749676600.347 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:40.348Z,1749676600.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:40.597Z,1749676600.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995849
2025-06-11T21:16:40.742Z,1749676600.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-06-11T21:16:40.753Z,1749676600.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.497101 m,
nav range: 91.945602 m,
bearing: 85.691196 deg,
approach rate: -0.009703 m/s,
LOS rate: -0.401318 deg/s,
cmd heading: 80.093045 deg,
new cmd heading: 79.575234 deg.
2025-06-11T21:16:40.753Z,1749676600.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388850 target range: 92.497101 and range: 93.30 m.
2025-06-11T21:16:40.851Z,1749676600.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250566
2025-06-11T21:16:41.093Z,1749676601.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-06-11T21:16:41.095Z,1749676601.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.497101 m,
nav range: 91.936424 m,
bearing: 85.542346 deg,
approach rate: -0.026019 m/s,
LOS rate: -0.422015 deg/s,
cmd heading: 79.575235 deg,
new cmd heading: 79.128650 deg.
2025-06-11T21:16:41.096Z,1749676601.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381055 target range: 92.497101 and range: 93.30 m.
2025-06-11T21:16:41.101Z,1749676601.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499933
2025-06-11T21:16:41.353Z,1749676601.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751817
2025-06-11T21:16:41.527Z,1749676601.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-06-11T21:16:41.530Z,1749676601.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.497101 m,
nav range: 91.921379 m,
bearing: 85.361520 deg,
approach rate: -0.034628 m/s,
LOS rate: -0.416256 deg/s,
cmd heading: 79.128650 deg,
new cmd heading: 78.586099 deg.
2025-06-11T21:16:41.531Z,1749676601.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.371586 target range: 92.497101 and range: 93.30 m.
2025-06-11T21:16:41.606Z,1749676601.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004913
2025-06-11T21:16:41.857Z,1749676601.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255792
2025-06-11T21:16:41.913Z,1749676601.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-06-11T21:16:41.933Z,1749676601.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.497101 m,
nav range: 91.894333 m,
bearing: 85.204929 deg,
approach rate: -0.070066 m/s,
LOS rate: -0.405785 deg/s,
cmd heading: 78.586101 deg,
new cmd heading: 78.116200 deg.
2025-06-11T21:16:41.934Z,1749676601.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363385 target range: 92.497101 and range: 93.30 m.
2025-06-11T21:16:42.109Z,1749676602.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507841
2025-06-11T21:16:42.320Z,1749676602.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-06-11T21:16:42.323Z,1749676602.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.497101 m,
nav range: 91.859299 m,
bearing: 85.043111 deg,
approach rate: -0.086006 m/s,
LOS rate: -0.397401 deg/s,
cmd heading: 78.116197 deg,
new cmd heading: 77.630570 deg.
2025-06-11T21:16:42.328Z,1749676602.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354909 target range: 92.497101 and range: 93.30 m.
2025-06-11T21:16:42.363Z,1749676602.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762218
2025-06-11T21:16:42.613Z,1749676602.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011811
2025-06-11T21:16:42.733Z,1749676602.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:42.735Z,1749676602.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-06-11T21:16:42.738Z,1749676602.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.497101 m,
nav range: 91.812294 m,
bearing: 84.869002 deg,
approach rate: -0.113422 m/s,
LOS rate: -0.420337 deg/s,
cmd heading: 77.630571 deg,
new cmd heading: 77.107993 deg.
2025-06-11T21:16:42.739Z,1749676602.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345788 target range: 92.497101 and range: 93.30 m.
2025-06-11T21:16:42.865Z,1749676602.865 [DAT](INFO): DAT read: Rx Time:21:16:44.0473
2025-06-11T21:16:42.865Z,1749676602.865 [DAT](INFO): Rx dataTimestamp_ set to:1749676602.865072
2025-06-11T21:16:42.866Z,1749676602.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264999
2025-06-11T21:16:43.110Z,1749676603.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-06-11T21:16:43.113Z,1749676603.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.497101 m,
nav range: 91.764565 m,
bearing: 84.717264 deg,
approach rate: -0.127190 m/s,
LOS rate: -0.404564 deg/s,
cmd heading: 77.107993 deg,
new cmd heading: 76.652551 deg.
2025-06-11T21:16:43.114Z,1749676603.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337839 target range: 92.497101 and range: 93.30 m.
2025-06-11T21:16:43.117Z,1749676603.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516021
2025-06-11T21:16:43.383Z,1749676603.383 [DAT](INFO): DAT read: 21:16:44.0473 LVL= 18320, 14289, 10978, 22403, AGC= 62, IDX= 441,-0.01,-3.078,-1.994,-0.441,-1.857, PHS=-1.133,-0.090, 1.413, RAW= 234.1, -1.7, CAL= 234.6, -5.3, ROT= 275.4, 5.3
2025-06-11T21:16:43.384Z,1749676603.384 [DAT](INFO): got valid direction response:
21:16:44.0473 LVL= 18320, 14289, 10978, 22403, AGC= 62, IDX= 441,-0.01,-3.078,-1.994,-0.441,-1.857, PHS=-1.133,-0.090, 1.413, RAW= 234.1, -1.7, CAL= 234.6, -5.3, ROT= 275.4, 5.3
2025-06-11T21:16:43.385Z,1749676603.385 [DAT](INFO): DAT read: Bearing 275.4, 5.3 (Local)
2025-06-11T21:16:43.385Z,1749676603.385 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.4, 5.3 (Local)
2025-06-11T21:16:43.387Z,1749676603.387 [DAT](INFO): DAT read: Range 10 to 50 : 93.5 m (Round-trip 124.7 ms) speed 0.0 m/s
2025-06-11T21:16:43.388Z,1749676603.388 [DAT](INFO): DAT read: user:834>
2025-06-11T21:16:43.389Z,1749676603.389 [DAT](INFO): DAT read: Tx time:21:16:45.1685
2025-06-11T21:16:43.389Z,1749676603.389 [DAT](INFO): Ping request sent.
2025-06-11T21:16:43.389Z,1749676603.389 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:43.389Z,1749676603.389 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:16:43.390Z,1749676603.390 [DAT](INFO): direction in FSK: [0.093706,-0.991306,-0.092371]
2025-06-11T21:16:43.391Z,1749676603.391 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:43.391Z,1749676603.391 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:43.399Z,1749676603.399 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:43.401Z,1749676603.401 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:43.602Z,1749676603.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 93.500000 m,
deltaT: 3.779826 s,
deltaX: 0.199997 m,
approachRate: 0.052912 m/s,
rangeRepo size: 4
2025-06-11T21:16:43.609Z,1749676603.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.696381 m,
bearing: 93.769286 deg,
lat: 36.906748 deg,
lon: -122.115714 deg,
deltaT: 3.779826 s,
deltaX: 0.199280 m,
approachRate: 0.052722 m/s,
posRepo size: 4
2025-06-11T21:16:43.609Z,1749676603.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-06-11T21:16:43.616Z,1749676603.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.696381 m,
nav range: 91.692932 m,
bearing: 84.531217 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.404564 deg/s,
cmd heading: 76.652549 deg,
new cmd heading: 76.056268 deg.
2025-06-11T21:16:43.617Z,1749676603.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327432 target range: 92.696381 and range: 93.50 m.
2025-06-11T21:16:43.621Z,1749676603.621 [DAT](INFO): DAT read: TxSync time:21:16:45.1677
2025-06-11T21:16:43.935Z,1749676603.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-06-11T21:16:43.937Z,1749676603.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.696381 m,
nav range: 91.633797 m,
bearing: 84.393450 deg,
approach rate: -0.177543 m/s,
LOS rate: -0.413887 deg/s,
cmd heading: 76.056267 deg,
new cmd heading: 75.642706 deg.
2025-06-11T21:16:43.938Z,1749676603.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320214 target range: 92.696381 and range: 93.50 m.
2025-06-11T21:16:44.321Z,1749676604.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-06-11T21:16:44.323Z,1749676604.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.696381 m,
nav range: 91.561844 m,
bearing: 84.241577 deg,
approach rate: -0.186255 m/s,
LOS rate: -0.393442 deg/s,
cmd heading: 75.642706 deg,
new cmd heading: 75.186740 deg.
2025-06-11T21:16:44.341Z,1749676604.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312256 target range: 92.696381 and range: 93.50 m.
2025-06-11T21:16:44.751Z,1749676604.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:44.753Z,1749676604.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-06-11T21:16:44.756Z,1749676604.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.696381 m,
nav range: 91.464912 m,
bearing: 84.070969 deg,
approach rate: -0.224083 m/s,
LOS rate: -0.394822 deg/s,
cmd heading: 75.186743 deg,
new cmd heading: 74.674392 deg.
2025-06-11T21:16:44.757Z,1749676604.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.303314 target range: 92.696381 and range: 93.50 m.
2025-06-11T21:16:44.881Z,1749676604.881 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:44.881Z,1749676604.881 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:44.881Z,1749676604.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:45.133Z,1749676605.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744128
2025-06-11T21:16:45.143Z,1749676605.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-06-11T21:16:45.146Z,1749676605.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.696381 m,
nav range: 91.371384 m,
bearing: 83.918249 deg,
approach rate: -0.240081 m/s,
LOS rate: -0.392421 deg/s,
cmd heading: 74.674390 deg,
new cmd heading: 74.215771 deg.
2025-06-11T21:16:45.147Z,1749676605.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295310 target range: 92.696381 and range: 93.50 m.
2025-06-11T21:16:45.385Z,1749676605.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995791
2025-06-11T21:16:45.596Z,1749676605.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-06-11T21:16:45.599Z,1749676605.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.696381 m,
nav range: 91.250954 m,
bearing: 83.758765 deg,
approach rate: -0.268347 m/s,
LOS rate: -0.355838 deg/s,
cmd heading: 74.215770 deg,
new cmd heading: 73.736698 deg.
2025-06-11T21:16:45.608Z,1749676605.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286948 target range: 92.696381 and range: 93.50 m.
2025-06-11T21:16:45.637Z,1749676605.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247913
2025-06-11T21:16:45.889Z,1749676605.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499737
2025-06-11T21:16:45.948Z,1749676605.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-06-11T21:16:45.951Z,1749676605.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.696381 m,
nav range: 91.139877 m,
bearing: 83.620370 deg,
approach rate: -0.311834 m/s,
LOS rate: -0.389001 deg/s,
cmd heading: 73.736701 deg,
new cmd heading: 73.321018 deg.
2025-06-11T21:16:45.968Z,1749676605.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279693 target range: 92.696381 and range: 93.50 m.
2025-06-11T21:16:46.141Z,1749676606.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751825
2025-06-11T21:16:46.353Z,1749676606.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-06-11T21:16:46.356Z,1749676606.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.696381 m,
nav range: 91.014389 m,
bearing: 83.472874 deg,
approach rate: -0.309556 m/s,
LOS rate: -0.364348 deg/s,
cmd heading: 73.321015 deg,
new cmd heading: 72.877925 deg.
2025-06-11T21:16:46.357Z,1749676606.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271960 target range: 92.696381 and range: 93.50 m.
2025-06-11T21:16:46.393Z,1749676606.393 [DAT](INFO): DAT read: Rx Time:21:16:47.6966
2025-06-11T21:16:46.394Z,1749676606.394 [DAT](INFO): Rx dataTimestamp_ set to:1749676606.393497
2025-06-11T21:16:46.395Z,1749676606.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005616
2025-06-11T21:16:46.645Z,1749676606.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255898
2025-06-11T21:16:46.770Z,1749676606.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:46.772Z,1749676606.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-06-11T21:16:46.775Z,1749676606.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.696381 m,
nav range: 90.869713 m,
bearing: 83.319788 deg,
approach rate: -0.345681 m/s,
LOS rate: -0.366356 deg/s,
cmd heading: 72.877927 deg,
new cmd heading: 72.417950 deg.
2025-06-11T21:16:46.792Z,1749676606.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263932 target range: 92.696381 and range: 93.50 m.
2025-06-11T21:16:46.907Z,1749676606.907 [DAT](INFO): DAT read: 21:16:47.6966 LVL= 15168, 16561, 7874, 18867, AGC= 60, IDX= 434, 0.13, 1.027, 2.317,-2.674, 2.198, PHS=-1.083, 0.166, 1.409, RAW= 240.1, -4.6, CAL= 240.0, -11.6, ROT= 270.0, 11.6
2025-06-11T21:16:46.909Z,1749676606.909 [DAT](INFO): got valid direction response:
21:16:47.6966 LVL= 15168, 16561, 7874, 18867, AGC= 60, IDX= 434, 0.13, 1.027, 2.317,-2.674, 2.198, PHS=-1.083, 0.166, 1.409, RAW= 240.1, -4.6, CAL= 240.0, -11.6, ROT= 270.0, 11.6
2025-06-11T21:16:46.910Z,1749676606.910 [DAT](INFO): DAT read: Bearing 270.0, 11.6 (Local)
2025-06-11T21:16:46.910Z,1749676606.910 [DAT](INFO): Local bearing/azimuth received:
Bearing 270.0, 11.6 (Local)
2025-06-11T21:16:46.929Z,1749676606.929 [DAT](INFO): DAT read: Range 10 to 50 : 93.0 m (Round-trip 124.0 ms) speed 0.0 m/s
2025-06-11T21:16:46.930Z,1749676606.930 [DAT](INFO): DAT read: user:835>
2025-06-11T21:16:46.931Z,1749676606.931 [DAT](INFO): DAT read: Tx time:21:16:48.8185
2025-06-11T21:16:46.950Z,1749676606.950 [DAT](INFO): Ping request sent.
2025-06-11T21:16:46.950Z,1749676606.950 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:46.950Z,1749676606.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:16:46.951Z,1749676606.951 [DAT](INFO): direction in FSK: [0.000000,-0.979575,-0.201078]
2025-06-11T21:16:46.964Z,1749676606.964 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:46.964Z,1749676606.964 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:46.967Z,1749676606.967 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:46.967Z,1749676606.967 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:47.149Z,1749676607.149 [DAT](INFO): DAT read: TxSync time:21:16:48.8177
2025-06-11T21:16:47.177Z,1749676607.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 93.000000 m,
deltaT: 3.528650 s,
deltaX: -0.500000 m,
approachRate: -0.141697 m/s,
rangeRepo size: 4
2025-06-11T21:16:47.179Z,1749676607.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.201035 m,
bearing: 75.507425 deg,
lat: 36.906854 deg,
lon: -122.115738 deg,
deltaT: 3.528650 s,
deltaX: -0.495346 m,
approachRate: -0.140378 m/s,
posRepo size: 4
2025-06-11T21:16:47.179Z,1749676607.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:47.182Z,1749676607.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 90.790749 m,
bearing: 75.629086 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.366356 deg/s,
cmd heading: 72.417948 deg,
new cmd heading: 71.973891 deg.
2025-06-11T21:16:47.183Z,1749676607.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256181 target range: 92.201035 and range: 93.00 m.
2025-06-11T21:16:47.591Z,1749676607.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:47.594Z,1749676607.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 90.663879 m,
bearing: 75.466385 deg,
approach rate: -0.305658 m/s,
LOS rate: -0.392534 deg/s,
cmd heading: 71.973890 deg,
new cmd heading: 71.485116 deg.
2025-06-11T21:16:47.595Z,1749676607.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247651 target range: 92.201035 and range: 93.00 m.
2025-06-11T21:16:47.975Z,1749676607.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:47.978Z,1749676607.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 90.541817 m,
bearing: 75.318683 deg,
approach rate: -0.317556 m/s,
LOS rate: -0.384776 deg/s,
cmd heading: 71.485115 deg,
new cmd heading: 71.041421 deg.
2025-06-11T21:16:47.979Z,1749676607.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239907 target range: 92.201035 and range: 93.00 m.
2025-06-11T21:16:48.377Z,1749676608.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:48.380Z,1749676608.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 90.408829 m,
bearing: 75.165839 deg,
approach rate: -0.330893 m/s,
LOS rate: -0.380857 deg/s,
cmd heading: 71.041419 deg,
new cmd heading: 70.582223 deg.
2025-06-11T21:16:48.381Z,1749676608.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231892 target range: 92.201035 and range: 93.00 m.
2025-06-11T21:16:48.788Z,1749676608.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:48.791Z,1749676608.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:48.793Z,1749676608.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 90.273720 m,
bearing: 75.004032 deg,
approach rate: -0.326949 m/s,
LOS rate: -0.392140 deg/s,
cmd heading: 70.582225 deg,
new cmd heading: 70.096090 deg.
2025-06-11T21:16:48.794Z,1749676608.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223408 target range: 92.201035 and range: 93.00 m.
2025-06-11T21:16:48.914Z,1749676608.914 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:48.914Z,1749676608.914 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:48.915Z,1749676608.915 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:49.165Z,1749676609.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214751
2025-06-11T21:16:49.187Z,1749676609.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:49.190Z,1749676609.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 90.137749 m,
bearing: 74.850303 deg,
approach rate: -0.343065 m/s,
LOS rate: -0.388453 deg/s,
cmd heading: 70.096094 deg,
new cmd heading: 69.634223 deg.
2025-06-11T21:16:49.191Z,1749676609.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215346 target range: 92.201035 and range: 93.00 m.
2025-06-11T21:16:49.417Z,1749676609.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466785
2025-06-11T21:16:49.606Z,1749676609.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:49.609Z,1749676609.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 89.996101 m,
bearing: 74.686327 deg,
approach rate: -0.338101 m/s,
LOS rate: -0.392013 deg/s,
cmd heading: 69.634223 deg,
new cmd heading: 69.141533 deg.
2025-06-11T21:16:49.610Z,1749676609.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206747 target range: 92.201035 and range: 93.00 m.
2025-06-11T21:16:49.669Z,1749676609.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719275
2025-06-11T21:16:49.922Z,1749676609.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971142
2025-06-11T21:16:49.997Z,1749676609.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:50.001Z,1749676610.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 89.857758 m,
bearing: 74.535029 deg,
approach rate: -0.353510 m/s,
LOS rate: -0.387207 deg/s,
cmd heading: 69.141534 deg,
new cmd heading: 68.686951 deg.
2025-06-11T21:16:50.002Z,1749676610.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198813 target range: 92.201035 and range: 93.00 m.
2025-06-11T21:16:50.173Z,1749676610.173 [DAT](INFO): DAT read: Rx Time:21:16:51.3455
2025-06-11T21:16:50.173Z,1749676610.173 [DAT](INFO): Rx dataTimestamp_ set to:1749676610.173027
2025-06-11T21:16:50.174Z,1749676610.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223920
2025-06-11T21:16:50.407Z,1749676610.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:50.410Z,1749676610.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 89.713356 m,
bearing: 74.375870 deg,
approach rate: -0.351920 m/s,
LOS rate: -0.388510 deg/s,
cmd heading: 68.686950 deg,
new cmd heading: 68.208716 deg.
2025-06-11T21:16:50.411Z,1749676610.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190467 target range: 92.201035 and range: 93.00 m.
2025-06-11T21:16:50.425Z,1749676610.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474719
2025-06-11T21:16:50.679Z,1749676610.679 [DAT](INFO): DAT read: Range 10 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.3 m/s
2025-06-11T21:16:50.680Z,1749676610.680 [DAT](INFO): DAT read: user:836>
2025-06-11T21:16:50.681Z,1749676610.681 [DAT](INFO): DAT read: Tx time:21:16:52.4186
2025-06-11T21:16:50.681Z,1749676610.681 [DAT](INFO): Ping request sent.
2025-06-11T21:16:50.681Z,1749676610.681 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:50.682Z,1749676610.682 [DAT](INFO): DAT read: TxSync time:21:16:52.4178
2025-06-11T21:16:50.682Z,1749676610.682 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:16:50.682Z,1749676610.682 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:50.683Z,1749676610.683 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:50.842Z,1749676610.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:50.849Z,1749676610.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 92.000000 m,
deltaT: 3.780189 s,
deltaX: -1.000000 m,
approachRate: -0.264537 m/s,
rangeRepo size: 4
2025-06-11T21:16:50.849Z,1749676610.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:50.856Z,1749676610.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 89.560326 m,
bearing: 74.206427 deg,
approach rate: -0.350858 m/s,
LOS rate: -0.389151 deg/s,
cmd heading: 68.208714 deg,
new cmd heading: 67.699530 deg.
2025-06-11T21:16:50.857Z,1749676610.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181580 target range: 92.201035 and range: 92.00 m.
2025-06-11T21:16:50.929Z,1749676610.929 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:50.929Z,1749676610.929 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:50.930Z,1749676610.930 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:51.182Z,1749676611.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500850
2025-06-11T21:16:51.249Z,1749676611.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:51.257Z,1749676611.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 89.408272 m,
bearing: 74.047010 deg,
approach rate: -0.374967 m/s,
LOS rate: -0.393793 deg/s,
cmd heading: 67.699530 deg,
new cmd heading: 67.220478 deg.
2025-06-11T21:16:51.258Z,1749676611.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.173219 target range: 92.201035 and range: 92.00 m.
2025-06-11T21:16:51.433Z,1749676611.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751934
2025-06-11T21:16:51.649Z,1749676611.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:51.656Z,1749676611.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 89.269447 m,
bearing: 73.885300 deg,
approach rate: -0.347197 m/s,
LOS rate: -0.405060 deg/s,
cmd heading: 67.220475 deg,
new cmd heading: 66.734604 deg.
2025-06-11T21:16:51.657Z,1749676611.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.164739 target range: 92.201035 and range: 92.00 m.
2025-06-11T21:16:51.685Z,1749676611.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003865
2025-06-11T21:16:51.937Z,1749676611.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255845
2025-06-11T21:16:52.065Z,1749676612.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:52.068Z,1749676612.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 89.106461 m,
bearing: 73.705262 deg,
approach rate: -0.391362 m/s,
LOS rate: -0.433097 deg/s,
cmd heading: 66.734602 deg,
new cmd heading: 66.193516 deg.
2025-06-11T21:16:52.069Z,1749676612.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155295 target range: 92.201035 and range: 92.00 m.
2025-06-11T21:16:52.189Z,1749676612.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507886
2025-06-11T21:16:52.449Z,1749676612.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767863
2025-06-11T21:16:52.455Z,1749676612.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:52.466Z,1749676612.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 88.958267 m,
bearing: 73.550489 deg,
approach rate: -0.380148 m/s,
LOS rate: -0.397686 deg/s,
cmd heading: 66.193515 deg,
new cmd heading: 65.728434 deg.
2025-06-11T21:16:52.467Z,1749676612.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147178 target range: 92.201035 and range: 92.00 m.
2025-06-11T21:16:52.701Z,1749676612.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020101
2025-06-11T21:16:52.848Z,1749676612.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:52.850Z,1749676612.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:52.853Z,1749676612.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 88.813377 m,
bearing: 73.381705 deg,
approach rate: -0.366663 m/s,
LOS rate: -0.427826 deg/s,
cmd heading: 65.728434 deg,
new cmd heading: 65.221270 deg.
2025-06-11T21:16:52.854Z,1749676612.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138326 target range: 92.201035 and range: 92.00 m.
2025-06-11T21:16:52.953Z,1749676612.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271970
2025-06-11T21:16:53.205Z,1749676613.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523791
2025-06-11T21:16:53.227Z,1749676613.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:53.230Z,1749676613.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 88.671547 m,
bearing: 73.226010 deg,
approach rate: -0.376143 m/s,
LOS rate: -0.413572 deg/s,
cmd heading: 65.221271 deg,
new cmd heading: 64.753451 deg.
2025-06-11T21:16:53.231Z,1749676613.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130161 target range: 92.201035 and range: 92.00 m.
2025-06-11T21:16:53.457Z,1749676613.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775895
2025-06-11T21:16:53.659Z,1749676613.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:53.662Z,1749676613.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 88.513084 m,
bearing: 73.042775 deg,
approach rate: -0.366921 m/s,
LOS rate: -0.425041 deg/s,
cmd heading: 64.753451 deg,
new cmd heading: 64.202780 deg.
2025-06-11T21:16:53.663Z,1749676613.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120550 target range: 92.201035 and range: 92.00 m.
2025-06-11T21:16:53.713Z,1749676613.713 [DAT](INFO): DAT read: Rx Time:21:16:54.9438
2025-06-11T21:16:53.715Z,1749676613.715 [DAT](INFO): Rx dataTimestamp_ set to:1749676613.713794
2025-06-11T21:16:53.716Z,1749676613.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035329
2025-06-11T21:16:53.961Z,1749676613.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279751
2025-06-11T21:16:54.032Z,1749676614.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m.
2025-06-11T21:16:54.034Z,1749676614.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.201035 m,
nav range: 88.377220 m,
bearing: 72.884305 deg,
approach rate: -0.365030 m/s,
LOS rate: -0.426419 deg/s,
cmd heading: 64.202781 deg,
new cmd heading: 63.726652 deg.
2025-06-11T21:16:54.035Z,1749676614.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112240 target range: 92.201035 and range: 92.00 m.
2025-06-11T21:16:54.219Z,1749676614.219 [DAT](INFO): DAT read: 21:16:54.9438 LVL= 19696, 26321, 13426, 26515, AGC= 63, IDX= 420,-0.01, 0.753, 1.084, 2.952, 1.636, PHS=-0.795,-0.505, 1.313, RAW= 217.3, -0.1, CAL= 217.0, -6.1, ROT= 293.0, 6.1
2025-06-11T21:16:54.221Z,1749676614.221 [DAT](INFO): got valid direction response:
21:16:54.9438 LVL= 19696, 26321, 13426, 26515, AGC= 63, IDX= 420,-0.01, 0.753, 1.084, 2.952, 1.636, PHS=-0.795,-0.505, 1.313, RAW= 217.3, -0.1, CAL= 217.0, -6.1, ROT= 293.0, 6.1
2025-06-11T21:16:54.221Z,1749676614.221 [DAT](INFO): DAT read: Bearing 293.0, 6.1 (Local)
2025-06-11T21:16:54.222Z,1749676614.222 [DAT](INFO): Local bearing/azimuth received:
Bearing 293.0, 6.1 (Local)
2025-06-11T21:16:54.223Z,1749676614.223 [DAT](INFO): DAT read: Range 10 to 50 : 90.7 m (Round-trip 121.0 ms) speed 0.3 m/s
2025-06-11T21:16:54.257Z,1749676614.257 [DAT](INFO): DAT read: user:837>
2025-06-11T21:16:54.258Z,1749676614.258 [DAT](INFO): DAT read: Tx time:21:16:56.0686
2025-06-11T21:16:54.258Z,1749676614.258 [DAT](INFO): Ping request sent.
2025-06-11T21:16:54.259Z,1749676614.259 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:54.259Z,1749676614.259 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:16:54.264Z,1749676614.264 [DAT](INFO): direction in FSK: [0.388519,-0.915293,-0.106264]
2025-06-11T21:16:54.265Z,1749676614.265 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:54.265Z,1749676614.265 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:54.273Z,1749676614.273 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:54.274Z,1749676614.274 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:54.454Z,1749676614.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 90.699997 m,
deltaT: 3.535373 s,
deltaX: -1.300003 m,
approachRate: -0.367713 m/s,
rangeRepo size: 4
2025-06-11T21:16:54.456Z,1749676614.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 89.921173 m,
bearing: 68.784925 deg,
lat: 36.906854 deg,
lon: -122.115738 deg,
deltaT: 7.315562 s,
deltaX: -2.279861 m,
approachRate: -0.311645 m/s,
posRepo size: 4
2025-06-11T21:16:54.457Z,1749676614.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m.
2025-06-11T21:16:54.459Z,1749676614.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.921173 m,
nav range: 88.217781 m,
bearing: 72.719903 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.426419 deg/s,
cmd heading: 63.726655 deg,
new cmd heading: 63.187036 deg.
2025-06-11T21:16:54.465Z,1749676614.465 [DAT](INFO): DAT read: TxSync time:21:16:56.0678
2025-06-11T21:16:54.467Z,1749676614.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.102822 target range: 89.921173 and range: 90.70 m.
2025-06-11T21:16:54.845Z,1749676614.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m.
2025-06-11T21:16:54.847Z,1749676614.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.921173 m,
nav range: 88.060188 m,
bearing: 72.544258 deg,
approach rate: -0.402732 m/s,
LOS rate: -0.449667 deg/s,
cmd heading: 63.187036 deg,
new cmd heading: 62.659174 deg.
2025-06-11T21:16:54.848Z,1749676614.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093609 target range: 89.921173 and range: 90.70 m.
2025-06-11T21:16:55.332Z,1749676615.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:55.334Z,1749676615.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m.
2025-06-11T21:16:55.337Z,1749676615.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.921173 m,
nav range: 87.866791 m,
bearing: 72.339631 deg,
approach rate: -0.394955 m/s,
LOS rate: -0.418806 deg/s,
cmd heading: 62.659172 deg,
new cmd heading: 62.043965 deg.
2025-06-11T21:16:55.338Z,1749676615.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082871 target range: 89.921173 and range: 90.70 m.
2025-06-11T21:16:55.472Z,1749676615.472 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:55.473Z,1749676615.473 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:55.473Z,1749676615.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:55.725Z,1749676615.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466203
2025-06-11T21:16:55.726Z,1749676615.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m.
2025-06-11T21:16:55.733Z,1749676615.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.921173 m,
nav range: 87.729462 m,
bearing: 72.188020 deg,
approach rate: -0.356056 m/s,
LOS rate: -0.393702 deg/s,
cmd heading: 62.043963 deg,
new cmd heading: 61.588426 deg.
2025-06-11T21:16:55.734Z,1749676615.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074921 target range: 89.921173 and range: 90.70 m.
2025-06-11T21:16:55.977Z,1749676615.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718138
2025-06-11T21:16:56.051Z,1749676616.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m.
2025-06-11T21:16:56.055Z,1749676616.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.921173 m,
nav range: 87.577034 m,
bearing: 72.037875 deg,
approach rate: -0.460135 m/s,
LOS rate: -0.454033 deg/s,
cmd heading: 61.588424 deg,
new cmd heading: 61.137215 deg.
2025-06-11T21:16:56.056Z,1749676616.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.067046 target range: 89.921173 and range: 90.70 m.
2025-06-11T21:16:56.229Z,1749676616.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970202
2025-06-11T21:16:56.464Z,1749676616.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m.
2025-06-11T21:16:56.467Z,1749676616.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.921173 m,
nav range: 87.407616 m,
bearing: 71.869683 deg,
approach rate: -0.410586 m/s,
LOS rate: -0.408402 deg/s,
cmd heading: 61.137215 deg,
new cmd heading: 60.631675 deg.
2025-06-11T21:16:56.469Z,1749676616.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.058222 target range: 89.921173 and range: 90.70 m.
2025-06-11T21:16:56.481Z,1749676616.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222251
2025-06-11T21:16:56.733Z,1749676616.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474146
2025-06-11T21:16:56.915Z,1749676616.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m.
2025-06-11T21:16:56.923Z,1749676616.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.921173 m,
nav range: 87.211876 m,
bearing: 71.700913 deg,
approach rate: -0.434629 m/s,
LOS rate: -0.375585 deg/s,
cmd heading: 60.631678 deg,
new cmd heading: 60.124247 deg.
2025-06-11T21:16:56.929Z,1749676616.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.049366 target range: 89.921173 and range: 90.70 m.
2025-06-11T21:16:56.986Z,1749676616.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727034
2025-06-11T21:16:57.237Z,1749676617.237 [DAT](INFO): DAT read: Rx Time:21:16:58.5917
2025-06-11T21:16:57.237Z,1749676617.237 [DAT](INFO): Rx dataTimestamp_ set to:1749676617.237173
2025-06-11T21:16:57.238Z,1749676617.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979391
2025-06-11T21:16:57.282Z,1749676617.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m.
2025-06-11T21:16:57.285Z,1749676617.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.921173 m,
nav range: 87.015137 m,
bearing: 71.539606 deg,
approach rate: -0.535252 m/s,
LOS rate: -0.439847 deg/s,
cmd heading: 60.124250 deg,
new cmd heading: 59.639245 deg.
2025-06-11T21:16:57.286Z,1749676617.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.040901 target range: 89.921173 and range: 90.70 m.
2025-06-11T21:16:57.489Z,1749676617.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230395
2025-06-11T21:16:57.762Z,1749676617.762 [DAT](INFO): DAT read: 21:16:58.5917 LVL= 23136, 27249, 13666, 29635, AGC= 61, IDX= 415, 0.15,-1.500,-1.740, 0.182,-0.924, PHS=-0.487,-0.768, 1.104, RAW= 202.0, 1.8, CAL= 201.9, -5.6, ROT= 308.1, 5.6
2025-06-11T21:16:57.763Z,1749676617.763 [DAT](INFO): got valid direction response:
21:16:58.5917 LVL= 23136, 27249, 13666, 29635, AGC= 61, IDX= 415, 0.15,-1.500,-1.740, 0.182,-0.924, PHS=-0.487,-0.768, 1.104, RAW= 202.0, 1.8, CAL= 201.9, -5.6, ROT= 308.1, 5.6
2025-06-11T21:16:57.772Z,1749676617.772 [DAT](INFO): DAT read: Bearing 308.1, 5.6 (Local)
2025-06-11T21:16:57.772Z,1749676617.772 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.1, 5.6 (Local)
2025-06-11T21:16:57.774Z,1749676617.774 [DAT](INFO): DAT read: Range 10 to 50 : 89.2 m (Round-trip 119.0 ms) speed 0.4 m/s
2025-06-11T21:16:57.775Z,1749676617.775 [DAT](INFO): DAT read: user:838>
2025-06-11T21:16:57.784Z,1749676617.784 [DAT](INFO): DAT read: Tx time:21:16:59.6686
2025-06-11T21:16:57.784Z,1749676617.784 [DAT](INFO): Ping request sent.
2025-06-11T21:16:57.784Z,1749676617.784 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:16:57.785Z,1749676617.785 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:16:57.786Z,1749676617.786 [DAT](INFO): direction in FSK: [0.614091,-0.783179,-0.097583]
2025-06-11T21:16:57.786Z,1749676617.786 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:57.786Z,1749676617.786 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:57.798Z,1749676617.798 [DAT](INFO): publishing transmit ping time
2025-06-11T21:16:57.799Z,1749676617.799 [DAT](INFO): publishing direction and range info
2025-06-11T21:16:57.828Z,1749676617.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 89.199997 m,
deltaT: 3.529315 s,
deltaX: -1.500000 m,
approachRate: -0.425012 m/s,
rangeRepo size: 4
2025-06-11T21:16:57.830Z,1749676617.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 88.433990 m,
bearing: 69.435318 deg,
lat: 36.906854 deg,
lon: -122.115738 deg,
deltaT: 3.529315 s,
deltaX: -1.487183 m,
approachRate: -0.421380 m/s,
posRepo size: 4
2025-06-11T21:16:57.831Z,1749676617.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:16:57.838Z,1749676617.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 86.809319 m,
bearing: 71.365548 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.439847 deg/s,
cmd heading: 59.639245 deg,
new cmd heading: 58.950623 deg.
2025-06-11T21:16:57.839Z,1749676617.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028883 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:16:57.993Z,1749676617.993 [DAT](INFO): DAT read: TxSync time:21:16:59.6678
2025-06-11T21:16:58.111Z,1749676618.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:16:58.118Z,1749676618.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 86.653244 m,
bearing: 71.252666 deg,
approach rate: -0.507447 m/s,
LOS rate: -0.367678 deg/s,
cmd heading: 58.950625 deg,
new cmd heading: 58.611371 deg.
2025-06-11T21:16:58.119Z,1749676618.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022961 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:16:58.480Z,1749676618.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:16:58.482Z,1749676618.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:16:58.485Z,1749676618.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 86.441704 m,
bearing: 71.098624 deg,
approach rate: -0.570923 m/s,
LOS rate: -0.416757 deg/s,
cmd heading: 58.611370 deg,
new cmd heading: 58.148125 deg.
2025-06-11T21:16:58.486Z,1749676618.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.014876 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:16:58.497Z,1749676618.497 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:16:58.497Z,1749676618.497 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:16:58.497Z,1749676618.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:16:58.749Z,1749676618.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.964544
2025-06-11T21:16:58.907Z,1749676618.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:16:58.912Z,1749676618.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 86.193047 m,
bearing: 70.953860 deg,
approach rate: -0.585315 m/s,
LOS rate: -0.341745 deg/s,
cmd heading: 58.148126 deg,
new cmd heading: 57.712587 deg.
2025-06-11T21:16:58.914Z,1749676618.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007275 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:16:59.002Z,1749676619.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217604
2025-06-11T21:16:59.253Z,1749676619.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468691
2025-06-11T21:16:59.279Z,1749676619.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:16:59.283Z,1749676619.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 85.965385 m,
bearing: 70.827283 deg,
approach rate: -0.610840 m/s,
LOS rate: -0.340518 deg/s,
cmd heading: 57.712585 deg,
new cmd heading: 57.331855 deg.
2025-06-11T21:16:59.284Z,1749676619.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000630 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:16:59.505Z,1749676619.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720565
2025-06-11T21:16:59.750Z,1749676619.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:16:59.753Z,1749676619.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 85.667679 m,
bearing: 70.674062 deg,
approach rate: -0.633174 m/s,
LOS rate: -0.327009 deg/s,
cmd heading: 57.331857 deg,
new cmd heading: 56.870606 deg.
2025-06-11T21:16:59.753Z,1749676619.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992579 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:16:59.757Z,1749676619.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972695
2025-06-11T21:17:00.009Z,1749676620.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224573
2025-06-11T21:17:00.085Z,1749676620.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:17:00.088Z,1749676620.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 85.451073 m,
bearing: 70.567895 deg,
approach rate: -0.645285 m/s,
LOS rate: -0.317079 deg/s,
cmd heading: 56.870607 deg,
new cmd heading: 56.551304 deg.
2025-06-11T21:17:00.089Z,1749676620.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987006 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:17:00.262Z,1749676620.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477571
2025-06-11T21:17:00.494Z,1749676620.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:00.500Z,1749676620.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:17:00.503Z,1749676620.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 85.192238 m,
bearing: 70.447114 deg,
approach rate: -0.630051 m/s,
LOS rate: -0.294896 deg/s,
cmd heading: 56.551303 deg,
new cmd heading: 56.187864 deg.
2025-06-11T21:17:00.508Z,1749676620.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980663 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:17:00.513Z,1749676620.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728737
2025-06-11T21:17:00.765Z,1749676620.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980642
2025-06-11T21:17:00.940Z,1749676620.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:17:00.943Z,1749676620.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 84.894859 m,
bearing: 70.324903 deg,
approach rate: -0.676603 m/s,
LOS rate: -0.279031 deg/s,
cmd heading: 56.187865 deg,
new cmd heading: 55.819953 deg.
2025-06-11T21:17:00.949Z,1749676620.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974242 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:17:01.018Z,1749676621.018 [DAT](INFO): DAT read: Rx Time:21:17:02.1892
2025-06-11T21:17:01.018Z,1749676621.018 [DAT](INFO): Rx dataTimestamp_ set to:1749676621.017933
2025-06-11T21:17:01.019Z,1749676621.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234918
2025-06-11T21:17:01.269Z,1749676621.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484484
2025-06-11T21:17:01.367Z,1749676621.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.43 m.
2025-06-11T21:17:01.374Z,1749676621.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 88.433990 m,
nav range: 84.611534 m,
bearing: 70.207515 deg,
approach rate: -0.656989 m/s,
LOS rate: -0.273117 deg/s,
cmd heading: 55.819953 deg,
new cmd heading: 55.466614 deg.
2025-06-11T21:17:01.375Z,1749676621.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968075 target range: 88.433990 and range: 89.20 m.
2025-06-11T21:17:01.531Z,1749676621.531 [DAT](INFO): DAT read: 21:17:02.1892 LVL= 31648, 30865, 19058, 32755, AGC= 68, IDX= 421,-0.41, 1.116, 0.320, 2.355, 1.476, PHS=-0.271,-1.108, 0.877, RAW= 185.2, 5.9, CAL= 185.1, -3.0, ROT= 324.9, 3.0
2025-06-11T21:17:01.532Z,1749676621.532 [DAT](INFO): got valid direction response:
21:17:02.1892 LVL= 31648, 30865, 19058, 32755, AGC= 68, IDX= 421,-0.41, 1.116, 0.320, 2.355, 1.476, PHS=-0.271,-1.108, 0.877, RAW= 185.2, 5.9, CAL= 185.1, -3.0, ROT= 324.9, 3.0
2025-06-11T21:17:01.533Z,1749676621.533 [DAT](INFO): DAT read: Bearing 324.9, 3.0 (Local)
2025-06-11T21:17:01.533Z,1749676621.533 [DAT](INFO): Local bearing/azimuth received:
Bearing 324.9, 3.0 (Local)
2025-06-11T21:17:01.535Z,1749676621.535 [DAT](INFO): DAT read: Range 10 to 50 : 87.3 m (Round-trip 116.5 ms) speed 0.4 m/s
2025-06-11T21:17:01.540Z,1749676621.540 [DAT](INFO): DAT read: user:839>
2025-06-11T21:17:01.541Z,1749676621.541 [DAT](INFO): DAT read: Tx time:21:17:03.2686
2025-06-11T21:17:01.541Z,1749676621.541 [DAT](INFO): Ping request sent.
2025-06-11T21:17:01.541Z,1749676621.541 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:01.542Z,1749676621.542 [DAT](INFO): DAT read: TxSync time:21:17:03.2678
2025-06-11T21:17:01.543Z,1749676621.543 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:01.544Z,1749676621.544 [DAT](INFO): direction in FSK: [0.817028,-0.574217,-0.052336]
2025-06-11T21:17:01.544Z,1749676621.544 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:01.544Z,1749676621.544 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:01.547Z,1749676621.547 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:01.547Z,1749676621.547 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:01.815Z,1749676621.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 87.300003 m,
deltaT: 3.778543 s,
deltaX: -1.899994 m,
approachRate: -0.502838 m/s,
rangeRepo size: 4
2025-06-11T21:17:01.822Z,1749676621.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 86.551025 m,
bearing: 71.101470 deg,
lat: 36.906881 deg,
lon: -122.115738 deg,
deltaT: 3.778543 s,
deltaX: -1.882965 m,
approachRate: -0.498331 m/s,
posRepo size: 4
2025-06-11T21:17:01.822Z,1749676621.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.55 m.
2025-06-11T21:17:01.829Z,1749676621.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.551025 m,
nav range: 85.329651 m,
bearing: 68.177661 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.273117 deg/s,
cmd heading: 55.466614 deg,
new cmd heading: 55.099550 deg.
2025-06-11T21:17:01.830Z,1749676621.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961669 target range: 86.551025 and range: 87.30 m.
2025-06-11T21:17:02.125Z,1749676622.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.55 m.
2025-06-11T21:17:02.127Z,1749676622.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.551025 m,
nav range: 85.112869 m,
bearing: 68.098004 deg,
approach rate: -0.699996 m/s,
LOS rate: -0.257871 deg/s,
cmd heading: 55.099549 deg,
new cmd heading: 54.859971 deg.
2025-06-11T21:17:02.128Z,1749676622.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957487 target range: 86.551025 and range: 87.30 m.
2025-06-11T21:17:02.505Z,1749676622.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:02.507Z,1749676622.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.55 m.
2025-06-11T21:17:02.511Z,1749676622.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.551025 m,
nav range: 84.820068 m,
bearing: 67.995937 deg,
approach rate: -0.764871 m/s,
LOS rate: -0.267546 deg/s,
cmd heading: 54.859970 deg,
new cmd heading: 54.552714 deg.
2025-06-11T21:17:02.512Z,1749676622.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952124 target range: 86.551025 and range: 87.30 m.
2025-06-11T21:17:02.530Z,1749676622.530 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:02.530Z,1749676622.530 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:02.530Z,1749676622.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:02.781Z,1749676622.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239349
2025-06-11T21:17:02.812Z,1749676622.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:17:02.965Z,1749676622.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.55 m.
2025-06-11T21:17:02.972Z,1749676622.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.551025 m,
nav range: 84.502190 m,
bearing: 67.891214 deg,
approach rate: -0.694917 m/s,
LOS rate: -0.229798 deg/s,
cmd heading: 54.552714 deg,
new cmd heading: 54.237365 deg.
2025-06-11T21:17:02.973Z,1749676622.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.946621 target range: 86.551025 and range: 87.30 m.
2025-06-11T21:17:03.034Z,1749676623.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492316
2025-06-11T21:17:03.285Z,1749676623.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743286
2025-06-11T21:17:03.325Z,1749676623.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.55 m.
2025-06-11T21:17:03.328Z,1749676623.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.551025 m,
nav range: 84.216980 m,
bearing: 67.803305 deg,
approach rate: -0.791917 m/s,
LOS rate: -0.244916 deg/s,
cmd heading: 54.237364 deg,
new cmd heading: 53.972746 deg.
2025-06-11T21:17:03.329Z,1749676623.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.942002 target range: 86.551025 and range: 87.30 m.
2025-06-11T21:17:03.537Z,1749676623.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995577
2025-06-11T21:17:03.783Z,1749676623.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.55 m.
2025-06-11T21:17:03.789Z,1749676623.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247493
2025-06-11T21:17:03.791Z,1749676623.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.551025 m,
nav range: 83.879196 m,
bearing: 67.705932 deg,
approach rate: -0.737329 m/s,
LOS rate: -0.213404 deg/s,
cmd heading: 53.972746 deg,
new cmd heading: 53.679455 deg.
2025-06-11T21:17:03.797Z,1749676623.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.936883 target range: 86.551025 and range: 87.30 m.
2025-06-11T21:17:03.816Z,1749676623.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:17:04.041Z,1749676624.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499232
2025-06-11T21:17:04.148Z,1749676624.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.55 m.
2025-06-11T21:17:04.150Z,1749676624.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.551025 m,
nav range: 83.594124 m,
bearing: 67.621144 deg,
approach rate: -0.781984 m/s,
LOS rate: -0.233376 deg/s,
cmd heading: 53.679454 deg,
new cmd heading: 53.424224 deg.
2025-06-11T21:17:04.151Z,1749676624.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.932429 target range: 86.551025 and range: 87.30 m.
2025-06-11T21:17:04.293Z,1749676624.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751345
2025-06-11T21:17:04.521Z,1749676624.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:04.523Z,1749676624.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.55 m.
2025-06-11T21:17:04.525Z,1749676624.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.551025 m,
nav range: 83.301239 m,
bearing: 67.546011 deg,
approach rate: -0.780885 m/s,
LOS rate: -0.201022 deg/s,
cmd heading: 53.424223 deg,
new cmd heading: 53.198034 deg.
2025-06-11T21:17:04.526Z,1749676624.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928481 target range: 86.551025 and range: 87.30 m.
2025-06-11T21:17:04.545Z,1749676624.545 [DAT](INFO): DAT read: Rx Time:21:17:05.7860
2025-06-11T21:17:04.546Z,1749676624.546 [DAT](INFO): Rx dataTimestamp_ set to:1749676624.545597
2025-06-11T21:17:04.546Z,1749676624.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005007
2025-06-11T21:17:04.797Z,1749676624.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255271
2025-06-11T21:17:05.007Z,1749676625.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.55 m.
2025-06-11T21:17:05.022Z,1749676625.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 86.551025 m,
nav range: 82.940056 m,
bearing: 67.445292 deg,
approach rate: -0.745558 m/s,
LOS rate: -0.208811 deg/s,
cmd heading: 53.198035 deg,
new cmd heading: 52.894563 deg.
2025-06-11T21:17:05.023Z,1749676625.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.923184 target range: 86.551025 and range: 87.30 m.
2025-06-11T21:17:05.058Z,1749676625.058 [DAT](INFO): DAT read: 21:17:05.7860 LVL= 29024, 29345, 21746, 32755, AGC= 66, IDX= 403, 0.39,-3.061, 2.411,-1.871,-2.894, PHS=-0.079,-0.931, 1.020, RAW= 184.2, -0.1, CAL= 184.4, -7.8, ROT= 325.6, 7.8
2025-06-11T21:17:05.059Z,1749676625.059 [DAT](INFO): got valid direction response:
21:17:05.7860 LVL= 29024, 29345, 21746, 32755, AGC= 66, IDX= 403, 0.39,-3.061, 2.411,-1.871,-2.894, PHS=-0.079,-0.931, 1.020, RAW= 184.2, -0.1, CAL= 184.4, -7.8, ROT= 325.6, 7.8
2025-06-11T21:17:05.060Z,1749676625.060 [DAT](INFO): DAT read: Bearing 325.6, 7.8 (Local)
2025-06-11T21:17:05.061Z,1749676625.061 [DAT](INFO): Local bearing/azimuth received:
Bearing 325.6, 7.8 (Local)
2025-06-11T21:17:05.062Z,1749676625.062 [DAT](INFO): DAT read: Range 10 to 50 : 84.8 m (Round-trip 113.1 ms) speed 0.7 m/s
2025-06-11T21:17:05.063Z,1749676625.063 [DAT](INFO): DAT read: user:840>
2025-06-11T21:17:05.065Z,1749676625.065 [DAT](INFO): DAT read: Tx time:21:17:06.8687
2025-06-11T21:17:05.065Z,1749676625.065 [DAT](INFO): Ping request sent.
2025-06-11T21:17:05.065Z,1749676625.065 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:05.066Z,1749676625.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:05.067Z,1749676625.067 [DAT](INFO): direction in FSK: [0.817479,-0.559740,-0.135716]
2025-06-11T21:17:05.076Z,1749676625.076 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:05.076Z,1749676625.076 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:05.093Z,1749676625.093 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:05.093Z,1749676625.093 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:05.301Z,1749676625.301 [DAT](INFO): DAT read: TxSync time:21:17:06.8679
2025-06-11T21:17:05.424Z,1749676625.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 84.800003 m,
deltaT: 3.530315 s,
deltaX: -2.500000 m,
approachRate: -0.708152 m/s,
rangeRepo size: 4
2025-06-11T21:17:05.426Z,1749676625.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 84.072426 m,
bearing: 58.285296 deg,
lat: 36.906882 deg,
lon: -122.115738 deg,
deltaT: 3.530315 s,
deltaX: -2.478600 m,
approachRate: -0.702090 m/s,
posRepo size: 4
2025-06-11T21:17:05.427Z,1749676625.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.07 m.
2025-06-11T21:17:05.433Z,1749676625.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.072426 m,
nav range: 82.687126 m,
bearing: 67.296864 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.208811 deg/s,
cmd heading: 52.894563 deg,
new cmd heading: 52.636439 deg.
2025-06-11T21:17:05.434Z,1749676625.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.918679 target range: 84.072426 and range: 84.80 m.
2025-06-11T21:17:05.870Z,1749676625.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.07 m.
2025-06-11T21:17:05.877Z,1749676625.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.072426 m,
nav range: 82.355392 m,
bearing: 67.205018 deg,
approach rate: -0.735338 m/s,
LOS rate: -0.204411 deg/s,
cmd heading: 52.636440 deg,
new cmd heading: 52.359793 deg.
2025-06-11T21:17:05.878Z,1749676625.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.913851 target range: 84.072426 and range: 84.80 m.
2025-06-11T21:17:06.161Z,1749676626.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.07 m.
2025-06-11T21:17:06.163Z,1749676626.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.072426 m,
nav range: 82.129868 m,
bearing: 67.146918 deg,
approach rate: -0.776649 m/s,
LOS rate: -0.200630 deg/s,
cmd heading: 52.359793 deg,
new cmd heading: 52.185016 deg.
2025-06-11T21:17:06.165Z,1749676626.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910800 target range: 84.072426 and range: 84.80 m.
2025-06-11T21:17:06.570Z,1749676626.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:06.572Z,1749676626.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.07 m.
2025-06-11T21:17:06.575Z,1749676626.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.072426 m,
nav range: 81.833969 m,
bearing: 67.076131 deg,
approach rate: -0.719218 m/s,
LOS rate: -0.172678 deg/s,
cmd heading: 52.185015 deg,
new cmd heading: 51.971888 deg.
2025-06-11T21:17:06.576Z,1749676626.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907081 target range: 84.072426 and range: 84.80 m.
2025-06-11T21:17:06.813Z,1749676626.813 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:06.813Z,1749676626.813 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:06.813Z,1749676626.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:07.022Z,1749676627.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.07 m.
2025-06-11T21:17:07.029Z,1749676627.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.072426 m,
nav range: 81.526291 m,
bearing: 66.993865 deg,
approach rate: -0.684427 m/s,
LOS rate: -0.183691 deg/s,
cmd heading: 51.971890 deg,
new cmd heading: 51.724161 deg.
2025-06-11T21:17:07.030Z,1749676627.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902757 target range: 84.072426 and range: 84.80 m.
2025-06-11T21:17:07.065Z,1749676627.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999443
2025-06-11T21:17:07.317Z,1749676627.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251281
2025-06-11T21:17:07.365Z,1749676627.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.07 m.
2025-06-11T21:17:07.367Z,1749676627.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.072426 m,
nav range: 81.263763 m,
bearing: 66.929141 deg,
approach rate: -0.765058 m/s,
LOS rate: -0.189228 deg/s,
cmd heading: 51.724162 deg,
new cmd heading: 51.529363 deg.
2025-06-11T21:17:07.369Z,1749676627.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899357 target range: 84.072426 and range: 84.80 m.
2025-06-11T21:17:07.569Z,1749676627.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503375
2025-06-11T21:17:07.823Z,1749676627.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757214
2025-06-11T21:17:07.828Z,1749676627.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.07 m.
2025-06-11T21:17:07.830Z,1749676627.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.072426 m,
nav range: 80.961838 m,
bearing: 66.860810 deg,
approach rate: -0.657892 m/s,
LOS rate: -0.149448 deg/s,
cmd heading: 51.529365 deg,
new cmd heading: 51.323608 deg.
2025-06-11T21:17:07.831Z,1749676627.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895766 target range: 84.072426 and range: 84.80 m.
2025-06-11T21:17:08.073Z,1749676628.073 [DAT](INFO): DAT read: Rx Time:21:17:09.3828
2025-06-11T21:17:08.074Z,1749676628.074 [DAT](INFO): Rx dataTimestamp_ set to:1749676628.073239
2025-06-11T21:17:08.074Z,1749676628.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008654
2025-06-11T21:17:08.179Z,1749676628.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.07 m.
2025-06-11T21:17:08.181Z,1749676628.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.072426 m,
nav range: 80.667755 m,
bearing: 66.786808 deg,
approach rate: -0.828773 m/s,
LOS rate: -0.209309 deg/s,
cmd heading: 51.323609 deg,
new cmd heading: 51.100796 deg.
2025-06-11T21:17:08.182Z,1749676628.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.891877 target range: 84.072426 and range: 84.80 m.
2025-06-11T21:17:08.325Z,1749676628.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259351
2025-06-11T21:17:08.583Z,1749676628.583 [DAT](INFO): DAT read: 21:17:09.3828 LVL= 27472, 32753, 14946, 32755, AGC= 67, IDX= 402,-0.27, 0.914,-0.088, 1.554, 0.838, PHS= 0.163,-0.879, 0.713, RAW= 169.9, 0.0, CAL= 171.1, -8.2, ROT= 338.9, 8.2
2025-06-11T21:17:08.584Z,1749676628.584 [DAT](INFO): got valid direction response:
21:17:09.3828 LVL= 27472, 32753, 14946, 32755, AGC= 67, IDX= 402,-0.27, 0.914,-0.088, 1.554, 0.838, PHS= 0.163,-0.879, 0.713, RAW= 169.9, 0.0, CAL= 171.1, -8.2, ROT= 338.9, 8.2
2025-06-11T21:17:08.585Z,1749676628.585 [DAT](INFO): DAT read: Bearing 338.9, 8.2 (Local)
2025-06-11T21:17:08.585Z,1749676628.585 [DAT](INFO): Local bearing/azimuth received:
Bearing 338.9, 8.2 (Local)
2025-06-11T21:17:08.587Z,1749676628.587 [DAT](INFO): DAT read: Range 10 to 50 : 82.4 m (Round-trip 109.9 ms) speed 0.8 m/s
2025-06-11T21:17:08.588Z,1749676628.588 [DAT](INFO): DAT read: user:841>
2025-06-11T21:17:08.588Z,1749676628.588 [DAT](INFO): DAT read: Tx time:21:17:10.4687
2025-06-11T21:17:08.589Z,1749676628.589 [DAT](INFO): Ping request sent.
2025-06-11T21:17:08.589Z,1749676628.589 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:08.589Z,1749676628.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:08.590Z,1749676628.590 [DAT](INFO): direction in FSK: [0.923415,-0.356316,-0.142629]
2025-06-11T21:17:08.590Z,1749676628.590 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:08.591Z,1749676628.591 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:08.594Z,1749676628.594 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:08.594Z,1749676628.594 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:08.615Z,1749676628.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.400002 m,
deltaT: 3.525766 s,
deltaX: -2.400002 m,
approachRate: -0.680704 m/s,
rangeRepo size: 4
2025-06-11T21:17:08.617Z,1749676628.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.692062 m,
bearing: 59.018436 deg,
lat: 36.906882 deg,
lon: -122.115738 deg,
deltaT: 3.525766 s,
deltaX: -2.380363 m,
approachRate: -0.675134 m/s,
posRepo size: 4
2025-06-11T21:17:08.618Z,1749676628.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:08.649Z,1749676628.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 80.359764 m,
bearing: 66.715511 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.209309 deg/s,
cmd heading: 51.100795 deg,
new cmd heading: 50.827120 deg.
2025-06-11T21:17:08.650Z,1749676628.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887101 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:08.829Z,1749676628.829 [DAT](INFO): DAT read: TxSync time:21:17:10.4679
2025-06-11T21:17:09.022Z,1749676629.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:09.024Z,1749676629.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:09.027Z,1749676629.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 80.077133 m,
bearing: 66.640964 deg,
approach rate: -0.690169 m/s,
LOS rate: -0.182680 deg/s,
cmd heading: 50.827119 deg,
new cmd heading: 50.602692 deg.
2025-06-11T21:17:09.032Z,1749676629.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883184 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:09.081Z,1749676629.081 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:09.081Z,1749676629.081 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:09.082Z,1749676629.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:09.333Z,1749676629.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743917
2025-06-11T21:17:09.383Z,1749676629.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:09.386Z,1749676629.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 79.817886 m,
bearing: 66.577468 deg,
approach rate: -0.721654 m/s,
LOS rate: -0.177327 deg/s,
cmd heading: 50.602693 deg,
new cmd heading: 50.411585 deg.
2025-06-11T21:17:09.387Z,1749676629.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.879848 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:09.585Z,1749676629.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995948
2025-06-11T21:17:09.784Z,1749676629.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:09.813Z,1749676629.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 79.533798 m,
bearing: 66.514057 deg,
approach rate: -0.710876 m/s,
LOS rate: -0.159239 deg/s,
cmd heading: 50.411584 deg,
new cmd heading: 50.220674 deg.
2025-06-11T21:17:09.821Z,1749676629.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876516 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:09.842Z,1749676629.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250411
2025-06-11T21:17:10.089Z,1749676630.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499933
2025-06-11T21:17:10.196Z,1749676630.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:10.199Z,1749676630.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 79.254349 m,
bearing: 66.441528 deg,
approach rate: -0.675558 m/s,
LOS rate: -0.175954 deg/s,
cmd heading: 50.220673 deg,
new cmd heading: 50.002321 deg.
2025-06-11T21:17:10.200Z,1749676630.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872705 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:10.341Z,1749676630.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751971
2025-06-11T21:17:10.580Z,1749676630.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:10.583Z,1749676630.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 78.991982 m,
bearing: 66.378758 deg,
approach rate: -0.684116 m/s,
LOS rate: -0.164216 deg/s,
cmd heading: 50.002319 deg,
new cmd heading: 49.813383 deg.
2025-06-11T21:17:10.584Z,1749676630.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869408 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:10.601Z,1749676630.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012049
2025-06-11T21:17:10.854Z,1749676630.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265004
2025-06-11T21:17:11.014Z,1749676631.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:11.017Z,1749676631.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 78.697121 m,
bearing: 66.306930 deg,
approach rate: -0.679132 m/s,
LOS rate: -0.166057 deg/s,
cmd heading: 49.813382 deg,
new cmd heading: 49.597090 deg.
2025-06-11T21:17:11.018Z,1749676631.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865633 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:11.106Z,1749676631.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516410
2025-06-11T21:17:11.357Z,1749676631.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767869
2025-06-11T21:17:11.395Z,1749676631.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:11.397Z,1749676631.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:11.399Z,1749676631.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 78.434837 m,
bearing: 66.247973 deg,
approach rate: -0.685323 m/s,
LOS rate: -0.154563 deg/s,
cmd heading: 49.597091 deg,
new cmd heading: 49.419631 deg.
2025-06-11T21:17:11.401Z,1749676631.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862535 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:11.609Z,1749676631.609 [DAT](INFO): DAT read: Rx Time:21:17:12.9791
2025-06-11T21:17:11.609Z,1749676631.609 [DAT](INFO): Rx dataTimestamp_ set to:1749676631.609016
2025-06-11T21:17:11.610Z,1749676631.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021056
2025-06-11T21:17:11.835Z,1749676631.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:11.858Z,1749676631.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 78.149445 m,
bearing: 66.189135 deg,
approach rate: -0.653358 m/s,
LOS rate: -0.135193 deg/s,
cmd heading: 49.419632 deg,
new cmd heading: 49.242473 deg.
2025-06-11T21:17:11.863Z,1749676631.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274222
2025-06-11T21:17:11.871Z,1749676631.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.859443 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:12.116Z,1749676632.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526576
2025-06-11T21:17:12.228Z,1749676632.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.69 m.
2025-06-11T21:17:12.231Z,1749676632.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.692062 m,
nav range: 77.857849 m,
bearing: 66.123553 deg,
approach rate: -0.738633 m/s,
LOS rate: -0.166744 deg/s,
cmd heading: 49.242474 deg,
new cmd heading: 49.044995 deg.
2025-06-11T21:17:12.248Z,1749676632.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.855997 target range: 81.692062 and range: 82.40 m.
2025-06-11T21:17:12.371Z,1749676632.371 [DAT](INFO): DAT read: 21:17:12.9791 LVL= 22208, 24849, 18994, 30323, AGC= 69, IDX= 397,-0.04,-0.930,-2.183,-0.870,-1.391, PHS= 0.549,-0.745, 0.517, RAW= 148.8, -5.1, CAL= 153.7, -13.7, ROT= 356.3, 13.7
2025-06-11T21:17:12.372Z,1749676632.372 [DAT](INFO): got valid direction response:
21:17:12.9791 LVL= 22208, 24849, 18994, 30323, AGC= 69, IDX= 397,-0.04,-0.930,-2.183,-0.870,-1.391, PHS= 0.549,-0.745, 0.517, RAW= 148.8, -5.1, CAL= 153.7, -13.7, ROT= 356.3, 13.7
2025-06-11T21:17:12.373Z,1749676632.373 [DAT](INFO): DAT read: Bearing 356.3, 13.7 (Local)
2025-06-11T21:17:12.374Z,1749676632.374 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.3, 13.7 (Local)
2025-06-11T21:17:12.375Z,1749676632.375 [DAT](INFO): DAT read: Range 10 to 50 : 79.7 m (Round-trip 106.3 ms) speed 0.7 m/s
2025-06-11T21:17:12.376Z,1749676632.376 [DAT](INFO): DAT read: user:842>
2025-06-11T21:17:12.377Z,1749676632.377 [DAT](INFO): DAT read: Tx time:21:17:14.0687
2025-06-11T21:17:12.377Z,1749676632.377 [DAT](INFO): Ping request sent.
2025-06-11T21:17:12.377Z,1749676632.377 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:12.378Z,1749676632.378 [DAT](INFO): DAT read: TxSync time:21:17:14.0679
2025-06-11T21:17:12.378Z,1749676632.378 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:12.379Z,1749676632.379 [DAT](INFO): direction in FSK: [0.969524,-0.062697,-0.236838]
2025-06-11T21:17:12.380Z,1749676632.380 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:12.380Z,1749676632.380 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:12.383Z,1749676632.383 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:12.384Z,1749676632.384 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:12.638Z,1749676632.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.699997 m,
deltaT: 3.787911 s,
deltaX: -2.700005 m,
approachRate: -0.712795 m/s,
rangeRepo size: 4
2025-06-11T21:17:12.640Z,1749676632.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 79.016479 m,
bearing: 64.238902 deg,
lat: 36.906900 deg,
lon: -122.115754 deg,
deltaT: 3.787911 s,
deltaX: -2.675583 m,
approachRate: -0.706348 m/s,
posRepo size: 4
2025-06-11T21:17:12.641Z,1749676632.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:17:12.643Z,1749676632.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.016479 m,
nav range: 77.090416 m,
bearing: 64.238622 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.166744 deg/s,
cmd heading: 49.044996 deg,
new cmd heading: 48.840574 deg.
2025-06-11T21:17:12.644Z,1749676632.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.852429 target range: 79.016479 and range: 79.70 m.
2025-06-11T21:17:13.061Z,1749676633.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:17:13.063Z,1749676633.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.016479 m,
nav range: 76.805748 m,
bearing: 64.184175 deg,
approach rate: -0.672252 m/s,
LOS rate: -0.129055 deg/s,
cmd heading: 48.840576 deg,
new cmd heading: 48.676629 deg.
2025-06-11T21:17:13.068Z,1749676633.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.849567 target range: 79.016479 and range: 79.70 m.
2025-06-11T21:17:13.406Z,1749676633.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:13.420Z,1749676633.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:17:13.423Z,1749676633.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.016479 m,
nav range: 76.539078 m,
bearing: 64.138161 deg,
approach rate: -0.740926 m/s,
LOS rate: -0.128293 deg/s,
cmd heading: 48.676631 deg,
new cmd heading: 48.538107 deg.
2025-06-11T21:17:13.428Z,1749676633.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847150 target range: 79.016479 and range: 79.70 m.
2025-06-11T21:17:13.625Z,1749676633.625 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:13.625Z,1749676633.625 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:13.625Z,1749676633.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:13.819Z,1749676633.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:17:13.822Z,1749676633.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.016479 m,
nav range: 76.246399 m,
bearing: 64.092585 deg,
approach rate: -0.733895 m/s,
LOS rate: -0.114721 deg/s,
cmd heading: 48.538108 deg,
new cmd heading: 48.400856 deg.
2025-06-11T21:17:13.823Z,1749676633.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844754 target range: 79.016479 and range: 79.70 m.
2025-06-11T21:17:13.879Z,1749676633.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501531
2025-06-11T21:17:14.129Z,1749676634.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751365
2025-06-11T21:17:14.250Z,1749676634.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:17:14.252Z,1749676634.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.016479 m,
nav range: 75.930305 m,
bearing: 64.052903 deg,
approach rate: -0.734529 m/s,
LOS rate: -0.092595 deg/s,
cmd heading: 48.400855 deg,
new cmd heading: 48.281315 deg.
2025-06-11T21:17:14.253Z,1749676634.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.842668 target range: 79.016479 and range: 79.70 m.
2025-06-11T21:17:14.381Z,1749676634.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003493
2025-06-11T21:17:14.635Z,1749676634.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257527
2025-06-11T21:17:14.638Z,1749676634.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:17:14.641Z,1749676634.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.016479 m,
nav range: 75.647758 m,
bearing: 64.023070 deg,
approach rate: -0.726592 m/s,
LOS rate: -0.077006 deg/s,
cmd heading: 48.281313 deg,
new cmd heading: 48.191478 deg.
2025-06-11T21:17:14.642Z,1749676634.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841100 target range: 79.016479 and range: 79.70 m.
2025-06-11T21:17:14.888Z,1749676634.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510037
2025-06-11T21:17:15.058Z,1749676635.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:17:15.061Z,1749676635.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.016479 m,
nav range: 75.327515 m,
bearing: 64.004267 deg,
approach rate: -0.762912 m/s,
LOS rate: -0.044985 deg/s,
cmd heading: 48.191479 deg,
new cmd heading: 48.134829 deg.
2025-06-11T21:17:15.062Z,1749676635.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840111 target range: 79.016479 and range: 79.70 m.
2025-06-11T21:17:15.137Z,1749676635.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759776
2025-06-11T21:17:15.389Z,1749676635.389 [DAT](INFO): DAT read: Rx Time:21:17:16.5757
2025-06-11T21:17:15.389Z,1749676635.389 [DAT](INFO): Rx dataTimestamp_ set to:1749676635.389030
2025-06-11T21:17:15.390Z,1749676635.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012483
2025-06-11T21:17:15.466Z,1749676635.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:15.473Z,1749676635.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:17:15.475Z,1749676635.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.016479 m,
nav range: 75.024872 m,
bearing: 63.992353 deg,
approach rate: -0.730074 m/s,
LOS rate: -0.028857 deg/s,
cmd heading: 48.134829 deg,
new cmd heading: 48.098943 deg.
2025-06-11T21:17:15.484Z,1749676635.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839485 target range: 79.016479 and range: 79.70 m.
2025-06-11T21:17:15.641Z,1749676635.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263744
2025-06-11T21:17:15.855Z,1749676635.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-06-11T21:17:15.861Z,1749676635.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.016479 m,
nav range: 74.739464 m,
bearing: 63.992007 deg,
approach rate: -0.748121 m/s,
LOS rate: -0.000910 deg/s,
cmd heading: 48.098943 deg,
new cmd heading: 48.097902 deg.
2025-06-11T21:17:15.862Z,1749676635.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839467 target range: 79.016479 and range: 79.70 m.
2025-06-11T21:17:15.914Z,1749676635.914 [DAT](INFO): DAT read: 21:17:16.5757 LVL= 28208, 30097, 32322, 32755, AGC= 69, IDX= 409,-0.21,-1.607, 3.082,-2.122,-2.204, PHS= 0.685,-0.950, 0.079, RAW= 128.5, 2.6, CAL= 135.2, -4.5, ROT= 14.8, 4.5
2025-06-11T21:17:15.918Z,1749676635.918 [DAT](INFO): got valid direction response:
21:17:16.5757 LVL= 28208, 30097, 32322, 32755, AGC= 69, IDX= 409,-0.21,-1.607, 3.082,-2.122,-2.204, PHS= 0.685,-0.950, 0.079, RAW= 128.5, 2.6, CAL= 135.2, -4.5, ROT= 14.8, 4.5
2025-06-11T21:17:15.921Z,1749676635.921 [DAT](INFO): DAT read: Bearing 14.8, 4.5 (Local)
2025-06-11T21:17:15.922Z,1749676635.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.8, 4.5 (Local)
2025-06-11T21:17:15.945Z,1749676635.945 [DAT](INFO): DAT read: Range 10 to 50 : 77.1 m (Round-trip 102.8 ms) speed 0.5 m/s
2025-06-11T21:17:15.946Z,1749676635.946 [DAT](INFO): DAT read: user:843>
2025-06-11T21:17:15.946Z,1749676635.946 [DAT](INFO): DAT read: Tx time:21:17:17.6688
2025-06-11T21:17:15.947Z,1749676635.947 [DAT](INFO): Ping request sent.
2025-06-11T21:17:15.947Z,1749676635.947 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:15.953Z,1749676635.953 [DAT](INFO): DAT read: TxSync time:21:17:17.6680
2025-06-11T21:17:15.954Z,1749676635.954 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:15.960Z,1749676635.960 [DAT](INFO): direction in FSK: [0.963843,0.254658,-0.078459]
2025-06-11T21:17:15.961Z,1749676635.961 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:15.961Z,1749676635.961 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:15.995Z,1749676635.995 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:15.998Z,1749676635.998 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:16.336Z,1749676636.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 77.099998 m,
deltaT: 3.529183 s,
deltaX: -2.599998 m,
approachRate: -0.736714 m/s,
rangeRepo size: 4
2025-06-11T21:17:16.338Z,1749676636.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.437485 m,
bearing: 65.136438 deg,
lat: 36.906900 deg,
lon: -122.115754 deg,
deltaT: 3.529183 s,
deltaX: -2.578995 m,
approachRate: -0.730763 m/s,
posRepo size: 4
2025-06-11T21:17:16.339Z,1749676636.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.44 m.
2025-06-11T21:17:16.346Z,1749676636.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.437485 m,
nav range: 74.380737 m,
bearing: 64.004759 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000910 deg/s,
cmd heading: 48.097902 deg,
new cmd heading: 48.096600 deg.
2025-06-11T21:17:16.347Z,1749676636.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839444 target range: 76.437485 and range: 77.10 m.
2025-06-11T21:17:16.642Z,1749676636.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.44 m.
2025-06-11T21:17:16.645Z,1749676636.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.437485 m,
nav range: 74.124855 m,
bearing: 64.017916 deg,
approach rate: -0.823368 m/s,
LOS rate: 0.042485 deg/s,
cmd heading: 48.096601 deg,
new cmd heading: 48.136210 deg.
2025-06-11T21:17:16.646Z,1749676636.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840135 target range: 76.437485 and range: 77.10 m.
2025-06-11T21:17:17.094Z,1749676637.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.44 m.
2025-06-11T21:17:17.098Z,1749676637.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.437485 m,
nav range: 73.789925 m,
bearing: 64.039895 deg,
approach rate: -0.741820 m/s,
LOS rate: 0.048900 deg/s,
cmd heading: 48.136209 deg,
new cmd heading: 48.202444 deg.
2025-06-11T21:17:17.099Z,1749676637.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841291 target range: 76.437485 and range: 77.10 m.
2025-06-11T21:17:17.450Z,1749676637.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.44 m.
2025-06-11T21:17:17.453Z,1749676637.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.437485 m,
nav range: 73.486977 m,
bearing: 64.063924 deg,
approach rate: -0.850715 m/s,
LOS rate: 0.067756 deg/s,
cmd heading: 48.202445 deg,
new cmd heading: 48.274831 deg.
2025-06-11T21:17:17.454Z,1749676637.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.842555 target range: 76.437485 and range: 77.10 m.
2025-06-11T21:17:17.858Z,1749676637.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:17.880Z,1749676637.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.44 m.
2025-06-11T21:17:17.883Z,1749676637.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.437485 m,
nav range: 73.164131 m,
bearing: 64.093409 deg,
approach rate: -0.749888 m/s,
LOS rate: 0.068789 deg/s,
cmd heading: 48.274831 deg,
new cmd heading: 48.363677 deg.
2025-06-11T21:17:17.890Z,1749676637.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844105 target range: 76.437485 and range: 77.10 m.
2025-06-11T21:17:17.911Z,1749676637.911 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:17.911Z,1749676637.911 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:17.915Z,1749676637.915 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:18.161Z,1749676638.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213860
2025-06-11T21:17:18.298Z,1749676638.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.44 m.
2025-06-11T21:17:18.301Z,1749676638.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.437485 m,
nav range: 72.816750 m,
bearing: 64.131086 deg,
approach rate: -0.832458 m/s,
LOS rate: 0.090718 deg/s,
cmd heading: 48.363678 deg,
new cmd heading: 48.477247 deg.
2025-06-11T21:17:18.302Z,1749676638.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.846088 target range: 76.437485 and range: 77.10 m.
2025-06-11T21:17:18.418Z,1749676638.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470718
2025-06-11T21:17:18.669Z,1749676638.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722214
2025-06-11T21:17:18.674Z,1749676638.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.44 m.
2025-06-11T21:17:18.677Z,1749676638.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.437485 m,
nav range: 72.520355 m,
bearing: 64.165829 deg,
approach rate: -0.788155 m/s,
LOS rate: 0.092764 deg/s,
cmd heading: 48.477247 deg,
new cmd heading: 48.581902 deg.
2025-06-11T21:17:18.678Z,1749676638.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847914 target range: 76.437485 and range: 77.10 m.
2025-06-11T21:17:18.923Z,1749676638.923 [DAT](INFO): DAT read: Rx Time:21:17:20.1722
2025-06-11T21:17:18.925Z,1749676638.925 [DAT](INFO): Rx dataTimestamp_ set to:1749676638.923978
2025-06-11T21:17:18.927Z,1749676638.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979280
2025-06-11T21:17:19.155Z,1749676639.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.44 m.
2025-06-11T21:17:19.158Z,1749676639.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.437485 m,
nav range: 72.135300 m,
bearing: 64.211060 deg,
approach rate: -0.799743 m/s,
LOS rate: 0.094445 deg/s,
cmd heading: 48.581903 deg,
new cmd heading: 48.718320 deg.
2025-06-11T21:17:19.159Z,1749676639.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850295 target range: 76.437485 and range: 77.10 m.
2025-06-11T21:17:19.173Z,1749676639.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225828
2025-06-11T21:17:19.431Z,1749676639.431 [DAT](INFO): DAT read: 21:17:20.1722 LVL= 30192, 32753, 31490, 32755, AGC= 68, IDX= 405, 0.08,-2.703, 2.194, 2.855, 3.016, PHS= 0.652,-0.776,-0.164, RAW= 115.3, 4.7, CAL= 125.5, 1.1, ROT= 24.5, -1.1
2025-06-11T21:17:19.432Z,1749676639.432 [DAT](INFO): got valid direction response:
21:17:20.1722 LVL= 30192, 32753, 31490, 32755, AGC= 68, IDX= 405, 0.08,-2.703, 2.194, 2.855, 3.016, PHS= 0.652,-0.776,-0.164, RAW= 115.3, 4.7, CAL= 125.5, 1.1, ROT= 24.5, -1.1
2025-06-11T21:17:19.433Z,1749676639.433 [DAT](INFO): DAT read: Bearing 24.5, -1.1 (Local)
2025-06-11T21:17:19.433Z,1749676639.433 [DAT](INFO): Local bearing/azimuth received:
Bearing 24.5, -1.1 (Local)
2025-06-11T21:17:19.435Z,1749676639.435 [DAT](INFO): DAT read: Range 10 to 50 : 74.4 m (Round-trip 99.3 ms) speed 0.7 m/s
2025-06-11T21:17:19.435Z,1749676639.435 [DAT](INFO): DAT read: user:844>
2025-06-11T21:17:19.469Z,1749676639.469 [DAT](INFO): DAT read: Tx time:21:17:21.2688
2025-06-11T21:17:19.469Z,1749676639.469 [DAT](INFO): Ping request sent.
2025-06-11T21:17:19.469Z,1749676639.469 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:19.469Z,1749676639.469 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:19.470Z,1749676639.470 [DAT](INFO): direction in FSK: [0.909794,0.414617,0.019197]
2025-06-11T21:17:19.471Z,1749676639.471 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:19.471Z,1749676639.471 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:19.474Z,1749676639.474 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:19.474Z,1749676639.474 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:19.563Z,1749676639.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 74.400002 m,
deltaT: 3.530838 s,
deltaX: -2.699997 m,
approachRate: -0.764690 m/s,
rangeRepo size: 4
2025-06-11T21:17:19.573Z,1749676639.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 73.760010 m,
bearing: 68.855765 deg,
lat: 36.906900 deg,
lon: -122.115754 deg,
deltaT: 3.530838 s,
deltaX: -2.677475 m,
approachRate: -0.758311 m/s,
posRepo size: 4
2025-06-11T21:17:19.574Z,1749676639.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T21:17:19.580Z,1749676639.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760010 m,
nav range: 71.825089 m,
bearing: 64.250804 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.094445 deg/s,
cmd heading: 48.718319 deg,
new cmd heading: 48.833545 deg.
2025-06-11T21:17:19.581Z,1749676639.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.852306 target range: 73.760010 and range: 74.40 m.
2025-06-11T21:17:19.677Z,1749676639.677 [DAT](INFO): DAT read: TxSync time:21:17:21.2680
2025-06-11T21:17:20.005Z,1749676640.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:20.007Z,1749676640.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T21:17:20.015Z,1749676640.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760010 m,
nav range: 71.526169 m,
bearing: 64.289771 deg,
approach rate: -0.670842 m/s,
LOS rate: 0.087815 deg/s,
cmd heading: 48.833544 deg,
new cmd heading: 48.950932 deg.
2025-06-11T21:17:20.020Z,1749676640.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.854355 target range: 73.760010 and range: 74.40 m.
2025-06-11T21:17:20.181Z,1749676640.181 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:20.181Z,1749676640.181 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:20.181Z,1749676640.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:20.312Z,1749676640.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T21:17:20.315Z,1749676640.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760010 m,
nav range: 71.215340 m,
bearing: 64.326459 deg,
approach rate: -1.021470 m/s,
LOS rate: 0.121095 deg/s,
cmd heading: 48.950931 deg,
new cmd heading: 49.061477 deg.
2025-06-11T21:17:20.316Z,1749676640.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856284 target range: 73.760010 and range: 74.40 m.
2025-06-11T21:17:20.434Z,1749676640.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.965289
2025-06-11T21:17:20.683Z,1749676640.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T21:17:20.685Z,1749676640.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215850
2025-06-11T21:17:20.687Z,1749676640.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760010 m,
nav range: 70.919930 m,
bearing: 64.361185 deg,
approach rate: -0.795636 m/s,
LOS rate: 0.093916 deg/s,
cmd heading: 49.061478 deg,
new cmd heading: 49.166087 deg.
2025-06-11T21:17:20.689Z,1749676640.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858110 target range: 73.760010 and range: 74.40 m.
2025-06-11T21:17:20.940Z,1749676640.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469949
2025-06-11T21:17:21.110Z,1749676641.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T21:17:21.113Z,1749676641.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760010 m,
nav range: 70.582634 m,
bearing: 64.398436 deg,
approach rate: -0.789727 m/s,
LOS rate: 0.087635 deg/s,
cmd heading: 49.166089 deg,
new cmd heading: 49.278377 deg.
2025-06-11T21:17:21.114Z,1749676641.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.860070 target range: 73.760010 and range: 74.40 m.
2025-06-11T21:17:21.189Z,1749676641.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720041
2025-06-11T21:17:21.441Z,1749676641.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971705
2025-06-11T21:17:21.557Z,1749676641.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T21:17:21.560Z,1749676641.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760010 m,
nav range: 70.229530 m,
bearing: 64.436776 deg,
approach rate: -0.790178 m/s,
LOS rate: 0.086229 deg/s,
cmd heading: 49.278377 deg,
new cmd heading: 49.393976 deg.
2025-06-11T21:17:21.561Z,1749676641.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862087 target range: 73.760010 and range: 74.40 m.
2025-06-11T21:17:21.693Z,1749676641.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223693
2025-06-11T21:17:21.901Z,1749676641.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T21:17:21.903Z,1749676641.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760010 m,
nav range: 69.958672 m,
bearing: 64.465158 deg,
approach rate: -0.788129 m/s,
LOS rate: 0.082905 deg/s,
cmd heading: 49.393975 deg,
new cmd heading: 49.479451 deg.
2025-06-11T21:17:21.920Z,1749676641.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.863579 target range: 73.760010 and range: 74.40 m.
2025-06-11T21:17:21.948Z,1749676641.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478561
2025-06-11T21:17:22.197Z,1749676642.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727704
2025-06-11T21:17:22.348Z,1749676642.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:22.350Z,1749676642.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T21:17:22.353Z,1749676642.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760010 m,
nav range: 69.610321 m,
bearing: 64.492523 deg,
approach rate: -0.775776 m/s,
LOS rate: 0.061246 deg/s,
cmd heading: 49.479451 deg,
new cmd heading: 49.561956 deg.
2025-06-11T21:17:22.354Z,1749676642.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865019 target range: 73.760010 and range: 74.40 m.
2025-06-11T21:17:22.449Z,1749676642.449 [DAT](INFO): DAT read: Rx Time:21:17:23.7684
2025-06-11T21:17:22.450Z,1749676642.450 [DAT](INFO): Rx dataTimestamp_ set to:1749676642.449319
2025-06-11T21:17:22.450Z,1749676642.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981192
2025-06-11T21:17:22.701Z,1749676642.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231663
2025-06-11T21:17:22.727Z,1749676642.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.76 m.
2025-06-11T21:17:22.730Z,1749676642.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 73.760010 m,
nav range: 69.318039 m,
bearing: 64.513877 deg,
approach rate: -0.774873 m/s,
LOS rate: 0.056851 deg/s,
cmd heading: 49.561956 deg,
new cmd heading: 49.626288 deg.
2025-06-11T21:17:22.731Z,1749676642.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.866142 target range: 73.760010 and range: 74.40 m.
2025-06-11T21:17:22.961Z,1749676642.961 [DAT](INFO): DAT read: 21:17:23.7684 LVL= 30016, 32753, 32754, 32755, AGC= 70, IDX= 398, 0.09, 2.489, 1.137, 1.741, 1.897, PHS= 0.680,-0.713,-0.158, RAW= 113.3, 3.2, CAL= 124.0, -0.5, ROT= 26.0, 0.5
2025-06-11T21:17:22.964Z,1749676642.964 [DAT](INFO): got valid direction response:
21:17:23.7684 LVL= 30016, 32753, 32754, 32755, AGC= 70, IDX= 398, 0.09, 2.489, 1.137, 1.741, 1.897, PHS= 0.680,-0.713,-0.158, RAW= 113.3, 3.2, CAL= 124.0, -0.5, ROT= 26.0, 0.5
2025-06-11T21:17:22.967Z,1749676642.967 [DAT](INFO): DAT read: Bearing 26.0, 0.5 (Local)
2025-06-11T21:17:22.985Z,1749676642.985 [DAT](INFO): Local bearing/azimuth received:
Bearing 26.0, 0.5 (Local)
2025-06-11T21:17:22.994Z,1749676642.994 [DAT](INFO): DAT read: Range 10 to 50 : 71.6 m (Round-trip 95.5 ms) speed 0.7 m/s
2025-06-11T21:17:23.001Z,1749676643.001 [DAT](INFO): DAT read: user:845>
2025-06-11T21:17:23.003Z,1749676643.003 [DAT](INFO): DAT read: Tx time:21:17:24.8688
2025-06-11T21:17:23.009Z,1749676643.009 [DAT](INFO): Ping request sent.
2025-06-11T21:17:23.010Z,1749676643.010 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:23.011Z,1749676643.011 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:23.019Z,1749676643.019 [DAT](INFO): direction in FSK: [0.898760,0.438354,-0.008727]
2025-06-11T21:17:23.040Z,1749676643.040 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:23.040Z,1749676643.040 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:23.043Z,1749676643.043 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:23.043Z,1749676643.043 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:23.205Z,1749676643.205 [DAT](INFO): DAT read: TxSync time:21:17:24.8680
2025-06-11T21:17:23.242Z,1749676643.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.599998 m,
deltaT: 3.528045 s,
deltaX: -2.800003 m,
approachRate: -0.793642 m/s,
rangeRepo size: 4
2025-06-11T21:17:23.249Z,1749676643.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 70.984215 m,
bearing: 72.016711 deg,
lat: 36.906895 deg,
lon: -122.115727 deg,
deltaT: 3.528045 s,
deltaX: -2.775795 m,
approachRate: -0.786780 m/s,
posRepo size: 4
2025-06-11T21:17:23.249Z,1749676643.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:23.256Z,1749676643.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 70.923820 m,
bearing: 65.742758 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.056851 deg/s,
cmd heading: 49.626290 deg,
new cmd heading: 49.714057 deg.
2025-06-11T21:17:23.257Z,1749676643.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867674 target range: 70.984215 and range: 71.60 m.
2025-06-11T21:17:23.562Z,1749676643.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:23.565Z,1749676643.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 70.670776 m,
bearing: 65.760640 deg,
approach rate: -0.789756 m/s,
LOS rate: 0.056010 deg/s,
cmd heading: 49.714058 deg,
new cmd heading: 49.767895 deg.
2025-06-11T21:17:23.566Z,1749676643.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868614 target range: 70.984215 and range: 71.60 m.
2025-06-11T21:17:23.982Z,1749676643.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:23.985Z,1749676643.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 70.353935 m,
bearing: 65.781510 deg,
approach rate: -0.754837 m/s,
LOS rate: 0.049945 deg/s,
cmd heading: 49.767897 deg,
new cmd heading: 49.830790 deg.
2025-06-11T21:17:23.986Z,1749676643.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869711 target range: 70.984215 and range: 71.60 m.
2025-06-11T21:17:24.417Z,1749676644.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:24.419Z,1749676644.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:24.421Z,1749676644.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 70.025513 m,
bearing: 65.799995 deg,
approach rate: -0.751577 m/s,
LOS rate: 0.042501 deg/s,
cmd heading: 49.830789 deg,
new cmd heading: 49.886505 deg.
2025-06-11T21:17:24.422Z,1749676644.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870684 target range: 70.984215 and range: 71.60 m.
2025-06-11T21:17:24.465Z,1749676644.465 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:24.465Z,1749676644.465 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:24.466Z,1749676644.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:24.717Z,1749676644.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.707769
2025-06-11T21:17:24.794Z,1749676644.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:24.798Z,1749676644.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 69.745880 m,
bearing: 65.814803 deg,
approach rate: -0.744264 m/s,
LOS rate: 0.039571 deg/s,
cmd heading: 49.886506 deg,
new cmd heading: 49.931109 deg.
2025-06-11T21:17:24.801Z,1749676644.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871462 target range: 70.984215 and range: 71.60 m.
2025-06-11T21:17:24.969Z,1749676644.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959821
2025-06-11T21:17:25.221Z,1749676645.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211876
2025-06-11T21:17:25.228Z,1749676645.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:25.231Z,1749676645.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 69.445023 m,
bearing: 65.826596 deg,
approach rate: -0.700687 m/s,
LOS rate: 0.027583 deg/s,
cmd heading: 49.931111 deg,
new cmd heading: 49.966641 deg.
2025-06-11T21:17:25.236Z,1749676645.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872082 target range: 70.984215 and range: 71.60 m.
2025-06-11T21:17:25.473Z,1749676645.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463838
2025-06-11T21:17:25.594Z,1749676645.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:25.597Z,1749676645.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 69.162231 m,
bearing: 65.836772 deg,
approach rate: -0.764385 m/s,
LOS rate: 0.027619 deg/s,
cmd heading: 49.966642 deg,
new cmd heading: 49.997295 deg.
2025-06-11T21:17:25.598Z,1749676645.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872617 target range: 70.984215 and range: 71.60 m.
2025-06-11T21:17:25.728Z,1749676645.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719129
2025-06-11T21:17:25.978Z,1749676645.978 [DAT](INFO): DAT read: Rx Time:21:17:27.3647
2025-06-11T21:17:25.978Z,1749676645.978 [DAT](INFO): Rx dataTimestamp_ set to:1749676645.977791
2025-06-11T21:17:25.979Z,1749676645.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969651
2025-06-11T21:17:26.107Z,1749676646.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:26.110Z,1749676646.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 68.814461 m,
bearing: 65.849401 deg,
approach rate: -0.677719 m/s,
LOS rate: 0.024735 deg/s,
cmd heading: 49.997295 deg,
new cmd heading: 50.035374 deg.
2025-06-11T21:17:26.111Z,1749676646.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873282 target range: 70.984215 and range: 71.60 m.
2025-06-11T21:17:26.230Z,1749676646.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220854
2025-06-11T21:17:26.439Z,1749676646.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:26.442Z,1749676646.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:26.444Z,1749676646.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 68.547546 m,
bearing: 65.860193 deg,
approach rate: -0.797619 m/s,
LOS rate: 0.032376 deg/s,
cmd heading: 50.035374 deg,
new cmd heading: 50.067876 deg.
2025-06-11T21:17:26.445Z,1749676646.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873849 target range: 70.984215 and range: 71.60 m.
2025-06-11T21:17:26.483Z,1749676646.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473779
2025-06-11T21:17:26.734Z,1749676646.734 [DAT](INFO): DAT read: Range 10 to 50 : 68.7 m (Round-trip 91.7 ms) speed 0.6 m/s
2025-06-11T21:17:26.735Z,1749676646.735 [DAT](INFO): DAT read: user:846>
2025-06-11T21:17:26.736Z,1749676646.736 [DAT](INFO): DAT read: Tx time:21:17:28.4688
2025-06-11T21:17:26.736Z,1749676646.736 [DAT](INFO): Ping request sent.
2025-06-11T21:17:26.736Z,1749676646.736 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:26.737Z,1749676646.737 [DAT](INFO): DAT read: TxSync time:21:17:28.4680
2025-06-11T21:17:26.737Z,1749676646.737 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:17:26.737Z,1749676646.737 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:26.738Z,1749676646.738 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:26.898Z,1749676646.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.699997 m,
deltaT: 3.779931 s,
deltaX: -2.900002 m,
approachRate: -0.767210 m/s,
rangeRepo size: 4
2025-06-11T21:17:26.899Z,1749676646.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:26.907Z,1749676646.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 68.229630 m,
bearing: 65.869957 deg,
approach rate: -0.705729 m/s,
LOS rate: 0.021776 deg/s,
cmd heading: 50.067875 deg,
new cmd heading: 50.097304 deg.
2025-06-11T21:17:26.913Z,1749676646.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874363 target range: 70.984215 and range: 68.70 m.
2025-06-11T21:17:27.324Z,1749676647.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:27.327Z,1749676647.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 67.918190 m,
bearing: 65.875561 deg,
approach rate: -0.721092 m/s,
LOS rate: 0.013035 deg/s,
cmd heading: 50.097303 deg,
new cmd heading: 50.114193 deg.
2025-06-11T21:17:27.328Z,1749676647.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874658 target range: 70.984215 and range: 68.70 m.
2025-06-11T21:17:27.695Z,1749676647.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:27.698Z,1749676647.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 67.655869 m,
bearing: 65.879115 deg,
approach rate: -0.706780 m/s,
LOS rate: 0.009611 deg/s,
cmd heading: 50.114194 deg,
new cmd heading: 50.124896 deg.
2025-06-11T21:17:27.699Z,1749676647.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874844 target range: 70.984215 and range: 68.70 m.
2025-06-11T21:17:28.224Z,1749676648.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:28.226Z,1749676648.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 67.291924 m,
bearing: 65.886357 deg,
approach rate: -0.709979 m/s,
LOS rate: 0.014205 deg/s,
cmd heading: 50.124897 deg,
new cmd heading: 50.146742 deg.
2025-06-11T21:17:28.227Z,1749676648.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875226 target range: 70.984215 and range: 68.70 m.
2025-06-11T21:17:28.542Z,1749676648.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:28.544Z,1749676648.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:28.547Z,1749676648.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 67.063484 m,
bearing: 65.890944 deg,
approach rate: -0.679105 m/s,
LOS rate: 0.013680 deg/s,
cmd heading: 50.146743 deg,
new cmd heading: 50.160549 deg.
2025-06-11T21:17:28.548Z,1749676648.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875467 target range: 70.984215 and range: 68.70 m.
2025-06-11T21:17:28.749Z,1749676648.749 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:28.749Z,1749676648.749 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:28.749Z,1749676648.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:28.934Z,1749676648.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:28.936Z,1749676648.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 66.778824 m,
bearing: 65.896417 deg,
approach rate: -0.730832 m/s,
LOS rate: 0.014112 deg/s,
cmd heading: 50.160551 deg,
new cmd heading: 50.177040 deg.
2025-06-11T21:17:28.937Z,1749676648.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875755 target range: 70.984215 and range: 68.70 m.
2025-06-11T21:17:29.001Z,1749676649.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264829
2025-06-11T21:17:29.253Z,1749676649.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516708
2025-06-11T21:17:29.360Z,1749676649.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:29.363Z,1749676649.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 66.487617 m,
bearing: 65.904223 deg,
approach rate: -0.689688 m/s,
LOS rate: 0.018568 deg/s,
cmd heading: 50.177039 deg,
new cmd heading: 50.200558 deg.
2025-06-11T21:17:29.368Z,1749676649.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876165 target range: 70.984215 and range: 68.70 m.
2025-06-11T21:17:29.505Z,1749676649.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768749
2025-06-11T21:17:29.757Z,1749676649.757 [DAT](INFO): DAT read: Rx Time:21:17:30.9610
2025-06-11T21:17:29.757Z,1749676649.757 [DAT](INFO): Rx dataTimestamp_ set to:1749676649.757153
2025-06-11T21:17:29.758Z,1749676649.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021952
2025-06-11T21:17:29.814Z,1749676649.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:29.821Z,1749676649.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 66.154999 m,
bearing: 65.913194 deg,
approach rate: -0.726080 m/s,
LOS rate: 0.019682 deg/s,
cmd heading: 50.200559 deg,
new cmd heading: 50.227607 deg.
2025-06-11T21:17:29.822Z,1749676649.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876637 target range: 70.984215 and range: 68.70 m.
2025-06-11T21:17:30.009Z,1749676650.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272643
2025-06-11T21:17:30.247Z,1749676650.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.98 m.
2025-06-11T21:17:30.258Z,1749676650.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.984215 m,
nav range: 65.830780 m,
bearing: 65.928142 deg,
approach rate: -0.748303 m/s,
LOS rate: 0.034672 deg/s,
cmd heading: 50.227606 deg,
new cmd heading: 50.272674 deg.
2025-06-11T21:17:30.259Z,1749676650.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877424 target range: 70.984215 and range: 68.70 m.
2025-06-11T21:17:30.267Z,1749676650.267 [DAT](INFO): DAT read: 21:17:30.9610 LVL= 27856, 30593, 31506, 32755, AGC= 65, IDX= 401, 0.28,-3.103, 1.758, 2.671, 2.516, PHS= 0.753,-0.711, 0.152, RAW= 125.9, -3.1, CAL= 131.4, -13.4, ROT= 18.6, 13.4
2025-06-11T21:17:30.268Z,1749676650.268 [DAT](INFO): got valid direction response:
21:17:30.9610 LVL= 27856, 30593, 31506, 32755, AGC= 65, IDX= 401, 0.28,-3.103, 1.758, 2.671, 2.516, PHS= 0.753,-0.711, 0.152, RAW= 125.9, -3.1, CAL= 131.4, -13.4, ROT= 18.6, 13.4
2025-06-11T21:17:30.269Z,1749676650.269 [DAT](INFO): DAT read: Bearing 18.6, 13.4 (Local)
2025-06-11T21:17:30.270Z,1749676650.270 [DAT](INFO): Local bearing/azimuth received:
Bearing 18.6, 13.4 (Local)
2025-06-11T21:17:30.271Z,1749676650.271 [DAT](INFO): DAT read: Range 10 to 50 : 65.9 m (Round-trip 87.9 ms) speed 0.9 m/s
2025-06-11T21:17:30.272Z,1749676650.272 [DAT](INFO): DAT read: user:847>
2025-06-11T21:17:30.273Z,1749676650.273 [DAT](INFO): DAT read: Tx time:21:17:32.0689
2025-06-11T21:17:30.273Z,1749676650.273 [DAT](INFO): Ping request sent.
2025-06-11T21:17:30.273Z,1749676650.273 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:30.273Z,1749676650.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:30.274Z,1749676650.274 [DAT](INFO): direction in FSK: [0.921966,0.310276,-0.231748]
2025-06-11T21:17:30.275Z,1749676650.275 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:30.275Z,1749676650.275 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:30.282Z,1749676650.282 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:30.282Z,1749676650.282 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:30.513Z,1749676650.513 [DAT](INFO): DAT read: TxSync time:21:17:32.0681
2025-06-11T21:17:30.743Z,1749676650.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 65.900002 m,
deltaT: 3.528177 s,
deltaX: -2.799995 m,
approachRate: -0.793610 m/s,
rangeRepo size: 4
2025-06-11T21:17:30.749Z,1749676650.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 65.329506 m,
bearing: 69.137805 deg,
lat: 36.906864 deg,
lon: -122.115715 deg,
deltaT: 7.308108 s,
deltaX: -5.654709 m,
approachRate: -0.773758 m/s,
posRepo size: 4
2025-06-11T21:17:30.749Z,1749676650.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:30.756Z,1749676650.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 65.104179 m,
bearing: 69.137574 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.034672 deg/s,
cmd heading: 50.272675 deg,
new cmd heading: 50.324128 deg.
2025-06-11T21:17:30.757Z,1749676650.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.878322 target range: 65.329506 and range: 65.90 m.
2025-06-11T21:17:31.182Z,1749676651.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:31.204Z,1749676651.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:31.213Z,1749676651.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 64.748886 m,
bearing: 69.177444 deg,
approach rate: -0.803500 m/s,
LOS rate: 0.090663 deg/s,
cmd heading: 50.324127 deg,
new cmd heading: 50.444396 deg.
2025-06-11T21:17:31.214Z,1749676651.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.880421 target range: 65.329506 and range: 65.90 m.
2025-06-11T21:17:31.269Z,1749676651.269 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:31.269Z,1749676651.269 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:31.269Z,1749676651.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:31.521Z,1749676651.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247892
2025-06-11T21:17:31.549Z,1749676651.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:31.552Z,1749676651.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 64.463760 m,
bearing: 69.209277 deg,
approach rate: -0.780501 m/s,
LOS rate: 0.087523 deg/s,
cmd heading: 50.444396 deg,
new cmd heading: 50.540316 deg.
2025-06-11T21:17:31.553Z,1749676651.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.882095 target range: 65.329506 and range: 65.90 m.
2025-06-11T21:17:31.774Z,1749676651.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500947
2025-06-11T21:17:31.967Z,1749676651.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:31.970Z,1749676651.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 64.153748 m,
bearing: 69.244019 deg,
approach rate: -0.748337 m/s,
LOS rate: 0.084268 deg/s,
cmd heading: 50.540316 deg,
new cmd heading: 50.645045 deg.
2025-06-11T21:17:31.971Z,1749676651.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883923 target range: 65.329506 and range: 65.90 m.
2025-06-11T21:17:32.026Z,1749676652.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752624
2025-06-11T21:17:32.277Z,1749676652.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003770
2025-06-11T21:17:32.436Z,1749676652.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:32.439Z,1749676652.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 63.755928 m,
bearing: 69.300022 deg,
approach rate: -0.842028 m/s,
LOS rate: 0.119276 deg/s,
cmd heading: 50.645043 deg,
new cmd heading: 50.814101 deg.
2025-06-11T21:17:32.440Z,1749676652.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.886873 target range: 65.329506 and range: 65.90 m.
2025-06-11T21:17:32.530Z,1749676652.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256646
2025-06-11T21:17:32.768Z,1749676652.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:32.771Z,1749676652.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 63.484333 m,
bearing: 69.338359 deg,
approach rate: -0.817530 m/s,
LOS rate: 0.115894 deg/s,
cmd heading: 50.814101 deg,
new cmd heading: 50.929605 deg.
2025-06-11T21:17:32.776Z,1749676652.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888889 target range: 65.329506 and range: 65.90 m.
2025-06-11T21:17:32.785Z,1749676652.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511225
2025-06-11T21:17:33.033Z,1749676653.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759832
2025-06-11T21:17:33.270Z,1749676653.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:33.285Z,1749676653.285 [DAT](INFO): DAT read: Rx Time:21:17:34.5572
2025-06-11T21:17:33.285Z,1749676653.285 [DAT](INFO): Rx dataTimestamp_ set to:1749676653.285140
2025-06-11T21:17:33.286Z,1749676653.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012953
2025-06-11T21:17:33.287Z,1749676653.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:33.293Z,1749676653.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 63.061096 m,
bearing: 69.408150 deg,
approach rate: -0.840463 m/s,
LOS rate: 0.139520 deg/s,
cmd heading: 50.929606 deg,
new cmd heading: 51.140382 deg.
2025-06-11T21:17:33.294Z,1749676653.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.892568 target range: 65.329506 and range: 65.90 m.
2025-06-11T21:17:33.537Z,1749676653.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264100
2025-06-11T21:17:33.665Z,1749676653.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:33.681Z,1749676653.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 62.743752 m,
bearing: 69.460955 deg,
approach rate: -0.843838 m/s,
LOS rate: 0.141123 deg/s,
cmd heading: 51.140382 deg,
new cmd heading: 51.299599 deg.
2025-06-11T21:17:33.682Z,1749676653.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895347 target range: 65.329506 and range: 65.90 m.
2025-06-11T21:17:33.790Z,1749676653.790 [DAT](INFO): DAT read: Range 10 to 50 : 63.0 m (Round-trip 84.1 ms) speed 0.8 m/s
2025-06-11T21:17:33.791Z,1749676653.791 [DAT](INFO): DAT read: user:848>
2025-06-11T21:17:33.791Z,1749676653.791 [DAT](INFO): DAT read: Tx time:21:17:35.6705
2025-06-11T21:17:33.792Z,1749676653.792 [DAT](INFO): Ping request sent.
2025-06-11T21:17:33.792Z,1749676653.792 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:33.792Z,1749676653.792 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:17:33.792Z,1749676653.792 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:33.793Z,1749676653.793 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:33.936Z,1749676653.936 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:17:34.042Z,1749676654.042 [DAT](INFO): DAT read: TxSync time:21:17:35.6697
2025-06-11T21:17:34.133Z,1749676654.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.000000 m,
deltaT: 3.527896 s,
deltaX: -2.900002 m,
approachRate: -0.822020 m/s,
rangeRepo size: 4
2025-06-11T21:17:34.134Z,1749676654.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:34.158Z,1749676654.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 62.339153 m,
bearing: 69.528704 deg,
approach rate: -0.835821 m/s,
LOS rate: 0.140863 deg/s,
cmd heading: 51.299601 deg,
new cmd heading: 51.504164 deg.
2025-06-11T21:17:34.166Z,1749676654.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898917 target range: 65.329506 and range: 63.00 m.
2025-06-11T21:17:34.539Z,1749676654.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:34.542Z,1749676654.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 61.988094 m,
bearing: 69.589024 deg,
approach rate: -0.863000 m/s,
LOS rate: 0.149123 deg/s,
cmd heading: 51.504165 deg,
new cmd heading: 51.686150 deg.
2025-06-11T21:17:34.543Z,1749676654.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902093 target range: 65.329506 and range: 63.00 m.
2025-06-11T21:17:34.940Z,1749676654.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:17:35.014Z,1749676655.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:35.017Z,1749676655.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 61.593040 m,
bearing: 69.657207 deg,
approach rate: -0.831796 m/s,
LOS rate: 0.144482 deg/s,
cmd heading: 51.686149 deg,
new cmd heading: 51.892008 deg.
2025-06-11T21:17:35.017Z,1749676655.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905686 target range: 65.329506 and range: 63.00 m.
2025-06-11T21:17:35.381Z,1749676655.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:35.383Z,1749676655.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:35.386Z,1749676655.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 61.262836 m,
bearing: 69.716199 deg,
approach rate: -0.893252 m/s,
LOS rate: 0.160441 deg/s,
cmd heading: 51.892007 deg,
new cmd heading: 52.069935 deg.
2025-06-11T21:17:35.387Z,1749676655.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.908792 target range: 65.329506 and range: 63.00 m.
2025-06-11T21:17:35.573Z,1749676655.573 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:35.573Z,1749676655.573 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:35.573Z,1749676655.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:35.745Z,1749676655.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:35.768Z,1749676655.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 60.949245 m,
bearing: 69.771995 deg,
approach rate: -0.867131 m/s,
LOS rate: 0.155079 deg/s,
cmd heading: 52.069937 deg,
new cmd heading: 52.238186 deg.
2025-06-11T21:17:35.769Z,1749676655.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.911728 target range: 65.329506 and range: 63.00 m.
2025-06-11T21:17:35.825Z,1749676655.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.033006
2025-06-11T21:17:36.077Z,1749676656.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.284854
2025-06-11T21:17:36.153Z,1749676656.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:36.160Z,1749676656.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 60.595589 m,
bearing: 69.834926 deg,
approach rate: -0.866799 m/s,
LOS rate: 0.155144 deg/s,
cmd heading: 52.238185 deg,
new cmd heading: 52.428081 deg.
2025-06-11T21:17:36.161Z,1749676656.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.915043 target range: 65.329506 and range: 63.00 m.
2025-06-11T21:17:36.329Z,1749676656.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537056
2025-06-11T21:17:36.539Z,1749676656.539 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -180.89, +10965.37, , 7.13, 0.00
2025-06-11T21:17:36.554Z,1749676656.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:36.557Z,1749676656.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 60.247677 m,
bearing: 69.896607 deg,
approach rate: -0.867262 m/s,
LOS rate: 0.154644 deg/s,
cmd heading: 52.428081 deg,
new cmd heading: 52.614192 deg.
2025-06-11T21:17:36.558Z,1749676656.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.918291 target range: 65.329506 and range: 63.00 m.
2025-06-11T21:17:36.581Z,1749676656.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788821
2025-06-11T21:17:36.833Z,1749676656.833 [DAT](INFO): DAT read: Rx Time:21:17:38.1547
2025-06-11T21:17:36.834Z,1749676656.834 [DAT](INFO): Rx dataTimestamp_ set to:1749676656.833279
2025-06-11T21:17:36.834Z,1749676656.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.042262
2025-06-11T21:17:36.947Z,1749676656.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:36.951Z,1749676656.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 59.906658 m,
bearing: 69.956954 deg,
approach rate: -0.867772 m/s,
LOS rate: 0.154436 deg/s,
cmd heading: 52.614190 deg,
new cmd heading: 52.796261 deg.
2025-06-11T21:17:36.952Z,1749676656.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921469 target range: 65.329506 and range: 63.00 m.
2025-06-11T21:17:37.085Z,1749676657.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293028
2025-06-11T21:17:37.338Z,1749676657.338 [DAT](INFO): DAT read: Range 10 to 50 : 60.0 m (Round-trip 80.1 ms) speed 0.8 m/s
2025-06-11T21:17:37.338Z,1749676657.338 [DAT](INFO): DAT read: user:849>
2025-06-11T21:17:37.339Z,1749676657.339 [DAT](INFO): DAT read: Tx time:21:17:39.2689
2025-06-11T21:17:37.339Z,1749676657.339 [DAT](INFO): Ping request sent.
2025-06-11T21:17:37.340Z,1749676657.340 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:37.340Z,1749676657.340 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:17:37.340Z,1749676657.340 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:37.341Z,1749676657.341 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:37.454Z,1749676657.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:37.461Z,1749676657.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 60.000000 m,
deltaT: 3.547853 s,
deltaX: -3.000000 m,
approachRate: -0.845582 m/s,
rangeRepo size: 4
2025-06-11T21:17:37.461Z,1749676657.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:37.462Z,1749676657.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-11T21:17:37.469Z,1749676657.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 59.480011 m,
bearing: 70.030943 deg,
approach rate: -0.838803 m/s,
LOS rate: 0.146507 deg/s,
cmd heading: 52.796263 deg,
new cmd heading: 53.019819 deg.
2025-06-11T21:17:37.470Z,1749676657.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.925370 target range: 65.329506 and range: 60.00 m.
2025-06-11T21:17:37.503Z,1749676657.503 [DockingStepper](INFO): Changing to mode: 2
2025-06-11T21:17:37.503Z,1749676657.503 [DockingStepper](INFO): Armed mode.
2025-06-11T21:17:37.576Z,1749676657.576 [DockingStepper](INFO): Commanding negative:54500
2025-06-11T21:17:37.589Z,1749676657.589 [DAT](INFO): DAT read: TxSync time:21:17:39.2681
2025-06-11T21:17:37.590Z,1749676657.590 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:37.590Z,1749676657.590 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:37.590Z,1749676657.590 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:37.821Z,1749676657.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:37.821Z,1749676657.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-11T21:17:37.824Z,1749676657.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 59.157307 m,
bearing: 70.086941 deg,
approach rate: -0.883569 m/s,
LOS rate: 0.154160 deg/s,
cmd heading: 53.019818 deg,
new cmd heading: 53.188728 deg.
2025-06-11T21:17:37.825Z,1749676657.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928318 target range: 65.329506 and range: 60.00 m.
2025-06-11T21:17:37.843Z,1749676657.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503695
2025-06-11T21:17:38.093Z,1749676658.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753089
2025-06-11T21:17:38.282Z,1749676658.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:38.283Z,1749676658.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-11T21:17:38.289Z,1749676658.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 58.784985 m,
bearing: 70.151435 deg,
approach rate: -0.807523 m/s,
LOS rate: 0.140767 deg/s,
cmd heading: 53.188729 deg,
new cmd heading: 53.383437 deg.
2025-06-11T21:17:38.290Z,1749676658.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.931717 target range: 65.329506 and range: 60.00 m.
2025-06-11T21:17:38.347Z,1749676658.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007841
2025-06-11T21:17:38.601Z,1749676658.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261282
2025-06-11T21:17:38.655Z,1749676658.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:38.660Z,1749676658.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-11T21:17:38.663Z,1749676658.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 58.454189 m,
bearing: 70.205244 deg,
approach rate: -0.886176 m/s,
LOS rate: 0.144966 deg/s,
cmd heading: 53.383437 deg,
new cmd heading: 53.545777 deg.
2025-06-11T21:17:38.668Z,1749676658.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934550 target range: 65.329506 and range: 60.00 m.
2025-06-11T21:17:38.853Z,1749676658.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513037
2025-06-11T21:17:39.020Z,1749676659.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:39.020Z,1749676659.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-11T21:17:39.023Z,1749676659.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 58.140030 m,
bearing: 70.256739 deg,
approach rate: -0.862251 m/s,
LOS rate: 0.142098 deg/s,
cmd heading: 53.545777 deg,
new cmd heading: 53.701095 deg.
2025-06-11T21:17:39.024Z,1749676659.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937261 target range: 65.329506 and range: 60.00 m.
2025-06-11T21:17:39.107Z,1749676659.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767470
2025-06-11T21:17:39.361Z,1749676659.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021179
2025-06-11T21:17:39.455Z,1749676659.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:39.460Z,1749676659.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-11T21:17:39.463Z,1749676659.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 57.797886 m,
bearing: 70.307325 deg,
approach rate: -0.785940 m/s,
LOS rate: 0.116890 deg/s,
cmd heading: 53.701095 deg,
new cmd heading: 53.853753 deg.
2025-06-11T21:17:39.463Z,1749676659.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939925 target range: 65.329506 and range: 60.00 m.
2025-06-11T21:17:39.613Z,1749676659.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273080
2025-06-11T21:17:39.830Z,1749676659.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:39.832Z,1749676659.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:39.833Z,1749676659.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-11T21:17:39.835Z,1749676659.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 57.477879 m,
bearing: 70.355383 deg,
approach rate: -0.848896 m/s,
LOS rate: 0.128195 deg/s,
cmd heading: 53.853753 deg,
new cmd heading: 53.998730 deg.
2025-06-11T21:17:39.837Z,1749676659.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.942456 target range: 65.329506 and range: 60.00 m.
2025-06-11T21:17:39.874Z,1749676659.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534397
2025-06-11T21:17:40.125Z,1749676660.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785155
2025-06-11T21:17:40.315Z,1749676660.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:40.315Z,1749676660.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-11T21:17:40.340Z,1749676660.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 57.107529 m,
bearing: 70.411320 deg,
approach rate: -0.771815 m/s,
LOS rate: 0.117330 deg/s,
cmd heading: 53.998731 deg,
new cmd heading: 54.167631 deg.
2025-06-11T21:17:40.341Z,1749676660.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.945404 target range: 65.329506 and range: 60.00 m.
2025-06-11T21:17:40.378Z,1749676660.378 [DAT](INFO): DAT read: Rx Time:21:17:41.7493
2025-06-11T21:17:40.378Z,1749676660.378 [DAT](INFO): Rx dataTimestamp_ set to:1749676660.377997
2025-06-11T21:17:40.379Z,1749676660.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039581
2025-06-11T21:17:40.629Z,1749676660.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289190
2025-06-11T21:17:40.711Z,1749676660.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.33 m.
2025-06-11T21:17:40.711Z,1749676660.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m.
2025-06-11T21:17:40.718Z,1749676660.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 65.329506 m,
nav range: 56.786366 m,
bearing: 70.450797 deg,
approach rate: -0.805205 m/s,
LOS rate: 0.099534 deg/s,
cmd heading: 54.167631 deg,
new cmd heading: 54.286731 deg.
2025-06-11T21:17:40.719Z,1749676660.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.947482 target range: 65.329506 and range: 60.00 m.
2025-06-11T21:17:40.884Z,1749676660.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543867
2025-06-11T21:17:41.139Z,1749676661.139 [DAT](INFO): DAT read: 21:17:41.7493 LVL= 18208, 32753, 28114, 32755, AGC= 65, IDX= 408,-0.12,-1.342,-2.710,-1.923,-1.982, PHS= 0.728,-0.681, 0.056, RAW= 121.5, -1.7, CAL= 128.2, -10.7, ROT= 21.8, 10.7
2025-06-11T21:17:41.140Z,1749676661.140 [DAT](INFO): got valid direction response:
21:17:41.7493 LVL= 18208, 32753, 28114, 32755, AGC= 65, IDX= 408,-0.12,-1.342,-2.710,-1.923,-1.982, PHS= 0.728,-0.681, 0.056, RAW= 121.5, -1.7, CAL= 128.2, -10.7, ROT= 21.8, 10.7
2025-06-11T21:17:41.141Z,1749676661.141 [DAT](INFO): DAT read: Bearing 21.8, 10.7 (Local)
2025-06-11T21:17:41.142Z,1749676661.142 [DAT](INFO): Local bearing/azimuth received:
Bearing 21.8, 10.7 (Local)
2025-06-11T21:17:41.143Z,1749676661.143 [DAT](INFO): DAT read: Range 10 to 50 : 57.0 m (Round-trip 76.1 ms) speed 0.8 m/s
2025-06-11T21:17:41.144Z,1749676661.144 [DAT](INFO): DAT read: user:850>
2025-06-11T21:17:41.145Z,1749676661.145 [DAT](INFO): DAT read: Tx time:21:17:42.8690
2025-06-11T21:17:41.145Z,1749676661.145 [DAT](INFO): Ping request sent.
2025-06-11T21:17:41.145Z,1749676661.145 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:41.146Z,1749676661.146 [DAT](INFO): DAT read: TxSync time:21:17:42.8682
2025-06-11T21:17:41.147Z,1749676661.147 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:41.168Z,1749676661.168 [DAT](INFO): direction in FSK: [0.912342,0.364911,-0.185667]
2025-06-11T21:17:41.168Z,1749676661.168 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:41.168Z,1749676661.168 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:41.171Z,1749676661.171 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:41.180Z,1749676661.180 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:41.299Z,1749676661.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 57.000000 m,
deltaT: 3.796163 s,
deltaX: -3.000000 m,
approachRate: -0.790272 m/s,
rangeRepo size: 4
2025-06-11T21:17:41.312Z,1749676661.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.505711 m,
bearing: 74.619494 deg,
lat: 36.906858 deg,
lon: -122.115711 deg,
deltaT: 10.871912 s,
deltaX: -8.823795 m,
approachRate: -0.811614 m/s,
posRepo size: 4
2025-06-11T21:17:41.313Z,1749676661.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.51 m.
2025-06-11T21:17:41.313Z,1749676661.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-11T21:17:41.320Z,1749676661.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.505711 m,
nav range: 56.461910 m,
bearing: 71.294415 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.099534 deg/s,
cmd heading: 54.286733 deg,
new cmd heading: 54.441179 deg.
2025-06-11T21:17:41.321Z,1749676661.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.950178 target range: 56.505711 and range: 57.00 m.
2025-06-11T21:17:41.606Z,1749676661.606 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25061113190341,35.0, +10.2, 07, 0 0.00, 71.62, 64.49, 70.,-32768,-32768,-32768,-32768,V
2025-06-11T21:17:41.649Z,1749676661.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.51 m.
2025-06-11T21:17:41.649Z,1749676661.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-11T21:17:41.656Z,1749676661.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.505711 m,
nav range: 56.105831 m,
bearing: 71.338058 deg,
approach rate: -0.845751 m/s,
LOS rate: 0.104320 deg/s,
cmd heading: 54.441180 deg,
new cmd heading: 54.572943 deg.
2025-06-11T21:17:41.657Z,1749676661.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952478 target range: 56.505711 and range: 57.00 m.
2025-06-11T21:17:42.006Z,1749676662.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:42.012Z,1749676662.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.51 m.
2025-06-11T21:17:42.013Z,1749676662.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-11T21:17:42.019Z,1749676662.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.505711 m,
nav range: 55.822483 m,
bearing: 71.371186 deg,
approach rate: -0.789763 m/s,
LOS rate: 0.092804 deg/s,
cmd heading: 54.572942 deg,
new cmd heading: 54.672830 deg.
2025-06-11T21:17:42.029Z,1749676662.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.954221 target range: 56.505711 and range: 57.00 m.
2025-06-11T21:17:42.141Z,1749676662.141 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:42.141Z,1749676662.141 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:42.141Z,1749676662.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:42.393Z,1749676662.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247403
2025-06-11T21:17:42.437Z,1749676662.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.51 m.
2025-06-11T21:17:42.438Z,1749676662.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-11T21:17:42.441Z,1749676662.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.505711 m,
nav range: 55.481888 m,
bearing: 71.390469 deg,
approach rate: -0.793377 m/s,
LOS rate: 0.045193 deg/s,
cmd heading: 54.672830 deg,
new cmd heading: 54.731034 deg.
2025-06-11T21:17:42.442Z,1749676662.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.955237 target range: 56.505711 and range: 57.00 m.
2025-06-11T21:17:42.645Z,1749676662.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499205
2025-06-11T21:17:42.816Z,1749676662.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.51 m.
2025-06-11T21:17:42.817Z,1749676662.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-11T21:17:42.824Z,1749676662.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.505711 m,
nav range: 55.194790 m,
bearing: 71.405636 deg,
approach rate: -0.756955 m/s,
LOS rate: 0.040196 deg/s,
cmd heading: 54.731033 deg,
new cmd heading: 54.776770 deg.
2025-06-11T21:17:42.825Z,1749676662.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956035 target range: 56.505711 and range: 57.00 m.
2025-06-11T21:17:42.898Z,1749676662.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752175
2025-06-11T21:17:43.149Z,1749676663.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003316
2025-06-11T21:17:43.231Z,1749676663.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.51 m.
2025-06-11T21:17:43.236Z,1749676663.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-11T21:17:43.239Z,1749676663.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.505711 m,
nav range: 54.880024 m,
bearing: 71.421030 deg,
approach rate: -0.758843 m/s,
LOS rate: 0.037325 deg/s,
cmd heading: 54.776772 deg,
new cmd heading: 54.823219 deg.
2025-06-11T21:17:43.246Z,1749676663.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956846 target range: 56.505711 and range: 57.00 m.
2025-06-11T21:17:43.402Z,1749676663.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255745
2025-06-11T21:17:43.646Z,1749676663.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.51 m.
2025-06-11T21:17:43.647Z,1749676663.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-11T21:17:43.647Z,1749676663.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.00 m.
2025-06-11T21:17:43.647Z,1749676663.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-11T21:17:43.653Z,1749676663.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507414
2025-06-11T21:17:43.660Z,1749676663.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.505711 m,
nav range: 54.575859 m,
bearing: 71.433171 deg,
approach rate: -0.732714 m/s,
LOS rate: 0.029411 deg/s,
cmd heading: 54.823220 deg,
new cmd heading: 54.859848 deg.
2025-06-11T21:17:43.661Z,1749676663.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957485 target range: 56.505711 and range: 57.00 m.
2025-06-11T21:17:43.905Z,1749676663.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759642
2025-06-11T21:17:44.022Z,1749676664.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:44.024Z,1749676664.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.51 m.
2025-06-11T21:17:44.027Z,1749676664.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.505711 m,
nav range: 54.282845 m,
bearing: 71.443257 deg,
approach rate: -0.776060 m/s,
LOS rate: 0.026857 deg/s,
cmd heading: 54.859847 deg,
new cmd heading: 54.890269 deg.
2025-06-11T21:17:44.028Z,1749676664.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958016 target range: 56.505711 and range: 57.00 m.
2025-06-11T21:17:44.157Z,1749676664.157 [DAT](INFO): DAT read: Rx Time:21:17:45.3453
2025-06-11T21:17:44.157Z,1749676664.157 [DAT](INFO): Rx dataTimestamp_ set to:1749676664.157060
2025-06-11T21:17:44.158Z,1749676664.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012414
2025-06-11T21:17:44.409Z,1749676664.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263383
2025-06-11T21:17:44.512Z,1749676664.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.51 m.
2025-06-11T21:17:44.522Z,1749676664.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.505711 m,
nav range: 53.962761 m,
bearing: 71.457024 deg,
approach rate: -0.673782 m/s,
LOS rate: 0.029151 deg/s,
cmd heading: 54.890269 deg,
new cmd heading: 54.931814 deg.
2025-06-11T21:17:44.523Z,1749676664.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958741 target range: 56.505711 and range: 57.00 m.
2025-06-11T21:17:44.667Z,1749676664.667 [DAT](INFO): DAT read: 21:17:45.3453 LVL= 26256, 32753, 32754, 32755, AGC= 69, IDX= 399,-0.17, 1.287,-0.058, 0.922, 0.843, PHS= 0.532,-0.854, 0.076, RAW= 131.2, 4.1, CAL= 137.3, -2.9, ROT= 12.7, 2.9
2025-06-11T21:17:44.668Z,1749676664.668 [DAT](INFO): got valid direction response:
21:17:45.3453 LVL= 26256, 32753, 32754, 32755, AGC= 69, IDX= 399,-0.17, 1.287,-0.058, 0.922, 0.843, PHS= 0.532,-0.854, 0.076, RAW= 131.2, 4.1, CAL= 137.3, -2.9, ROT= 12.7, 2.9
2025-06-11T21:17:44.669Z,1749676664.669 [DAT](INFO): DAT read: Bearing 12.7, 2.9 (Local)
2025-06-11T21:17:44.670Z,1749676664.670 [DAT](INFO): Local bearing/azimuth received:
Bearing 12.7, 2.9 (Local)
2025-06-11T21:17:44.671Z,1749676664.671 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.7 m/s
2025-06-11T21:17:44.672Z,1749676664.672 [DAT](INFO): DAT read: user:851>
2025-06-11T21:17:44.673Z,1749676664.673 [DAT](INFO): DAT read: Tx time:21:17:46.4690
2025-06-11T21:17:44.673Z,1749676664.673 [DAT](INFO): Ping request sent.
2025-06-11T21:17:44.673Z,1749676664.673 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:44.674Z,1749676664.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:44.675Z,1749676664.675 [DAT](INFO): direction in FSK: [0.974285,0.219565,-0.050593]
2025-06-11T21:17:44.675Z,1749676664.675 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:44.675Z,1749676664.675 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:44.679Z,1749676664.679 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:44.679Z,1749676664.679 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:44.865Z,1749676664.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.000000 m,
deltaT: 3.528044 s,
deltaX: -3.000000 m,
approachRate: -0.850330 m/s,
rangeRepo size: 4
2025-06-11T21:17:44.867Z,1749676664.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 53.531971 m,
bearing: 67.912288 deg,
lat: 36.906858 deg,
lon: -122.115711 deg,
deltaT: 3.528044 s,
deltaX: -2.973740 m,
approachRate: -0.842886 m/s,
posRepo size: 4
2025-06-11T21:17:44.872Z,1749676664.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.53 m.
2025-06-11T21:17:44.874Z,1749676664.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.531971 m,
nav range: 53.662910 m,
bearing: 71.468640 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.029151 deg/s,
cmd heading: 54.931813 deg,
new cmd heading: 54.963779 deg.
2025-06-11T21:17:44.875Z,1749676664.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959299 target range: 53.531971 and range: 54.00 m.
2025-06-11T21:17:44.914Z,1749676664.914 [DAT](INFO): DAT read: TxSync time:21:17:46.4682
2025-06-11T21:17:45.234Z,1749676665.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.53 m.
2025-06-11T21:17:45.237Z,1749676665.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.531971 m,
nav range: 53.368565 m,
bearing: 71.478381 deg,
approach rate: -0.796375 m/s,
LOS rate: 0.026503 deg/s,
cmd heading: 54.963779 deg,
new cmd heading: 54.993165 deg.
2025-06-11T21:17:45.238Z,1749676665.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959812 target range: 53.531971 and range: 54.00 m.
2025-06-11T21:17:45.655Z,1749676665.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.53 m.
2025-06-11T21:17:45.658Z,1749676665.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.531971 m,
nav range: 53.046459 m,
bearing: 71.491468 deg,
approach rate: -0.765993 m/s,
LOS rate: 0.031310 deg/s,
cmd heading: 54.993166 deg,
new cmd heading: 55.032664 deg.
2025-06-11T21:17:45.659Z,1749676665.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960501 target range: 53.531971 and range: 54.00 m.
2025-06-11T21:17:46.099Z,1749676666.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:46.101Z,1749676666.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.53 m.
2025-06-11T21:17:46.104Z,1749676666.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.531971 m,
nav range: 52.704659 m,
bearing: 71.504201 deg,
approach rate: -0.765547 m/s,
LOS rate: 0.028705 deg/s,
cmd heading: 55.032665 deg,
new cmd heading: 55.071113 deg.
2025-06-11T21:17:46.105Z,1749676666.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961172 target range: 53.531971 and range: 54.00 m.
2025-06-11T21:17:46.175Z,1749676666.175 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:46.175Z,1749676666.175 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:46.176Z,1749676666.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:46.429Z,1749676666.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755724
2025-06-11T21:17:46.516Z,1749676666.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.53 m.
2025-06-11T21:17:46.518Z,1749676666.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.531971 m,
nav range: 52.400455 m,
bearing: 71.525156 deg,
approach rate: -0.741064 m/s,
LOS rate: 0.051344 deg/s,
cmd heading: 55.071112 deg,
new cmd heading: 55.134341 deg.
2025-06-11T21:17:46.519Z,1749676666.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962276 target range: 53.531971 and range: 54.00 m.
2025-06-11T21:17:46.681Z,1749676666.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007358
2025-06-11T21:17:46.933Z,1749676666.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259523
2025-06-11T21:17:46.957Z,1749676666.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.53 m.
2025-06-11T21:17:46.959Z,1749676666.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.531971 m,
nav range: 52.051228 m,
bearing: 71.549319 deg,
approach rate: -0.784708 m/s,
LOS rate: 0.054657 deg/s,
cmd heading: 55.134342 deg,
new cmd heading: 55.207316 deg.
2025-06-11T21:17:46.976Z,1749676666.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.963549 target range: 53.531971 and range: 54.00 m.
2025-06-11T21:17:47.185Z,1749676667.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511880
2025-06-11T21:17:47.301Z,1749676667.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.53 m.
2025-06-11T21:17:47.305Z,1749676667.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.531971 m,
nav range: 51.788330 m,
bearing: 71.567675 deg,
approach rate: -0.763274 m/s,
LOS rate: 0.053566 deg/s,
cmd heading: 55.207316 deg,
new cmd heading: 55.262665 deg.
2025-06-11T21:17:47.309Z,1749676667.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.964515 target range: 53.531971 and range: 54.00 m.
2025-06-11T21:17:47.437Z,1749676667.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763957
2025-06-11T21:17:47.689Z,1749676667.689 [DAT](INFO): DAT read: Rx Time:21:17:48.9415
2025-06-11T21:17:47.689Z,1749676667.689 [DAT](INFO): Rx dataTimestamp_ set to:1749676667.689127
2025-06-11T21:17:47.690Z,1749676667.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016652
2025-06-11T21:17:47.696Z,1749676667.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.53 m.
2025-06-11T21:17:47.699Z,1749676667.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 53.531971 m,
nav range: 51.481056 m,
bearing: 71.594290 deg,
approach rate: -0.778255 m/s,
LOS rate: 0.067810 deg/s,
cmd heading: 55.262664 deg,
new cmd heading: 55.342984 deg.
2025-06-11T21:17:47.716Z,1749676667.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965917 target range: 53.531971 and range: 54.00 m.
2025-06-11T21:17:47.941Z,1749676667.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267542
2025-06-11T21:17:48.199Z,1749676668.199 [DAT](INFO): DAT read: 21:17:48.9415 LVL= 25632, 32625, 25410, 32755, AGC= 67, IDX= 408,-0.03,-0.854,-2.573,-1.338,-1.547, PHS= 0.781,-0.979, 0.206, RAW= 131.3, -0.1, CAL= 137.1, -8.8, ROT= 12.9, 8.8
2025-06-11T21:17:48.200Z,1749676668.200 [DAT](INFO): got valid direction response:
21:17:48.9415 LVL= 25632, 32625, 25410, 32755, AGC= 67, IDX= 408,-0.03,-0.854,-2.573,-1.338,-1.547, PHS= 0.781,-0.979, 0.206, RAW= 131.3, -0.1, CAL= 137.1, -8.8, ROT= 12.9, 8.8
2025-06-11T21:17:48.201Z,1749676668.201 [DAT](INFO): DAT read: Bearing 12.9, 8.8 (Local)
2025-06-11T21:17:48.201Z,1749676668.201 [DAT](INFO): Local bearing/azimuth received:
Bearing 12.9, 8.8 (Local)
2025-06-11T21:17:48.203Z,1749676668.203 [DAT](INFO): DAT read: Range 10 to 50 : 51.2 m (Round-trip 68.3 ms) speed 0.6 m/s
2025-06-11T21:17:48.204Z,1749676668.204 [DAT](INFO): DAT read: user:852>
2025-06-11T21:17:48.204Z,1749676668.204 [DAT](INFO): DAT read: Tx time:21:17:50.0190
2025-06-11T21:17:48.205Z,1749676668.205 [DAT](INFO): Ping request sent.
2025-06-11T21:17:48.205Z,1749676668.205 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:48.205Z,1749676668.205 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:48.206Z,1749676668.206 [DAT](INFO): direction in FSK: [0.963287,0.220622,-0.152986]
2025-06-11T21:17:48.206Z,1749676668.206 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:48.207Z,1749676668.207 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:48.210Z,1749676668.210 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:48.211Z,1749676668.211 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:48.299Z,1749676668.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.200001 m,
deltaT: 3.531915 s,
deltaX: -2.799999 m,
approachRate: -0.792771 m/s,
rangeRepo size: 4
2025-06-11T21:17:48.305Z,1749676668.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 50.756264 m,
bearing: 69.552645 deg,
lat: 36.906864 deg,
lon: -122.115715 deg,
deltaT: 3.531915 s,
deltaX: -2.775707 m,
approachRate: -0.785893 m/s,
posRepo size: 4
2025-06-11T21:17:48.306Z,1749676668.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:17:48.325Z,1749676668.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.756264 m,
nav range: 50.935974 m,
bearing: 70.752385 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.067810 deg/s,
cmd heading: 55.342984 deg,
new cmd heading: 55.465487 deg.
2025-06-11T21:17:48.326Z,1749676668.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968055 target range: 50.756264 and range: 51.20 m.
2025-06-11T21:17:48.445Z,1749676668.445 [DAT](INFO): DAT read: TxSync time:21:17:50.0182
2025-06-11T21:17:48.722Z,1749676668.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:48.726Z,1749676668.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:17:48.745Z,1749676668.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.756264 m,
nav range: 50.577652 m,
bearing: 70.782817 deg,
approach rate: -0.839111 m/s,
LOS rate: 0.071770 deg/s,
cmd heading: 55.465487 deg,
new cmd heading: 55.557429 deg.
2025-06-11T21:17:48.746Z,1749676668.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969660 target range: 50.756264 and range: 51.20 m.
2025-06-11T21:17:48.948Z,1749676668.948 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:48.949Z,1749676668.949 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:48.949Z,1749676668.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:49.063Z,1749676669.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:17:49.083Z,1749676669.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.756264 m,
nav range: 50.304192 m,
bearing: 70.805112 deg,
approach rate: -0.808559 m/s,
LOS rate: 0.066280 deg/s,
cmd heading: 55.557428 deg,
new cmd heading: 55.624677 deg.
2025-06-11T21:17:49.088Z,1749676669.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970834 target range: 50.756264 and range: 51.20 m.
2025-06-11T21:17:49.202Z,1749676669.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996457
2025-06-11T21:17:49.453Z,1749676669.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248467
2025-06-11T21:17:49.506Z,1749676669.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:17:49.513Z,1749676669.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.756264 m,
nav range: 49.956089 m,
bearing: 70.846551 deg,
approach rate: -0.785781 m/s,
LOS rate: 0.094193 deg/s,
cmd heading: 55.624678 deg,
new cmd heading: 55.749860 deg.
2025-06-11T21:17:49.514Z,1749676669.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.973019 target range: 50.756264 and range: 51.20 m.
2025-06-11T21:17:49.705Z,1749676669.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499870
2025-06-11T21:17:49.874Z,1749676669.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:17:49.877Z,1749676669.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.756264 m,
nav range: 49.642860 m,
bearing: 70.883338 deg,
approach rate: -0.851785 m/s,
LOS rate: 0.100670 deg/s,
cmd heading: 55.749862 deg,
new cmd heading: 55.860921 deg.
2025-06-11T21:17:49.878Z,1749676669.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974957 target range: 50.756264 and range: 51.20 m.
2025-06-11T21:17:49.958Z,1749676669.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752663
2025-06-11T21:17:50.209Z,1749676670.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004014
2025-06-11T21:17:50.263Z,1749676670.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:17:50.282Z,1749676670.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.756264 m,
nav range: 49.325066 m,
bearing: 70.920440 deg,
approach rate: -0.816129 m/s,
LOS rate: 0.095895 deg/s,
cmd heading: 55.860921 deg,
new cmd heading: 55.972943 deg.
2025-06-11T21:17:50.283Z,1749676670.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976912 target range: 50.756264 and range: 51.20 m.
2025-06-11T21:17:50.461Z,1749676670.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255996
2025-06-11T21:17:50.713Z,1749676670.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508031
2025-06-11T21:17:50.727Z,1749676670.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:50.730Z,1749676670.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:17:50.732Z,1749676670.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.756264 m,
nav range: 48.932785 m,
bearing: 70.960264 deg,
approach rate: -0.841324 m/s,
LOS rate: 0.086095 deg/s,
cmd heading: 55.972943 deg,
new cmd heading: 56.093372 deg.
2025-06-11T21:17:50.733Z,1749676670.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.979014 target range: 50.756264 and range: 51.20 m.
2025-06-11T21:17:50.965Z,1749676670.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760606
2025-06-11T21:17:51.111Z,1749676671.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:17:51.130Z,1749676671.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.756264 m,
nav range: 48.611107 m,
bearing: 70.992776 deg,
approach rate: -0.842411 m/s,
LOS rate: 0.085706 deg/s,
cmd heading: 56.093373 deg,
new cmd heading: 56.191554 deg.
2025-06-11T21:17:51.131Z,1749676671.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980728 target range: 50.756264 and range: 51.20 m.
2025-06-11T21:17:51.217Z,1749676671.217 [DAT](INFO): DAT read: Rx Time:21:17:52.4878
2025-06-11T21:17:51.217Z,1749676671.217 [DAT](INFO): Rx dataTimestamp_ set to:1749676671.216963
2025-06-11T21:17:51.218Z,1749676671.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012993
2025-06-11T21:17:51.469Z,1749676671.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263994
2025-06-11T21:17:51.571Z,1749676671.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.76 m.
2025-06-11T21:17:51.574Z,1749676671.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 50.756264 m,
nav range: 48.217678 m,
bearing: 71.042628 deg,
approach rate: -0.856580 m/s,
LOS rate: 0.109425 deg/s,
cmd heading: 56.191553 deg,
new cmd heading: 56.342330 deg.
2025-06-11T21:17:51.575Z,1749676671.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983359 target range: 50.756264 and range: 51.20 m.
2025-06-11T21:17:51.732Z,1749676671.732 [DAT](INFO): DAT read: 21:17:52.4878 LVL= 27376, 32753, 26098, 32755, AGC= 68, IDX= 402,-0.13,-1.713, 3.022,-2.136,-2.311, PHS= 0.686,-0.903, 0.171, RAW= 131.5, 0.7, CAL= 137.3, -7.7, ROT= 12.7, 7.7
2025-06-11T21:17:51.736Z,1749676671.736 [DAT](INFO): got valid direction response:
21:17:52.4878 LVL= 27376, 32753, 26098, 32755, AGC= 68, IDX= 402,-0.13,-1.713, 3.022,-2.136,-2.311, PHS= 0.686,-0.903, 0.171, RAW= 131.5, 0.7, CAL= 137.3, -7.7, ROT= 12.7, 7.7
2025-06-11T21:17:51.737Z,1749676671.737 [DAT](INFO): DAT read: Bearing 12.7, 7.7 (Local)
2025-06-11T21:17:51.738Z,1749676671.738 [DAT](INFO): Local bearing/azimuth received:
Bearing 12.7, 7.7 (Local)
2025-06-11T21:17:51.740Z,1749676671.740 [DAT](INFO): DAT read: Range 10 to 50 : 48.4 m (Round-trip 64.6 ms) speed 0.7 m/s
2025-06-11T21:17:51.741Z,1749676671.741 [DAT](INFO): DAT read: user:853>
2025-06-11T21:17:51.743Z,1749676671.743 [DAT](INFO): DAT read: Tx time:21:17:53.5691
2025-06-11T21:17:51.743Z,1749676671.743 [DAT](INFO): Ping request sent.
2025-06-11T21:17:51.743Z,1749676671.743 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:51.744Z,1749676671.744 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:51.745Z,1749676671.745 [DAT](INFO): direction in FSK: [0.966738,0.217864,-0.133986]
2025-06-11T21:17:51.746Z,1749676671.746 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:51.746Z,1749676671.746 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:51.756Z,1749676671.756 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:51.756Z,1749676671.756 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:51.966Z,1749676671.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 48.400002 m,
deltaT: 3.528300 s,
deltaX: -2.799999 m,
approachRate: -0.793583 m/s,
rangeRepo size: 4
2025-06-11T21:17:51.968Z,1749676671.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.980999 m,
bearing: 70.960473 deg,
lat: 36.906864 deg,
lon: -122.115717 deg,
deltaT: 3.528300 s,
deltaX: -2.775265 m,
approachRate: -0.786573 m/s,
posRepo size: 4
2025-06-11T21:17:51.969Z,1749676671.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.98 m.
2025-06-11T21:17:51.971Z,1749676671.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.980999 m,
nav range: 47.717995 m,
bearing: 70.960305 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.109425 deg/s,
cmd heading: 56.342330 deg,
new cmd heading: 56.471790 deg.
2025-06-11T21:17:51.973Z,1749676671.973 [DAT](INFO): DAT read: TxSync time:21:17:53.5683
2025-06-11T21:17:51.988Z,1749676671.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985619 target range: 47.980999 and range: 48.40 m.
2025-06-11T21:17:52.496Z,1749676672.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.98 m.
2025-06-11T21:17:52.501Z,1749676672.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.980999 m,
nav range: 47.324524 m,
bearing: 71.008285 deg,
approach rate: -0.746842 m/s,
LOS rate: 0.091827 deg/s,
cmd heading: 56.471789 deg,
new cmd heading: 56.616924 deg.
2025-06-11T21:17:52.502Z,1749676672.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988152 target range: 47.980999 and range: 48.40 m.
2025-06-11T21:17:52.844Z,1749676672.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:52.846Z,1749676672.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.98 m.
2025-06-11T21:17:52.849Z,1749676672.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.980999 m,
nav range: 46.973866 m,
bearing: 71.048068 deg,
approach rate: -0.989593 m/s,
LOS rate: 0.113110 deg/s,
cmd heading: 56.616924 deg,
new cmd heading: 56.737163 deg.
2025-06-11T21:17:52.850Z,1749676672.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990250 target range: 47.980999 and range: 48.40 m.
2025-06-11T21:17:52.981Z,1749676672.981 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:52.981Z,1749676672.981 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:52.981Z,1749676672.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:53.224Z,1749676673.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.98 m.
2025-06-11T21:17:53.229Z,1749676673.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.980999 m,
nav range: 46.635799 m,
bearing: 71.085355 deg,
approach rate: -0.897348 m/s,
LOS rate: 0.099692 deg/s,
cmd heading: 56.737162 deg,
new cmd heading: 56.849836 deg.
2025-06-11T21:17:53.231Z,1749676673.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992217 target range: 47.980999 and range: 48.40 m.
2025-06-11T21:17:53.234Z,1749676673.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490702
2025-06-11T21:17:53.487Z,1749676673.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744031
2025-06-11T21:17:53.652Z,1749676673.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.98 m.
2025-06-11T21:17:53.655Z,1749676673.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.980999 m,
nav range: 46.277203 m,
bearing: 71.109341 deg,
approach rate: -0.839106 m/s,
LOS rate: 0.056561 deg/s,
cmd heading: 56.849836 deg,
new cmd heading: 56.922352 deg.
2025-06-11T21:17:53.656Z,1749676673.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993482 target range: 47.980999 and range: 48.40 m.
2025-06-11T21:17:53.737Z,1749676673.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993727
2025-06-11T21:17:53.989Z,1749676673.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245575
2025-06-11T21:17:54.029Z,1749676674.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.98 m.
2025-06-11T21:17:54.032Z,1749676674.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.980999 m,
nav range: 45.937561 m,
bearing: 71.131627 deg,
approach rate: -0.896291 m/s,
LOS rate: 0.059246 deg/s,
cmd heading: 56.922353 deg,
new cmd heading: 56.989704 deg.
2025-06-11T21:17:54.033Z,1749676674.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994658 target range: 47.980999 and range: 48.40 m.
2025-06-11T21:17:54.241Z,1749676674.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497544
2025-06-11T21:17:54.433Z,1749676674.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.98 m.
2025-06-11T21:17:54.435Z,1749676674.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.980999 m,
nav range: 45.594234 m,
bearing: 71.153431 deg,
approach rate: -0.850987 m/s,
LOS rate: 0.054453 deg/s,
cmd heading: 56.989705 deg,
new cmd heading: 57.055611 deg.
2025-06-11T21:17:54.437Z,1749676674.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995808 target range: 47.980999 and range: 48.40 m.
2025-06-11T21:17:54.498Z,1749676674.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753835
2025-06-11T21:17:54.745Z,1749676674.745 [DAT](INFO): DAT read: Rx Time:21:17:56.0338
2025-06-11T21:17:54.745Z,1749676674.745 [DAT](INFO): Rx dataTimestamp_ set to:1749676674.745118
2025-06-11T21:17:54.746Z,1749676674.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002774
2025-06-11T21:17:54.874Z,1749676674.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:54.877Z,1749676674.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.98 m.
2025-06-11T21:17:54.879Z,1749676674.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.980999 m,
nav range: 45.213188 m,
bearing: 71.173870 deg,
approach rate: -0.858791 m/s,
LOS rate: 0.046452 deg/s,
cmd heading: 57.055610 deg,
new cmd heading: 57.117441 deg.
2025-06-11T21:17:54.880Z,1749676674.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996887 target range: 47.980999 and range: 48.40 m.
2025-06-11T21:17:54.998Z,1749676674.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254214
2025-06-11T21:17:55.238Z,1749676675.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.98 m.
2025-06-11T21:17:55.241Z,1749676675.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.980999 m,
nav range: 44.905842 m,
bearing: 71.188740 deg,
approach rate: -0.851106 m/s,
LOS rate: 0.041460 deg/s,
cmd heading: 57.117440 deg,
new cmd heading: 57.162355 deg.
2025-06-11T21:17:55.242Z,1749676675.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997671 target range: 47.980999 and range: 48.40 m.
2025-06-11T21:17:55.255Z,1749676675.255 [DAT](INFO): DAT read: 21:17:56.0338 LVL= 23696, 32753, 28194, 32755, AGC= 68, IDX= 393, 0.03,-0.216,-1.673,-0.586,-0.796, PHS= 0.668,-0.830, 0.207, RAW= 132.5, -0.7, CAL= 138.1, -9.7, ROT= 11.9, 9.7
2025-06-11T21:17:55.256Z,1749676675.256 [DAT](INFO): got valid direction response:
21:17:56.0338 LVL= 23696, 32753, 28194, 32755, AGC= 68, IDX= 393, 0.03,-0.216,-1.673,-0.586,-0.796, PHS= 0.668,-0.830, 0.207, RAW= 132.5, -0.7, CAL= 138.1, -9.7, ROT= 11.9, 9.7
2025-06-11T21:17:55.257Z,1749676675.257 [DAT](INFO): DAT read: Bearing 11.9, 9.7 (Local)
2025-06-11T21:17:55.257Z,1749676675.257 [DAT](INFO): Local bearing/azimuth received:
Bearing 11.9, 9.7 (Local)
2025-06-11T21:17:55.259Z,1749676675.259 [DAT](INFO): DAT read: Range 10 to 50 : 45.4 m (Round-trip 60.6 ms) speed 0.7 m/s
2025-06-11T21:17:55.260Z,1749676675.260 [DAT](INFO): DAT read: user:854>
2025-06-11T21:17:55.261Z,1749676675.261 [DAT](INFO): DAT read: Tx time:21:17:57.1191
2025-06-11T21:17:55.261Z,1749676675.261 [DAT](INFO): Ping request sent.
2025-06-11T21:17:55.261Z,1749676675.261 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:55.261Z,1749676675.261 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:55.262Z,1749676675.262 [DAT](INFO): direction in FSK: [0.964520,0.203256,-0.168489]
2025-06-11T21:17:55.263Z,1749676675.263 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:55.263Z,1749676675.263 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:55.299Z,1749676675.299 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:55.304Z,1749676675.304 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:55.503Z,1749676675.503 [DAT](INFO): DAT read: TxSync time:21:17:57.1183
2025-06-11T21:17:55.676Z,1749676675.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.400002 m,
deltaT: 3.527785 s,
deltaX: -3.000000 m,
approachRate: -0.850392 m/s,
rangeRepo size: 4
2025-06-11T21:17:55.683Z,1749676675.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.007977 m,
bearing: 71.698899 deg,
lat: 36.906864 deg,
lon: -122.115717 deg,
deltaT: 3.527785 s,
deltaX: -2.973022 m,
approachRate: -0.842745 m/s,
posRepo size: 4
2025-06-11T21:17:55.684Z,1749676675.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-06-11T21:17:55.687Z,1749676675.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.007977 m,
nav range: 44.525902 m,
bearing: 71.190708 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.041460 deg/s,
cmd heading: 57.162355 deg,
new cmd heading: 57.216797 deg.
2025-06-11T21:17:55.688Z,1749676675.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998622 target range: 45.007977 and range: 45.40 m.
2025-06-11T21:17:56.051Z,1749676676.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-06-11T21:17:56.054Z,1749676676.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.007977 m,
nav range: 44.214825 m,
bearing: 71.200116 deg,
approach rate: -0.827700 m/s,
LOS rate: 0.025208 deg/s,
cmd heading: 57.216799 deg,
new cmd heading: 57.245221 deg.
2025-06-11T21:17:56.055Z,1749676676.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999118 target range: 45.007977 and range: 45.40 m.
2025-06-11T21:17:56.451Z,1749676676.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-06-11T21:17:56.493Z,1749676676.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.007977 m,
nav range: 43.887207 m,
bearing: 71.208931 deg,
approach rate: -0.818502 m/s,
LOS rate: 0.022188 deg/s,
cmd heading: 57.245222 deg,
new cmd heading: 57.271866 deg.
2025-06-11T21:17:56.501Z,1749676676.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999583 target range: 45.007977 and range: 45.40 m.
2025-06-11T21:17:56.877Z,1749676676.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:56.879Z,1749676676.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-06-11T21:17:56.882Z,1749676676.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.007977 m,
nav range: 43.546036 m,
bearing: 71.203339 deg,
approach rate: -0.797446 m/s,
LOS rate: -0.013173 deg/s,
cmd heading: 57.271867 deg,
new cmd heading: 57.254960 deg.
2025-06-11T21:17:56.883Z,1749676676.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999288 target range: 45.007977 and range: 45.40 m.
2025-06-11T21:17:57.013Z,1749676677.013 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:57.013Z,1749676677.013 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:57.013Z,1749676677.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:57.265Z,1749676677.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003917
2025-06-11T21:17:57.272Z,1749676677.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-06-11T21:17:57.275Z,1749676677.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.007977 m,
nav range: 43.248005 m,
bearing: 71.198091 deg,
approach rate: -0.758244 m/s,
LOS rate: -0.013444 deg/s,
cmd heading: 57.254959 deg,
new cmd heading: 57.239107 deg.
2025-06-11T21:17:57.280Z,1749676677.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999011 target range: 45.007977 and range: 45.40 m.
2025-06-11T21:17:57.519Z,1749676677.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258062
2025-06-11T21:17:57.694Z,1749676677.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-06-11T21:17:57.697Z,1749676677.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.007977 m,
nav range: 42.905468 m,
bearing: 71.195898 deg,
approach rate: -0.811764 m/s,
LOS rate: -0.005239 deg/s,
cmd heading: 57.239106 deg,
new cmd heading: 57.232474 deg.
2025-06-11T21:17:57.698Z,1749676677.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998895 target range: 45.007977 and range: 45.40 m.
2025-06-11T21:17:57.769Z,1749676677.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508093
2025-06-11T21:17:58.021Z,1749676678.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759776
2025-06-11T21:17:58.079Z,1749676678.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-06-11T21:17:58.082Z,1749676678.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.007977 m,
nav range: 42.607307 m,
bearing: 71.193876 deg,
approach rate: -0.774693 m/s,
LOS rate: -0.005292 deg/s,
cmd heading: 57.232474 deg,
new cmd heading: 57.226364 deg.
2025-06-11T21:17:58.083Z,1749676678.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998788 target range: 45.007977 and range: 45.40 m.
2025-06-11T21:17:58.273Z,1749676678.273 [DAT](INFO): DAT read: Rx Time:21:17:59.5799
2025-06-11T21:17:58.274Z,1749676678.274 [DAT](INFO): Rx dataTimestamp_ set to:1749676678.273936
2025-06-11T21:17:58.275Z,1749676678.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013836
2025-06-11T21:17:58.473Z,1749676678.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-06-11T21:17:58.476Z,1749676678.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.007977 m,
nav range: 42.301727 m,
bearing: 71.191630 deg,
approach rate: -0.775525 m/s,
LOS rate: -0.005739 deg/s,
cmd heading: 57.226364 deg,
new cmd heading: 57.219580 deg.
2025-06-11T21:17:58.477Z,1749676678.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998670 target range: 45.007977 and range: 45.40 m.
2025-06-11T21:17:58.541Z,1749676678.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266379
2025-06-11T21:17:58.783Z,1749676678.783 [DAT](INFO): DAT read: 21:17:59.5799 LVL= 22624, 30033, 20466, 32323, AGC= 66, IDX= 401, 0.16,-0.644,-2.150,-1.012,-1.256, PHS= 0.700,-0.846, 0.242, RAW= 133.2, -1.4, CAL= 138.8, -10.7, ROT= 11.2, 10.7
2025-06-11T21:17:58.784Z,1749676678.784 [DAT](INFO): got valid direction response:
21:17:59.5799 LVL= 22624, 30033, 20466, 32323, AGC= 66, IDX= 401, 0.16,-0.644,-2.150,-1.012,-1.256, PHS= 0.700,-0.846, 0.242, RAW= 133.2, -1.4, CAL= 138.8, -10.7, ROT= 11.2, 10.7
2025-06-11T21:17:58.785Z,1749676678.785 [DAT](INFO): DAT read: Bearing 11.2, 10.7 (Local)
2025-06-11T21:17:58.786Z,1749676678.786 [DAT](INFO): Local bearing/azimuth received:
Bearing 11.2, 10.7 (Local)
2025-06-11T21:17:58.787Z,1749676678.787 [DAT](INFO): DAT read: Range 10 to 50 : 42.5 m (Round-trip 56.7 ms) speed 0.7 m/s
2025-06-11T21:17:58.792Z,1749676678.792 [DAT](INFO): DAT read: user:855>
2025-06-11T21:17:58.793Z,1749676678.793 [DAT](INFO): DAT read: Tx time:21:18:00.6691
2025-06-11T21:17:58.793Z,1749676678.793 [DAT](INFO): Ping request sent.
2025-06-11T21:17:58.793Z,1749676678.793 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:17:58.794Z,1749676678.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:17:58.795Z,1749676678.795 [DAT](INFO): direction in FSK: [0.963899,0.190857,-0.185667]
2025-06-11T21:17:58.795Z,1749676678.795 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:58.795Z,1749676678.795 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:58.799Z,1749676678.799 [DAT](INFO): publishing transmit ping time
2025-06-11T21:17:58.799Z,1749676678.799 [DAT](INFO): publishing direction and range info
2025-06-11T21:17:59.029Z,1749676679.029 [DAT](INFO): DAT read: TxSync time:21:18:00.6683
2025-06-11T21:17:59.037Z,1749676679.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.500000 m,
deltaT: 3.527940 s,
deltaX: -2.900002 m,
approachRate: -0.822010 m/s,
rangeRepo size: 4
2025-06-11T21:17:59.038Z,1749676679.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.132908 m,
bearing: 71.720864 deg,
lat: 36.906864 deg,
lon: -122.115723 deg,
deltaT: 3.527940 s,
deltaX: -2.875069 m,
approachRate: -0.814943 m/s,
posRepo size: 4
2025-06-11T21:17:59.039Z,1749676679.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.13 m.
2025-06-11T21:17:59.047Z,1749676679.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.132908 m,
nav range: 41.429710 m,
bearing: 70.970377 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.005739 deg/s,
cmd heading: 57.219579 deg,
new cmd heading: 57.209964 deg.
2025-06-11T21:17:59.052Z,1749676679.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998502 target range: 42.132908 and range: 42.50 m.
2025-06-11T21:17:59.321Z,1749676679.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:17:59.323Z,1749676679.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.13 m.
2025-06-11T21:17:59.326Z,1749676679.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.132908 m,
nav range: 41.197575 m,
bearing: 70.967705 deg,
approach rate: -0.795563 m/s,
LOS rate: -0.009211 deg/s,
cmd heading: 57.209965 deg,
new cmd heading: 57.201902 deg.
2025-06-11T21:17:59.327Z,1749676679.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998362 target range: 42.132908 and range: 42.50 m.
2025-06-11T21:17:59.535Z,1749676679.535 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:17:59.535Z,1749676679.535 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:17:59.536Z,1749676679.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:17:59.785Z,1749676679.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991454
2025-06-11T21:17:59.814Z,1749676679.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.13 m.
2025-06-11T21:17:59.817Z,1749676679.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.132908 m,
nav range: 40.842064 m,
bearing: 70.948609 deg,
approach rate: -0.724220 m/s,
LOS rate: -0.039238 deg/s,
cmd heading: 57.201902 deg,
new cmd heading: 57.144118 deg.
2025-06-11T21:17:59.818Z,1749676679.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997353 target range: 42.132908 and range: 42.50 m.
2025-06-11T21:18:00.037Z,1749676680.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243790
2025-06-11T21:18:00.161Z,1749676680.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.13 m.
2025-06-11T21:18:00.163Z,1749676680.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.132908 m,
nav range: 40.600510 m,
bearing: 70.935288 deg,
approach rate: -0.697309 m/s,
LOS rate: -0.038686 deg/s,
cmd heading: 57.144119 deg,
new cmd heading: 57.103915 deg.
2025-06-11T21:18:00.165Z,1749676680.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996651 target range: 42.132908 and range: 42.50 m.
2025-06-11T21:18:00.289Z,1749676680.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495317
2025-06-11T21:18:00.543Z,1749676680.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748965
2025-06-11T21:18:00.628Z,1749676680.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.13 m.
2025-06-11T21:18:00.631Z,1749676680.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.132908 m,
nav range: 40.261456 m,
bearing: 70.916769 deg,
approach rate: -0.732078 m/s,
LOS rate: -0.040321 deg/s,
cmd heading: 57.103916 deg,
new cmd heading: 57.047894 deg.
2025-06-11T21:18:00.636Z,1749676680.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995674 target range: 42.132908 and range: 42.50 m.
2025-06-11T21:18:00.793Z,1749676680.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999479
2025-06-11T21:18:00.991Z,1749676680.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.13 m.
2025-06-11T21:18:00.994Z,1749676680.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.132908 m,
nav range: 39.986839 m,
bearing: 70.898840 deg,
approach rate: -0.747422 m/s,
LOS rate: -0.049133 deg/s,
cmd heading: 57.047895 deg,
new cmd heading: 56.993738 deg.
2025-06-11T21:18:00.995Z,1749676680.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994728 target range: 42.132908 and range: 42.50 m.
2025-06-11T21:18:01.045Z,1749676681.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251464
2025-06-11T21:18:01.297Z,1749676681.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503376
2025-06-11T21:18:01.413Z,1749676681.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:01.415Z,1749676681.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.13 m.
2025-06-11T21:18:01.434Z,1749676681.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.132908 m,
nav range: 39.676186 m,
bearing: 70.879143 deg,
approach rate: -0.732285 m/s,
LOS rate: -0.046796 deg/s,
cmd heading: 56.993738 deg,
new cmd heading: 56.934182 deg.
2025-06-11T21:18:01.435Z,1749676681.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993689 target range: 42.132908 and range: 42.50 m.
2025-06-11T21:18:01.552Z,1749676681.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757690
2025-06-11T21:18:01.801Z,1749676681.801 [DAT](INFO): DAT read: Rx Time:21:18:03.1263
2025-06-11T21:18:01.801Z,1749676681.801 [DAT](INFO): Rx dataTimestamp_ set to:1749676681.801111
2025-06-11T21:18:01.802Z,1749676681.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008590
2025-06-11T21:18:01.809Z,1749676681.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.13 m.
2025-06-11T21:18:01.811Z,1749676681.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.132908 m,
nav range: 39.394775 m,
bearing: 70.865381 deg,
approach rate: -0.715570 m/s,
LOS rate: -0.035242 deg/s,
cmd heading: 56.934182 deg,
new cmd heading: 56.892604 deg.
2025-06-11T21:18:01.817Z,1749676681.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992963 target range: 42.132908 and range: 42.50 m.
2025-06-11T21:18:02.053Z,1749676682.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259750
2025-06-11T21:18:02.164Z,1749676682.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.13 m.
2025-06-11T21:18:02.167Z,1749676682.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.132908 m,
nav range: 39.126339 m,
bearing: 70.852531 deg,
approach rate: -0.756393 m/s,
LOS rate: -0.036459 deg/s,
cmd heading: 56.892604 deg,
new cmd heading: 56.853787 deg.
2025-06-11T21:18:02.167Z,1749676682.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992286 target range: 42.132908 and range: 42.50 m.
2025-06-11T21:18:02.311Z,1749676682.311 [DAT](INFO): DAT read: 21:18:03.1263 LVL= 23600, 32753, 24162, 32755, AGC= 67, IDX= 411,-0.11,-0.210,-1.577,-0.577,-0.760, PHS= 0.638,-0.770, 0.180, RAW= 131.4, -0.8, CAL= 137.2, -9.8, ROT= 12.8, 9.8
2025-06-11T21:18:02.317Z,1749676682.317 [DAT](INFO): got valid direction response:
21:18:03.1263 LVL= 23600, 32753, 24162, 32755, AGC= 67, IDX= 411,-0.11,-0.210,-1.577,-0.577,-0.760, PHS= 0.638,-0.770, 0.180, RAW= 131.4, -0.8, CAL= 137.2, -9.8, ROT= 12.8, 9.8
2025-06-11T21:18:02.318Z,1749676682.318 [DAT](INFO): DAT read: Bearing 12.8, 9.8 (Local)
2025-06-11T21:18:02.318Z,1749676682.318 [DAT](INFO): Local bearing/azimuth received:
Bearing 12.8, 9.8 (Local)
2025-06-11T21:18:02.337Z,1749676682.337 [DAT](INFO): DAT read: Range 10 to 50 : 39.7 m (Round-trip 53.0 ms) speed 0.7 m/s
2025-06-11T21:18:02.337Z,1749676682.337 [DAT](INFO): DAT read: user:856>
2025-06-11T21:18:02.338Z,1749676682.338 [DAT](INFO): DAT read: Tx time:21:18:04.2192
2025-06-11T21:18:02.338Z,1749676682.338 [DAT](INFO): Ping request sent.
2025-06-11T21:18:02.339Z,1749676682.339 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:18:02.339Z,1749676682.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:18:02.344Z,1749676682.344 [DAT](INFO): direction in FSK: [0.960920,0.218316,-0.170209]
2025-06-11T21:18:02.344Z,1749676682.344 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:02.345Z,1749676682.345 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:02.360Z,1749676682.360 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:02.360Z,1749676682.360 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:02.557Z,1749676682.557 [DAT](INFO): DAT read: TxSync time:21:18:04.2184
2025-06-11T21:18:02.651Z,1749676682.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.700001 m,
deltaT: 3.528057 s,
deltaX: -2.799999 m,
approachRate: -0.793638 m/s,
rangeRepo size: 4
2025-06-11T21:18:02.662Z,1749676682.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 39.357655 m,
bearing: 72.948149 deg,
lat: 36.906861 deg,
lon: -122.115721 deg,
deltaT: 3.528057 s,
deltaX: -2.775253 m,
approachRate: -0.786624 m/s,
posRepo size: 4
2025-06-11T21:18:02.662Z,1749676682.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.36 m.
2025-06-11T21:18:02.669Z,1749676682.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.357655 m,
nav range: 38.862881 m,
bearing: 71.505034 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.036459 deg/s,
cmd heading: 56.853788 deg,
new cmd heading: 56.800509 deg.
2025-06-11T21:18:02.670Z,1749676682.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991356 target range: 39.357655 and range: 39.70 m.
2025-06-11T21:18:03.006Z,1749676683.006 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-11T21:18:03.006Z,1749676683.006 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:18:03.006Z,1749676683.006 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-11T21:18:03.012Z,1749676683.012 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.700001 m (mode 2.000000 count ).
2025-06-11T21:18:03.012Z,1749676683.012 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-11T21:18:03.012Z,1749676683.012 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-11T21:18:03.014Z,1749676683.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.36 m.
2025-06-11T21:18:03.021Z,1749676683.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.357655 m,
nav range: 38.548141 m,
bearing: 71.498152 deg,
approach rate: -0.865710 m/s,
LOS rate: -0.019084 deg/s,
cmd heading: 56.800509 deg,
new cmd heading: 56.779694 deg.
2025-06-11T21:18:03.022Z,1749676683.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990993 target range: 39.357655 and range: 39.70 m.
2025-06-11T21:18:03.376Z,1749676683.376 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-11T21:18:03.376Z,1749676683.376 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-11T21:18:03.384Z,1749676683.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.36 m.
2025-06-11T21:18:03.401Z,1749676683.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.357655 m,
nav range: 38.282944 m,
bearing: 71.491823 deg,
approach rate: -0.725673 m/s,
LOS rate: -0.017440 deg/s,
cmd heading: 56.779694 deg,
new cmd heading: 56.760573 deg.
2025-06-11T21:18:03.402Z,1749676683.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990659 target range: 39.357655 and range: 39.70 m.
2025-06-11T21:18:03.782Z,1749676683.782 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-11T21:18:03.782Z,1749676683.782 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-11T21:18:03.782Z,1749676683.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:03.785Z,1749676683.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.36 m.
2025-06-11T21:18:03.787Z,1749676683.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.357655 m,
nav range: 37.963036 m,
bearing: 71.481594 deg,
approach rate: -0.790353 m/s,
LOS rate: -0.025484 deg/s,
cmd heading: 56.760573 deg,
new cmd heading: 56.729628 deg.
2025-06-11T21:18:03.789Z,1749676683.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990119 target range: 39.357655 and range: 39.70 m.
2025-06-11T21:18:03.817Z,1749676683.817 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:18:03.817Z,1749676683.817 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:18:03.817Z,1749676683.817 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-11T21:18:04.069Z,1749676684.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730230
2025-06-11T21:18:04.170Z,1749676684.170 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-11T21:18:04.170Z,1749676684.170 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:18:04.170Z,1749676684.170 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-11T21:18:04.170Z,1749676684.170 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-11T21:18:04.172Z,1749676684.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.36 m.
2025-06-11T21:18:04.175Z,1749676684.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.357655 m,
nav range: 37.670097 m,
bearing: 71.472788 deg,
approach rate: -0.755835 m/s,
LOS rate: -0.022898 deg/s,
cmd heading: 56.729629 deg,
new cmd heading: 56.703005 deg.
2025-06-11T21:18:04.176Z,1749676684.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989654 target range: 39.357655 and range: 39.70 m.
2025-06-11T21:18:04.321Z,1749676684.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982168
2025-06-11T21:18:04.573Z,1749676684.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234334
2025-06-11T21:18:04.584Z,1749676684.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.36 m.
2025-06-11T21:18:04.587Z,1749676684.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.357655 m,
nav range: 37.363476 m,
bearing: 71.464352 deg,
approach rate: -0.744735 m/s,
LOS rate: -0.020658 deg/s,
cmd heading: 56.703004 deg,
new cmd heading: 56.677489 deg.
2025-06-11T21:18:04.588Z,1749676684.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989209 target range: 39.357655 and range: 39.70 m.
2025-06-11T21:18:04.825Z,1749676684.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486116
2025-06-11T21:18:05.001Z,1749676685.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.36 m.
2025-06-11T21:18:05.003Z,1749676685.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.357655 m,
nav range: 37.034569 m,
bearing: 71.460442 deg,
approach rate: -0.790659 m/s,
LOS rate: -0.009482 deg/s,
cmd heading: 56.677490 deg,
new cmd heading: 56.665657 deg.
2025-06-11T21:18:05.005Z,1749676685.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989002 target range: 39.357655 and range: 39.70 m.
2025-06-11T21:18:05.069Z,1749676685.069 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:18:05.078Z,1749676685.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739027
2025-06-11T21:18:05.329Z,1749676685.329 [DAT](INFO): DAT read: Rx Time:21:18:06.6727
2025-06-11T21:18:05.329Z,1749676685.329 [DAT](INFO): Rx dataTimestamp_ set to:1749676685.329060
2025-06-11T21:18:05.330Z,1749676685.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991361
2025-06-11T21:18:05.401Z,1749676685.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.36 m.
2025-06-11T21:18:05.408Z,1749676685.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 39.357655 m,
nav range: 36.727600 m,
bearing: 71.457272 deg,
approach rate: -0.764414 m/s,
LOS rate: -0.007962 deg/s,
cmd heading: 56.665657 deg,
new cmd heading: 56.656065 deg.
2025-06-11T21:18:05.409Z,1749676685.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988835 target range: 39.357655 and range: 39.70 m.
2025-06-11T21:18:05.582Z,1749676685.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243244
2025-06-11T21:18:05.858Z,1749676685.858 [DAT](INFO): DAT read: 21:18:06.6727 LVL= 21936, 23313, 20562, 30419, AGC= 66, IDX= 406, 0.14,-2.058, 2.629,-2.433,-2.640, PHS= 0.670,-0.966, 0.205, RAW= 134.0, 1.3, CAL= 139.4, -7.1, ROT= 10.6, 7.1
2025-06-11T21:18:05.859Z,1749676685.859 [DAT](INFO): got valid direction response:
21:18:06.6727 LVL= 21936, 23313, 20562, 30419, AGC= 66, IDX= 406, 0.14,-2.058, 2.629,-2.433,-2.640, PHS= 0.670,-0.966, 0.205, RAW= 134.0, 1.3, CAL= 139.4, -7.1, ROT= 10.6, 7.1
2025-06-11T21:18:05.868Z,1749676685.868 [DAT](INFO): DAT read: Bearing 10.6, 7.1 (Local)
2025-06-11T21:18:05.869Z,1749676685.869 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.6, 7.1 (Local)
2025-06-11T21:18:05.870Z,1749676685.870 [DAT](INFO): DAT read: Range 10 to 50 : 37.0 m (Round-trip 49.4 ms) speed 0.6 m/s
2025-06-11T21:18:05.871Z,1749676685.871 [DAT](INFO): DAT read: user:857>
2025-06-11T21:18:05.880Z,1749676685.880 [DAT](INFO): DAT read: Tx time:21:18:07.7692
2025-06-11T21:18:05.880Z,1749676685.880 [DAT](INFO): Ping request sent.
2025-06-11T21:18:05.881Z,1749676685.881 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:18:05.881Z,1749676685.881 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:18:05.882Z,1749676685.882 [DAT](INFO): direction in FSK: [0.975398,0.182541,-0.123601]
2025-06-11T21:18:05.882Z,1749676685.882 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:05.882Z,1749676685.882 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:05.894Z,1749676685.894 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:05.895Z,1749676685.895 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:05.927Z,1749676685.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.000000 m,
deltaT: 3.529851 s,
deltaX: -2.700001 m,
approachRate: -0.764905 m/s,
rangeRepo size: 4
2025-06-11T21:18:05.930Z,1749676685.930 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.048949
2025-06-11T21:18:05.934Z,1749676685.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.680748 m,
bearing: 70.257452 deg,
lat: 36.906861 deg,
lon: -122.115721 deg,
deltaT: 3.529851 s,
deltaX: -2.676907 m,
approachRate: -0.758362 m/s,
posRepo size: 4
2025-06-11T21:18:05.934Z,1749676685.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.68 m.
2025-06-11T21:18:05.953Z,1749676685.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.680748 m,
nav range: 36.338238 m,
bearing: 71.472315 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007962 deg/s,
cmd heading: 56.656064 deg,
new cmd heading: 56.643530 deg.
2025-06-11T21:18:05.954Z,1749676685.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988616 target range: 36.680748 and range: 37.00 m.
2025-06-11T21:18:06.072Z,1749676686.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:18:06.085Z,1749676686.085 [DAT](INFO): DAT read: TxSync time:21:18:07.7684
2025-06-11T21:18:06.086Z,1749676686.086 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.205272
2025-06-11T21:18:06.307Z,1749676686.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.68 m.
2025-06-11T21:18:06.314Z,1749676686.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.680748 m,
nav range: 36.039337 m,
bearing: 71.484242 deg,
approach rate: -0.783870 m/s,
LOS rate: 0.031537 deg/s,
cmd heading: 56.643531 deg,
new cmd heading: 56.679607 deg.
2025-06-11T21:18:06.315Z,1749676686.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989246 target range: 36.680748 and range: 37.00 m.
2025-06-11T21:18:06.340Z,1749676686.340 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.459074
2025-06-11T21:18:06.589Z,1749676686.589 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.708243
2025-06-11T21:18:06.694Z,1749676686.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:06.701Z,1749676686.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.68 m.
2025-06-11T21:18:06.703Z,1749676686.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.680748 m,
nav range: 35.730125 m,
bearing: 71.495681 deg,
approach rate: -0.786606 m/s,
LOS rate: 0.029352 deg/s,
cmd heading: 56.679608 deg,
new cmd heading: 56.714222 deg.
2025-06-11T21:18:06.709Z,1749676686.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989850 target range: 36.680748 and range: 37.00 m.
2025-06-11T21:18:06.841Z,1749676686.841 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.960282
2025-06-11T21:18:07.093Z,1749676687.093 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.212234
2025-06-11T21:18:07.149Z,1749676687.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.68 m.
2025-06-11T21:18:07.160Z,1749676687.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.680748 m,
nav range: 35.341503 m,
bearing: 71.517180 deg,
approach rate: -0.865683 m/s,
LOS rate: 0.048416 deg/s,
cmd heading: 56.714223 deg,
new cmd heading: 56.779427 deg.
2025-06-11T21:18:07.161Z,1749676687.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990988 target range: 36.680748 and range: 37.00 m.
2025-06-11T21:18:07.345Z,1749676687.345 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.464159
2025-06-11T21:18:07.470Z,1749676687.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.68 m.
2025-06-11T21:18:07.473Z,1749676687.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.680748 m,
nav range: 35.052185 m,
bearing: 71.533481 deg,
approach rate: -0.902689 m/s,
LOS rate: 0.051282 deg/s,
cmd heading: 56.779427 deg,
new cmd heading: 56.828736 deg.
2025-06-11T21:18:07.474Z,1749676687.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991849 target range: 36.680748 and range: 37.00 m.
2025-06-11T21:18:07.597Z,1749676687.597 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.716272
2025-06-11T21:18:07.849Z,1749676687.849 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.968257
2025-06-11T21:18:07.946Z,1749676687.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.68 m.
2025-06-11T21:18:07.953Z,1749676687.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.680748 m,
nav range: 34.657871 m,
bearing: 71.560474 deg,
approach rate: -0.828739 m/s,
LOS rate: 0.057377 deg/s,
cmd heading: 56.828735 deg,
new cmd heading: 56.910635 deg.
2025-06-11T21:18:07.954Z,1749676687.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993278 target range: 36.680748 and range: 37.00 m.
2025-06-11T21:18:08.101Z,1749676688.101 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.220140
2025-06-11T21:18:08.281Z,1749676688.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.68 m.
2025-06-11T21:18:08.283Z,1749676688.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.680748 m,
nav range: 34.360065 m,
bearing: 71.581805 deg,
approach rate: -0.888866 m/s,
LOS rate: 0.064218 deg/s,
cmd heading: 56.910635 deg,
new cmd heading: 56.975182 deg.
2025-06-11T21:18:08.285Z,1749676688.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994404 target range: 36.680748 and range: 37.00 m.
2025-06-11T21:18:08.355Z,1749676688.355 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.474895
2025-06-11T21:18:08.609Z,1749676688.609 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.728180
2025-06-11T21:18:08.772Z,1749676688.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:08.774Z,1749676688.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.68 m.
2025-06-11T21:18:08.781Z,1749676688.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.680748 m,
nav range: 33.952129 m,
bearing: 71.620597 deg,
approach rate: -0.826672 m/s,
LOS rate: 0.079556 deg/s,
cmd heading: 56.975181 deg,
new cmd heading: 57.092955 deg.
2025-06-11T21:18:08.782Z,1749676688.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996460 target range: 36.680748 and range: 37.00 m.
2025-06-11T21:18:08.862Z,1749676688.862 [DAT](INFO): DAT read: Rx Time:21:18:10.2190
2025-06-11T21:18:08.863Z,1749676688.863 [DAT](INFO): Rx dataTimestamp_ set to:1749676688.862412
2025-06-11T21:18:08.864Z,1749676688.864 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.983064
2025-06-11T21:18:09.111Z,1749676689.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.68 m.
2025-06-11T21:18:09.113Z,1749676689.113 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.232414
2025-06-11T21:18:09.130Z,1749676689.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.680748 m,
nav range: 33.667210 m,
bearing: 71.648130 deg,
approach rate: -0.845926 m/s,
LOS rate: 0.082435 deg/s,
cmd heading: 57.092957 deg,
new cmd heading: 57.176253 deg.
2025-06-11T21:18:09.131Z,1749676689.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997914 target range: 36.680748 and range: 37.00 m.
2025-06-11T21:18:09.390Z,1749676689.390 [DAT](INFO): DAT read: 21:18:10.2190 LVL= 20688, 32753, 20850, 32755, AGC= 66, IDX= 400, 0.06, 2.351, 0.771, 1.971, 1.783, PHS= 0.656,-0.966, 0.185, RAW= 133.6, 1.8, CAL= 139.1, -6.4, ROT= 10.9, 6.4
2025-06-11T21:18:09.391Z,1749676689.391 [DAT](INFO): got valid direction response:
21:18:10.2190 LVL= 20688, 32753, 20850, 32755, AGC= 66, IDX= 400, 0.06, 2.351, 0.771, 1.971, 1.783, PHS= 0.656,-0.966, 0.185, RAW= 133.6, 1.8, CAL= 139.1, -6.4, ROT= 10.9, 6.4
2025-06-11T21:18:09.416Z,1749676689.416 [DAT](INFO): DAT read: Bearing 10.9, 6.4 (Local)
2025-06-11T21:18:09.416Z,1749676689.416 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.9, 6.4 (Local)
2025-06-11T21:18:09.418Z,1749676689.418 [DAT](INFO): DAT read: Range 10 to 50 : 34.2 m (Round-trip 45.7 ms) speed 0.6 m/s
2025-06-11T21:18:09.419Z,1749676689.419 [DAT](INFO): DAT read: user:858>
2025-06-11T21:18:09.419Z,1749676689.419 [DAT](INFO): DAT read: Tx time:21:18:11.3192
2025-06-11T21:18:09.420Z,1749676689.420 [DAT](INFO): Ping request sent.
2025-06-11T21:18:09.420Z,1749676689.420 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:18:09.420Z,1749676689.420 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-11T21:18:09.421Z,1749676689.421 [DAT](INFO): direction in FSK: [0.975839,0.187917,-0.111469]
2025-06-11T21:18:09.422Z,1749676689.422 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:09.422Z,1749676689.422 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:09.425Z,1749676689.425 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:09.425Z,1749676689.425 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:09.429Z,1749676689.429 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.008868
2025-06-11T21:18:09.549Z,1749676689.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.200001 m,
deltaT: 3.531972 s,
deltaX: -2.799999 m,
approachRate: -0.792758 m/s,
rangeRepo size: 4
2025-06-11T21:18:09.551Z,1749676689.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.905132 m,
bearing: 70.637211 deg,
lat: 36.906866 deg,
lon: -122.115723 deg,
deltaT: 3.531972 s,
deltaX: -2.775616 m,
approachRate: -0.785854 m/s,
posRepo size: 4
2025-06-11T21:18:09.556Z,1749676689.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:18:09.559Z,1749676689.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.905132 m,
nav range: 33.353043 m,
bearing: 70.589967 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.082435 deg/s,
cmd heading: 57.176255 deg,
new cmd heading: 57.284516 deg.
2025-06-11T21:18:09.564Z,1749676689.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999803 target range: 33.905132 and range: 34.20 m.
2025-06-11T21:18:09.618Z,1749676689.618 [DAT](INFO): DAT read: TxSync time:21:18:11.3184
2025-06-11T21:18:09.619Z,1749676689.619 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.198900
2025-06-11T21:18:09.869Z,1749676689.869 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.448922
2025-06-11T21:18:09.979Z,1749676689.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:18:09.985Z,1749676689.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.905132 m,
nav range: 32.980785 m,
bearing: 70.612882 deg,
approach rate: -0.866472 m/s,
LOS rate: 0.053941 deg/s,
cmd heading: 57.284517 deg,
new cmd heading: 57.354039 deg.
2025-06-11T21:18:09.986Z,1749676689.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001017 target range: 33.905132 and range: 34.20 m.
2025-06-11T21:18:10.121Z,1749676690.121 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.700782
2025-06-11T21:18:10.337Z,1749676690.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:18:10.340Z,1749676690.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.905132 m,
nav range: 32.669636 m,
bearing: 70.631201 deg,
approach rate: -0.867655 m/s,
LOS rate: 0.051569 deg/s,
cmd heading: 57.354041 deg,
new cmd heading: 57.409521 deg.
2025-06-11T21:18:10.341Z,1749676690.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001985 target range: 33.905132 and range: 34.20 m.
2025-06-11T21:18:10.374Z,1749676690.374 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.953627
2025-06-11T21:18:10.625Z,1749676690.625 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.204860
2025-06-11T21:18:10.785Z,1749676690.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:10.787Z,1749676690.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:18:10.806Z,1749676690.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.905132 m,
nav range: 32.264706 m,
bearing: 70.656154 deg,
approach rate: -0.899893 m/s,
LOS rate: 0.056151 deg/s,
cmd heading: 57.409523 deg,
new cmd heading: 57.485322 deg.
2025-06-11T21:18:10.807Z,1749676690.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003308 target range: 33.905132 and range: 34.20 m.
2025-06-11T21:18:10.878Z,1749676690.878 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.457681
2025-06-11T21:18:11.129Z,1749676691.129 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.708855
2025-06-11T21:18:11.131Z,1749676691.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:18:11.134Z,1749676691.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.905132 m,
nav range: 31.970081 m,
bearing: 70.674341 deg,
approach rate: -0.863890 m/s,
LOS rate: 0.053816 deg/s,
cmd heading: 57.485324 deg,
new cmd heading: 57.540385 deg.
2025-06-11T21:18:11.135Z,1749676691.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.004269 target range: 33.905132 and range: 34.20 m.
2025-06-11T21:18:11.381Z,1749676691.381 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.960879
2025-06-11T21:18:11.525Z,1749676691.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:18:11.527Z,1749676691.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.905132 m,
nav range: 31.627783 m,
bearing: 70.695872 deg,
approach rate: -0.862832 m/s,
LOS rate: 0.054861 deg/s,
cmd heading: 57.540382 deg,
new cmd heading: 57.605675 deg.
2025-06-11T21:18:11.529Z,1749676691.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.005409 target range: 33.905132 and range: 34.20 m.
2025-06-11T21:18:11.633Z,1749676691.633 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.213332
2025-06-11T21:18:11.885Z,1749676691.885 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.464782
2025-06-11T21:18:11.971Z,1749676691.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:18:11.974Z,1749676691.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.905132 m,
nav range: 31.252333 m,
bearing: 70.714554 deg,
approach rate: -0.841920 m/s,
LOS rate: 0.042397 deg/s,
cmd heading: 57.605672 deg,
new cmd heading: 57.662392 deg.
2025-06-11T21:18:11.975Z,1749676691.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006399 target range: 33.905132 and range: 34.20 m.
2025-06-11T21:18:12.137Z,1749676692.137 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.716787
2025-06-11T21:18:12.334Z,1749676692.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:18:12.337Z,1749676692.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.905132 m,
nav range: 30.945887 m,
bearing: 70.729728 deg,
approach rate: -0.842565 m/s,
LOS rate: 0.042135 deg/s,
cmd heading: 57.662390 deg,
new cmd heading: 57.708364 deg.
2025-06-11T21:18:12.338Z,1749676692.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007201 target range: 33.905132 and range: 34.20 m.
2025-06-11T21:18:12.390Z,1749676692.390 [DAT](INFO): DAT read: Rx Time:21:18:13.7650
2025-06-11T21:18:12.391Z,1749676692.391 [DAT](INFO): Rx dataTimestamp_ set to:1749676692.390457
2025-06-11T21:18:12.393Z,1749676692.393 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.972334
2025-06-11T21:18:12.641Z,1749676692.641 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.220847
2025-06-11T21:18:12.870Z,1749676692.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:12.872Z,1749676692.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m.
2025-06-11T21:18:12.880Z,1749676692.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.905132 m,
nav range: 30.498009 m,
bearing: 70.743419 deg,
approach rate: -0.833388 m/s,
LOS rate: 0.025850 deg/s,
cmd heading: 57.708364 deg,
new cmd heading: 57.750040 deg.
2025-06-11T21:18:12.885Z,1749676692.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007928 target range: 33.905132 and range: 34.20 m.
2025-06-11T21:18:12.896Z,1749676692.896 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.475457
2025-06-11T21:18:13.153Z,1749676693.153 [DAT](INFO): DAT read: 21:18:13.7650 LVL= 24864, 32753, 26178, 32755, AGC= 63, IDX= 407, 0.01, 1.721, 0.400, 1.418, 1.231, PHS= 0.578,-0.784, 0.183, RAW= 133.6, 0.4, CAL= 139.1, -8.3, ROT= 10.9, 8.3
2025-06-11T21:18:13.155Z,1749676693.155 [DAT](INFO): got valid direction response:
21:18:13.7650 LVL= 24864, 32753, 26178, 32755, AGC= 63, IDX= 407, 0.01, 1.721, 0.400, 1.418, 1.231, PHS= 0.578,-0.784, 0.183, RAW= 133.6, 0.4, CAL= 139.1, -8.3, ROT= 10.9, 8.3
2025-06-11T21:18:13.158Z,1749676693.158 [DAT](INFO): DAT read: Bearing 10.9, 8.3 (Local)
2025-06-11T21:18:13.159Z,1749676693.159 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.9, 8.3 (Local)
2025-06-11T21:18:13.162Z,1749676693.162 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (Round-trip 41.6 ms) speed 0.7 m/s
2025-06-11T21:18:13.163Z,1749676693.163 [DAT](INFO): DAT read: user:859>
2025-06-11T21:18:13.165Z,1749676693.165 [DAT](INFO): DAT read: Tx time:21:18:14.8692
2025-06-11T21:18:13.165Z,1749676693.165 [DAT](INFO): Ping request sent.
2025-06-11T21:18:13.165Z,1749676693.165 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:18:13.166Z,1749676693.166 [DAT](INFO): DAT read: TxSync time:21:18:14.8684
2025-06-11T21:18:13.166Z,1749676693.166 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-11T21:18:13.167Z,1749676693.167 [DAT](INFO): direction in FSK: [0.971673,0.187115,-0.144356]
2025-06-11T21:18:13.167Z,1749676693.167 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:13.168Z,1749676693.168 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:13.171Z,1749676693.171 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:13.171Z,1749676693.171 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:13.207Z,1749676693.207 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.041838
2025-06-11T21:18:13.293Z,1749676693.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.200001 m,
deltaT: 3.779405 s,
deltaX: -3.000000 m,
approachRate: -0.793776 m/s,
rangeRepo size: 4
2025-06-11T21:18:13.295Z,1749676693.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.931232 m,
bearing: 71.370940 deg,
lat: 36.906866 deg,
lon: -122.115722 deg,
deltaT: 3.779405 s,
deltaX: -2.973900 m,
approachRate: -0.786870 m/s,
posRepo size: 4
2025-06-11T21:18:13.295Z,1749676693.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:13.310Z,1749676693.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 30.242123 m,
bearing: 70.805305 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025850 deg/s,
cmd heading: 57.750042 deg,
new cmd heading: 57.782295 deg.
2025-06-11T21:18:13.311Z,1749676693.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008491 target range: 30.931232 and range: 31.20 m.
2025-06-11T21:18:13.399Z,1749676693.399 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.233891
2025-06-11T21:18:13.653Z,1749676693.653 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.488251
2025-06-11T21:18:13.654Z,1749676693.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:13.661Z,1749676693.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 29.935102 m,
bearing: 70.814429 deg,
approach rate: -0.853218 m/s,
LOS rate: 0.025616 deg/s,
cmd heading: 57.782294 deg,
new cmd heading: 57.809947 deg.
2025-06-11T21:18:13.662Z,1749676693.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008974 target range: 30.931232 and range: 31.20 m.
2025-06-11T21:18:13.905Z,1749676693.905 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.740331
2025-06-11T21:18:14.070Z,1749676694.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:14.077Z,1749676694.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 29.591703 m,
bearing: 70.821563 deg,
approach rate: -0.812579 m/s,
LOS rate: 0.017078 deg/s,
cmd heading: 57.809949 deg,
new cmd heading: 57.831601 deg.
2025-06-11T21:18:14.078Z,1749676694.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009352 target range: 30.931232 and range: 31.20 m.
2025-06-11T21:18:14.158Z,1749676694.158 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.992749
2025-06-11T21:18:14.409Z,1749676694.409 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.243782
2025-06-11T21:18:14.440Z,1749676694.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:14.442Z,1749676694.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 29.284126 m,
bearing: 70.828376 deg,
approach rate: -0.832710 m/s,
LOS rate: 0.018637 deg/s,
cmd heading: 57.831601 deg,
new cmd heading: 57.852253 deg.
2025-06-11T21:18:14.443Z,1749676694.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009712 target range: 30.931232 and range: 31.20 m.
2025-06-11T21:18:14.662Z,1749676694.662 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.496802
2025-06-11T21:18:14.914Z,1749676694.914 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.748546
2025-06-11T21:18:14.938Z,1749676694.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:14.960Z,1749676694.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:14.963Z,1749676694.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 28.890764 m,
bearing: 70.825795 deg,
approach rate: -0.785957 m/s,
LOS rate: -0.005225 deg/s,
cmd heading: 57.852256 deg,
new cmd heading: 57.844410 deg.
2025-06-11T21:18:14.968Z,1749676694.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009575 target range: 30.931232 and range: 31.20 m.
2025-06-11T21:18:15.165Z,1749676695.165 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.999745
2025-06-11T21:18:15.282Z,1749676695.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:15.284Z,1749676695.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 28.621929 m,
bearing: 70.825161 deg,
approach rate: -0.787394 m/s,
LOS rate: -0.001875 deg/s,
cmd heading: 57.844408 deg,
new cmd heading: 57.842488 deg.
2025-06-11T21:18:15.285Z,1749676695.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009542 target range: 30.931232 and range: 31.20 m.
2025-06-11T21:18:15.418Z,1749676695.418 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.252771
2025-06-11T21:18:15.669Z,1749676695.669 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.503706
2025-06-11T21:18:15.700Z,1749676695.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:15.703Z,1749676695.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 28.293638 m,
bearing: 70.825251 deg,
approach rate: -0.785039 m/s,
LOS rate: 0.000216 deg/s,
cmd heading: 57.842488 deg,
new cmd heading: 57.842760 deg.
2025-06-11T21:18:15.703Z,1749676695.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009547 target range: 30.931232 and range: 31.20 m.
2025-06-11T21:18:15.921Z,1749676695.921 [DAT](INFO): DAT read: Rx Time:21:18:17.3111
2025-06-11T21:18:15.922Z,1749676695.922 [DAT](INFO): Rx dataTimestamp_ set to:1749676695.921873
2025-06-11T21:18:15.923Z,1749676695.923 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.758096
2025-06-11T21:18:16.138Z,1749676696.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:16.141Z,1749676696.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 27.957155 m,
bearing: 70.805887 deg,
approach rate: -0.768138 m/s,
LOS rate: -0.044737 deg/s,
cmd heading: 57.842762 deg,
new cmd heading: 57.783970 deg.
2025-06-11T21:18:16.142Z,1749676696.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008520 target range: 30.931232 and range: 31.20 m.
2025-06-11T21:18:16.173Z,1749676696.173 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.007813
2025-06-11T21:18:16.428Z,1749676696.428 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.262440
2025-06-11T21:18:16.484Z,1749676696.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:16.487Z,1749676696.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 27.694704 m,
bearing: 70.791042 deg,
approach rate: -0.758582 m/s,
LOS rate: -0.043315 deg/s,
cmd heading: 57.783967 deg,
new cmd heading: 57.739010 deg.
2025-06-11T21:18:16.489Z,1749676696.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007736 target range: 30.931232 and range: 31.20 m.
2025-06-11T21:18:16.681Z,1749676696.681 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m (Round-trip 37.6 ms) speed 0.8 m/s
2025-06-11T21:18:16.682Z,1749676696.682 [DAT](INFO): DAT read: user:860>
2025-06-11T21:18:16.682Z,1749676696.682 [DAT](INFO): DAT read: Tx time:21:18:18.4193
2025-06-11T21:18:16.683Z,1749676696.683 [DAT](INFO): Ping request sent.
2025-06-11T21:18:16.683Z,1749676696.683 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:18:16.683Z,1749676696.683 [DAT](INFO): DAT read: TxSync time:21:18:18.4185
2025-06-11T21:18:16.684Z,1749676696.684 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-06-11T21:18:16.684Z,1749676696.684 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:16.685Z,1749676696.685 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:16.686Z,1749676696.686 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.003068
2025-06-11T21:18:16.930Z,1749676696.930 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.246703
2025-06-11T21:18:16.951Z,1749676696.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:16.962Z,1749676696.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.200001 m,
deltaT: 3.532739 s,
deltaX: -3.000000 m,
approachRate: -0.849199 m/s,
rangeRepo size: 4
2025-06-11T21:18:16.963Z,1749676696.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:16.966Z,1749676696.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 27.353672 m,
bearing: 70.767390 deg,
approach rate: -0.713780 m/s,
LOS rate: -0.050121 deg/s,
cmd heading: 57.739011 deg,
new cmd heading: 57.667171 deg.
2025-06-11T21:18:16.967Z,1749676696.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006482 target range: 30.931232 and range: 28.20 m.
2025-06-11T21:18:17.181Z,1749676697.181 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.497862
2025-06-11T21:18:17.298Z,1749676697.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:17.301Z,1749676697.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 27.080246 m,
bearing: 70.746253 deg,
approach rate: -0.813231 m/s,
LOS rate: -0.063500 deg/s,
cmd heading: 57.667171 deg,
new cmd heading: 57.603120 deg.
2025-06-11T21:18:17.302Z,1749676697.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.005364 target range: 30.931232 and range: 28.20 m.
2025-06-11T21:18:17.433Z,1749676697.433 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.750099
2025-06-11T21:18:17.685Z,1749676697.685 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.002117
2025-06-11T21:18:17.712Z,1749676697.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:17.715Z,1749676697.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 26.769196 m,
bearing: 70.720410 deg,
approach rate: -0.751212 m/s,
LOS rate: -0.063137 deg/s,
cmd heading: 57.603118 deg,
new cmd heading: 57.524689 deg.
2025-06-11T21:18:17.716Z,1749676697.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003995 target range: 30.931232 and range: 28.20 m.
2025-06-11T21:18:17.937Z,1749676697.937 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.253940
2025-06-11T21:18:18.151Z,1749676698.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:18.155Z,1749676698.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 26.437170 m,
bearing: 70.675243 deg,
approach rate: -0.755993 m/s,
LOS rate: -0.104133 deg/s,
cmd heading: 57.524686 deg,
new cmd heading: 57.387484 deg.
2025-06-11T21:18:18.156Z,1749676698.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001601 target range: 30.931232 and range: 28.20 m.
2025-06-11T21:18:18.189Z,1749676698.189 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.506066
2025-06-11T21:18:18.441Z,1749676698.441 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.757906
2025-06-11T21:18:18.521Z,1749676698.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:18.524Z,1749676698.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 26.156734 m,
bearing: 70.633880 deg,
approach rate: -0.757862 m/s,
LOS rate: -0.112981 deg/s,
cmd heading: 57.387482 deg,
new cmd heading: 57.262061 deg.
2025-06-11T21:18:18.525Z,1749676698.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999412 target range: 30.931232 and range: 28.20 m.
2025-06-11T21:18:18.693Z,1749676698.693 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.009929
2025-06-11T21:18:18.953Z,1749676698.953 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.270054
2025-06-11T21:18:18.970Z,1749676698.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:18.977Z,1749676698.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 25.837191 m,
bearing: 70.583326 deg,
approach rate: -0.711452 m/s,
LOS rate: -0.113948 deg/s,
cmd heading: 57.262062 deg,
new cmd heading: 57.108525 deg.
2025-06-11T21:18:18.978Z,1749676698.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996732 target range: 30.931232 and range: 28.20 m.
2025-06-11T21:18:19.205Z,1749676699.205 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.521956
2025-06-11T21:18:19.315Z,1749676699.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:19.317Z,1749676699.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:19.336Z,1749676699.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 25.555841 m,
bearing: 70.537877 deg,
approach rate: -0.810499 m/s,
LOS rate: -0.132368 deg/s,
cmd heading: 57.108526 deg,
new cmd heading: 56.970679 deg.
2025-06-11T21:18:19.337Z,1749676699.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994326 target range: 30.931232 and range: 28.20 m.
2025-06-11T21:18:19.457Z,1749676699.457 [DAT](INFO): DAT read: Rx Time:21:18:20.8573
2025-06-11T21:18:19.457Z,1749676699.457 [DAT](INFO): Rx dataTimestamp_ set to:1749676699.457034
2025-06-11T21:18:19.458Z,1749676699.458 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.775041
2025-06-11T21:18:19.709Z,1749676699.709 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.026049
2025-06-11T21:18:19.730Z,1749676699.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:19.737Z,1749676699.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 25.243999 m,
bearing: 70.486295 deg,
approach rate: -0.755607 m/s,
LOS rate: -0.126529 deg/s,
cmd heading: 56.970680 deg,
new cmd heading: 56.814023 deg.
2025-06-11T21:18:19.738Z,1749676699.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991592 target range: 30.931232 and range: 28.20 m.
2025-06-11T21:18:19.961Z,1749676699.961 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.278242
2025-06-11T21:18:20.155Z,1749676700.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m.
2025-06-11T21:18:20.158Z,1749676700.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.931232 m,
nav range: 24.923660 m,
bearing: 70.438180 deg,
approach rate: -0.753475 m/s,
LOS rate: -0.114626 deg/s,
cmd heading: 56.814022 deg,
new cmd heading: 56.667824 deg.
2025-06-11T21:18:20.159Z,1749676700.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989040 target range: 30.931232 and range: 28.20 m.
2025-06-11T21:18:20.219Z,1749676700.219 [DAT](INFO): DAT read: 21:18:20.8573 LVL= 23072, 32753, 23426, 32755, AGC= 65, IDX= 407,-0.07, 0.854,-0.531, 0.548, 0.385, PHS= 0.557,-0.869, 0.160, RAW= 134.4, 2.4, CAL= 139.7, -5.6, ROT= 10.3, 5.6
2025-06-11T21:18:20.220Z,1749676700.220 [DAT](INFO): got valid direction response:
21:18:20.8573 LVL= 23072, 32753, 23426, 32755, AGC= 65, IDX= 407,-0.07, 0.854,-0.531, 0.548, 0.385, PHS= 0.557,-0.869, 0.160, RAW= 134.4, 2.4, CAL= 139.7, -5.6, ROT= 10.3, 5.6
2025-06-11T21:18:20.221Z,1749676700.221 [DAT](INFO): DAT read: Bearing 10.3, 5.6 (Local)
2025-06-11T21:18:20.221Z,1749676700.221 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.3, 5.6 (Local)
2025-06-11T21:18:20.223Z,1749676700.223 [DAT](INFO): DAT read: Range 10 to 50 : 25.3 m (Round-trip 33.8 ms) speed 0.7 m/s
2025-06-11T21:18:20.224Z,1749676700.224 [DAT](INFO): DAT read: user:861>
2025-06-11T21:18:20.227Z,1749676700.227 [DAT](INFO): DAT read: Tx time:21:18:21.9708
2025-06-11T21:18:20.229Z,1749676700.229 [DAT](INFO): Ping request sent.
2025-06-11T21:18:20.229Z,1749676700.229 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:18:20.230Z,1749676700.230 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-11T21:18:20.231Z,1749676700.231 [DAT](INFO): direction in FSK: [0.979189,0.177949,-0.097583]
2025-06-11T21:18:20.231Z,1749676700.231 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:20.231Z,1749676700.231 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:20.235Z,1749676700.235 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:20.235Z,1749676700.235 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:20.238Z,1749676700.238 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.009777
2025-06-11T21:18:20.465Z,1749676700.465 [DAT](INFO): DAT read: TxSync time:21:18:21.9701
2025-06-11T21:18:20.466Z,1749676700.466 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.237330
2025-06-11T21:18:20.572Z,1749676700.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.299999 m,
deltaT: 3.533865 s,
deltaX: -2.900002 m,
approachRate: -0.820632 m/s,
rangeRepo size: 4
2025-06-11T21:18:20.574Z,1749676700.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.082373 m,
bearing: 70.859748 deg,
lat: 36.906866 deg,
lon: -122.115722 deg,
deltaT: 7.066604 s,
deltaX: -5.848860 m,
approachRate: -0.827676 m/s,
posRepo size: 4
2025-06-11T21:18:20.575Z,1749676700.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-06-11T21:18:20.582Z,1749676700.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.082373 m,
nav range: 24.618940 m,
bearing: 70.391170 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.114626 deg/s,
cmd heading: 56.667822 deg,
new cmd heading: 56.526114 deg.
2025-06-11T21:18:20.583Z,1749676700.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986567 target range: 25.082373 and range: 25.30 m.
2025-06-11T21:18:20.717Z,1749676700.717 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.488325
2025-06-11T21:18:20.969Z,1749676700.969 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.740386
2025-06-11T21:18:20.974Z,1749676700.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-06-11T21:18:20.977Z,1749676700.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.082373 m,
nav range: 24.292120 m,
bearing: 70.346824 deg,
approach rate: -0.803362 m/s,
LOS rate: -0.110476 deg/s,
cmd heading: 56.526113 deg,
new cmd heading: 56.391282 deg.
2025-06-11T21:18:20.978Z,1749676700.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.984214 target range: 25.082373 and range: 25.30 m.
2025-06-11T21:18:21.221Z,1749676701.221 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.992470
2025-06-11T21:18:21.350Z,1749676701.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:21.356Z,1749676701.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-06-11T21:18:21.359Z,1749676701.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.082373 m,
nav range: 24.009974 m,
bearing: 70.307176 deg,
approach rate: -0.737746 m/s,
LOS rate: -0.104888 deg/s,
cmd heading: 56.391281 deg,
new cmd heading: 56.270941 deg.
2025-06-11T21:18:21.364Z,1749676701.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982113 target range: 25.082373 and range: 25.30 m.
2025-06-11T21:18:21.473Z,1749676701.473 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.244733
2025-06-11T21:18:21.725Z,1749676701.725 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.496396
2025-06-11T21:18:21.746Z,1749676701.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-06-11T21:18:21.749Z,1749676701.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.082373 m,
nav range: 23.691898 m,
bearing: 70.262411 deg,
approach rate: -0.815598 m/s,
LOS rate: -0.116325 deg/s,
cmd heading: 56.270940 deg,
new cmd heading: 56.134843 deg.
2025-06-11T21:18:21.750Z,1749676701.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.979738 target range: 25.082373 and range: 25.30 m.
2025-06-11T21:18:21.978Z,1749676701.978 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.749752
2025-06-11T21:18:22.177Z,1749676702.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-06-11T21:18:22.180Z,1749676702.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.082373 m,
nav range: 23.345610 m,
bearing: 70.229840 deg,
approach rate: -0.804370 m/s,
LOS rate: -0.076779 deg/s,
cmd heading: 56.134842 deg,
new cmd heading: 56.035680 deg.
2025-06-11T21:18:22.181Z,1749676702.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.978007 target range: 25.082373 and range: 25.30 m.
2025-06-11T21:18:22.229Z,1749676702.229 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.000993
2025-06-11T21:18:22.481Z,1749676702.481 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.252476
2025-06-11T21:18:22.571Z,1749676702.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-06-11T21:18:22.574Z,1749676702.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.082373 m,
nav range: 23.029871 m,
bearing: 70.200420 deg,
approach rate: -0.800814 m/s,
LOS rate: -0.075642 deg/s,
cmd heading: 56.035681 deg,
new cmd heading: 55.946210 deg.
2025-06-11T21:18:22.575Z,1749676702.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976446 target range: 25.082373 and range: 25.30 m.
2025-06-11T21:18:22.733Z,1749676702.733 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.504350
2025-06-11T21:18:22.985Z,1749676702.985 [DAT](INFO): DAT read: Rx Time:21:18:24.4052
2025-06-11T21:18:22.985Z,1749676702.985 [DAT](INFO): Rx dataTimestamp_ set to:1749676702.985073
2025-06-11T21:18:22.986Z,1749676702.986 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.757435
2025-06-11T21:18:23.005Z,1749676703.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-06-11T21:18:23.008Z,1749676703.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.082373 m,
nav range: 22.677666 m,
bearing: 70.181171 deg,
approach rate: -0.811193 m/s,
LOS rate: -0.045022 deg/s,
cmd heading: 55.946209 deg,
new cmd heading: 55.887565 deg.
2025-06-11T21:18:23.009Z,1749676703.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.975422 target range: 25.082373 and range: 25.30 m.
2025-06-11T21:18:23.237Z,1749676703.237 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.008273
2025-06-11T21:18:23.358Z,1749676703.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:23.361Z,1749676703.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-06-11T21:18:23.363Z,1749676703.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.082373 m,
nav range: 22.391911 m,
bearing: 70.165821 deg,
approach rate: -0.806626 m/s,
LOS rate: -0.043883 deg/s,
cmd heading: 55.887565 deg,
new cmd heading: 55.840928 deg.
2025-06-11T21:18:23.364Z,1749676703.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974608 target range: 25.082373 and range: 25.30 m.
2025-06-11T21:18:23.489Z,1749676703.489 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.260360
2025-06-11T21:18:23.747Z,1749676703.747 [DAT](INFO): DAT read: 21:18:24.4052 LVL= 20816, 32753, 22098, 32755, AGC= 64, IDX= 402,-0.11, 3.054, 1.735, 2.773, 2.646, PHS= 0.496,-0.864, 0.124, RAW= 134.6, 4.1, CAL= 139.9, -3.5, ROT= 10.1, 3.5
2025-06-11T21:18:23.748Z,1749676703.748 [DAT](INFO): got valid direction response:
21:18:24.4052 LVL= 20816, 32753, 22098, 32755, AGC= 64, IDX= 402,-0.11, 3.054, 1.735, 2.773, 2.646, PHS= 0.496,-0.864, 0.124, RAW= 134.6, 4.1, CAL= 139.9, -3.5, ROT= 10.1, 3.5
2025-06-11T21:18:23.749Z,1749676703.749 [DAT](INFO): DAT read: Bearing 10.1, 3.5 (Local)
2025-06-11T21:18:23.749Z,1749676703.749 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.1, 3.5 (Local)
2025-06-11T21:18:23.751Z,1749676703.751 [DAT](INFO): DAT read: Range 10 to 50 : 22.6 m (Round-trip 30.2 ms) speed 0.6 m/s
2025-06-11T21:18:23.751Z,1749676703.751 [DAT](INFO): DAT read: user:862>
2025-06-11T21:18:23.752Z,1749676703.752 [DAT](INFO): DAT read: Tx time:21:18:25.5193
2025-06-11T21:18:23.753Z,1749676703.753 [DAT](INFO): Ping request sent.
2025-06-11T21:18:23.753Z,1749676703.753 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:18:23.753Z,1749676703.753 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-11T21:18:23.754Z,1749676703.754 [DAT](INFO): direction in FSK: [0.982667,0.175040,-0.061049]
2025-06-11T21:18:23.754Z,1749676703.754 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:23.754Z,1749676703.754 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:23.762Z,1749676703.762 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:23.762Z,1749676703.762 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:23.782Z,1749676703.782 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.028932
2025-06-11T21:18:23.856Z,1749676703.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.600000 m,
deltaT: 3.527996 s,
deltaX: -2.699999 m,
approachRate: -0.765307 m/s,
rangeRepo size: 4
2025-06-11T21:18:23.858Z,1749676703.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.405729 m,
bearing: 69.941486 deg,
lat: 36.906866 deg,
lon: -122.115720 deg,
deltaT: 3.527996 s,
deltaX: -2.676643 m,
approachRate: -0.758687 m/s,
posRepo size: 4
2025-06-11T21:18:23.859Z,1749676703.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-06-11T21:18:23.878Z,1749676703.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.405729 m,
nav range: 22.149136 m,
bearing: 70.267080 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.043883 deg/s,
cmd heading: 55.840929 deg,
new cmd heading: 55.777701 deg.
2025-06-11T21:18:23.886Z,1749676703.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.973505 target range: 22.405729 and range: 22.60 m.
2025-06-11T21:18:23.994Z,1749676703.994 [DAT](INFO): DAT read: TxSync time:21:18:25.5185
2025-06-11T21:18:23.995Z,1749676703.995 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.242388
2025-06-11T21:18:24.245Z,1749676704.245 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492260
2025-06-11T21:18:24.259Z,1749676704.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-06-11T21:18:24.265Z,1749676704.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.405729 m,
nav range: 21.784746 m,
bearing: 70.282005 deg,
approach rate: -0.870735 m/s,
LOS rate: 0.036260 deg/s,
cmd heading: 55.777702 deg,
new cmd heading: 55.823225 deg.
2025-06-11T21:18:24.266Z,1749676704.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974299 target range: 22.405729 and range: 22.60 m.
2025-06-11T21:18:24.497Z,1749676704.497 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.744108
2025-06-11T21:18:24.597Z,1749676704.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-06-11T21:18:24.599Z,1749676704.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.405729 m,
nav range: 21.491812 m,
bearing: 70.294807 deg,
approach rate: -0.866378 m/s,
LOS rate: 0.038381 deg/s,
cmd heading: 55.823225 deg,
new cmd heading: 55.862157 deg.
2025-06-11T21:18:24.601Z,1749676704.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974979 target range: 22.405729 and range: 22.60 m.
2025-06-11T21:18:24.749Z,1749676704.749 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996160
2025-06-11T21:18:25.001Z,1749676705.001 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248186
2025-06-11T21:18:25.026Z,1749676705.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-06-11T21:18:25.029Z,1749676705.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.405729 m,
nav range: 21.118576 m,
bearing: 70.315992 deg,
approach rate: -0.869997 m/s,
LOS rate: 0.050253 deg/s,
cmd heading: 55.862157 deg,
new cmd heading: 55.926833 deg.
2025-06-11T21:18:25.029Z,1749676705.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976107 target range: 22.405729 and range: 22.60 m.
2025-06-11T21:18:25.254Z,1749676705.254 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.500912
2025-06-11T21:18:25.402Z,1749676705.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:25.405Z,1749676705.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-06-11T21:18:25.407Z,1749676705.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.405729 m,
nav range: 20.788237 m,
bearing: 70.337995 deg,
approach rate: -0.871263 m/s,
LOS rate: 0.058957 deg/s,
cmd heading: 55.926832 deg,
new cmd heading: 55.993892 deg.
2025-06-11T21:18:25.409Z,1749676705.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977278 target range: 22.405729 and range: 22.60 m.
2025-06-11T21:18:25.505Z,1749676705.505 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752382
2025-06-11T21:18:25.757Z,1749676705.757 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004308
2025-06-11T21:18:25.815Z,1749676705.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-06-11T21:18:25.818Z,1749676705.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.405729 m,
nav range: 20.430290 m,
bearing: 70.365887 deg,
approach rate: -0.872210 m/s,
LOS rate: 0.069155 deg/s,
cmd heading: 55.993891 deg,
new cmd heading: 56.079032 deg.
2025-06-11T21:18:25.819Z,1749676705.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.978764 target range: 22.405729 and range: 22.60 m.
2025-06-11T21:18:26.009Z,1749676706.009 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256049
2025-06-11T21:18:26.254Z,1749676706.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-06-11T21:18:26.257Z,1749676706.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.405729 m,
nav range: 20.043673 m,
bearing: 70.419574 deg,
approach rate: -0.880712 m/s,
LOS rate: 0.124657 deg/s,
cmd heading: 56.079033 deg,
new cmd heading: 56.243199 deg.
2025-06-11T21:18:26.258Z,1749676706.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.981629 target range: 22.405729 and range: 22.60 m.
2025-06-11T21:18:26.261Z,1749676706.261 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.508211
2025-06-11T21:18:26.513Z,1749676706.513 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.760490
2025-06-11T21:18:26.690Z,1749676706.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-06-11T21:18:26.694Z,1749676706.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.405729 m,
nav range: 19.659487 m,
bearing: 70.475017 deg,
approach rate: -0.880992 m/s,
LOS rate: 0.129624 deg/s,
cmd heading: 56.243200 deg,
new cmd heading: 56.412780 deg.
2025-06-11T21:18:26.695Z,1749676706.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.984589 target range: 22.405729 and range: 22.60 m.
2025-06-11T21:18:26.765Z,1749676706.765 [DAT](INFO): DAT read: Rx Time:21:18:27.9498
2025-06-11T21:18:26.765Z,1749676706.765 [DAT](INFO): Rx dataTimestamp_ set to:1749676706.765157
2025-06-11T21:18:26.766Z,1749676706.766 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.013320
2025-06-11T21:18:27.017Z,1749676707.017 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.264162
2025-06-11T21:18:27.121Z,1749676707.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-06-11T21:18:27.123Z,1749676707.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.405729 m,
nav range: 19.342329 m,
bearing: 70.531136 deg,
approach rate: -0.737103 m/s,
LOS rate: 0.132563 deg/s,
cmd heading: 56.412779 deg,
new cmd heading: 56.583894 deg.
2025-06-11T21:18:27.129Z,1749676707.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987575 target range: 22.405729 and range: 22.60 m.
2025-06-11T21:18:27.275Z,1749676707.275 [DAT](INFO): DAT read: 21:18:27.9498 LVL= 19760, 32753, 21746, 32755, AGC= 62, IDX= 393, 0.09,-0.543,-1.891,-0.815,-0.988, PHS= 0.533,-0.856, 0.170, RAW= 135.4, 2.5, CAL= 140.5, -5.6, ROT= 9.5, 5.6
2025-06-11T21:18:27.276Z,1749676707.276 [DAT](INFO): got valid direction response:
21:18:27.9498 LVL= 19760, 32753, 21746, 32755, AGC= 62, IDX= 393, 0.09,-0.543,-1.891,-0.815,-0.988, PHS= 0.533,-0.856, 0.170, RAW= 135.4, 2.5, CAL= 140.5, -5.6, ROT= 9.5, 5.6
2025-06-11T21:18:27.277Z,1749676707.277 [DAT](INFO): DAT read: Bearing 9.5, 5.6 (Local)
2025-06-11T21:18:27.278Z,1749676707.278 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.5, 5.6 (Local)
2025-06-11T21:18:27.279Z,1749676707.279 [DAT](INFO): DAT read: Range 10 to 50 : 19.6 m (Round-trip 26.2 ms) speed 0.7 m/s
2025-06-11T21:18:27.280Z,1749676707.280 [DAT](INFO): DAT read: user:863>
2025-06-11T21:18:27.281Z,1749676707.281 [DAT](INFO): DAT read: Tx time:21:18:29.0694
2025-06-11T21:18:27.281Z,1749676707.281 [DAT](INFO): Ping request sent.
2025-06-11T21:18:27.281Z,1749676707.281 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:18:27.281Z,1749676707.281 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-11T21:18:27.282Z,1749676707.282 [DAT](INFO): direction in FSK: [0.981578,0.164260,-0.097583]
2025-06-11T21:18:27.283Z,1749676707.283 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:27.283Z,1749676707.283 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:27.294Z,1749676707.294 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:27.295Z,1749676707.295 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:27.302Z,1749676707.302 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.021093
2025-06-11T21:18:27.474Z,1749676707.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.600000 m,
deltaT: 3.528280 s,
deltaX: -3.000000 m,
approachRate: -0.850273 m/s,
rangeRepo size: 4
2025-06-11T21:18:27.480Z,1749676707.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.431742 m,
bearing: 68.754822 deg,
lat: 36.906866 deg,
lon: -122.115720 deg,
deltaT: 3.528280 s,
deltaX: -2.973988 m,
approachRate: -0.842900 m/s,
posRepo size: 4
2025-06-11T21:18:27.480Z,1749676707.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:27.483Z,1749676707.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 18.994736 m,
bearing: 70.596073 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.132563 deg/s,
cmd heading: 56.583893 deg,
new cmd heading: 56.724053 deg.
2025-06-11T21:18:27.488Z,1749676707.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990021 target range: 19.431742 and range: 19.60 m.
2025-06-11T21:18:27.521Z,1749676707.521 [DAT](INFO): DAT read: TxSync time:21:18:29.0686
2025-06-11T21:18:27.522Z,1749676707.522 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.240597
2025-06-11T21:18:27.773Z,1749676707.773 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.491559
2025-06-11T21:18:27.856Z,1749676707.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:27.858Z,1749676707.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:27.861Z,1749676707.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 18.636490 m,
bearing: 70.665542 deg,
approach rate: -0.930052 m/s,
LOS rate: 0.183815 deg/s,
cmd heading: 56.724052 deg,
new cmd heading: 56.936461 deg.
2025-06-11T21:18:27.862Z,1749676707.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993729 target range: 19.431742 and range: 19.60 m.
2025-06-11T21:18:28.025Z,1749676708.025 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.743767
2025-06-11T21:18:28.277Z,1749676708.277 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.995544
2025-06-11T21:18:28.346Z,1749676708.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:28.353Z,1749676708.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 18.228951 m,
bearing: 70.775090 deg,
approach rate: -0.835043 m/s,
LOS rate: 0.229481 deg/s,
cmd heading: 56.936460 deg,
new cmd heading: 57.272449 deg.
2025-06-11T21:18:28.354Z,1749676708.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999593 target range: 19.431742 and range: 19.60 m.
2025-06-11T21:18:28.529Z,1749676708.529 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.247572
2025-06-11T21:18:28.656Z,1749676708.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:28.659Z,1749676708.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 17.947571 m,
bearing: 70.850679 deg,
approach rate: -0.907132 m/s,
LOS rate: 0.247509 deg/s,
cmd heading: 57.272448 deg,
new cmd heading: 57.502768 deg.
2025-06-11T21:18:28.660Z,1749676708.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003613 target range: 19.431742 and range: 19.60 m.
2025-06-11T21:18:28.783Z,1749676708.783 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.501302
2025-06-11T21:18:29.033Z,1749676709.033 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.751620
2025-06-11T21:18:29.122Z,1749676709.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:29.129Z,1749676709.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 17.573997 m,
bearing: 70.932869 deg,
approach rate: -0.802319 m/s,
LOS rate: 0.180270 deg/s,
cmd heading: 57.502768 deg,
new cmd heading: 57.754578 deg.
2025-06-11T21:18:29.130Z,1749676709.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008008 target range: 19.431742 and range: 19.60 m.
2025-06-11T21:18:29.285Z,1749676709.285 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.003556
2025-06-11T21:18:29.480Z,1749676709.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:29.482Z,1749676709.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 17.252504 m,
bearing: 71.006921 deg,
approach rate: -0.898912 m/s,
LOS rate: 0.210914 deg/s,
cmd heading: 57.754577 deg,
new cmd heading: 57.980874 deg.
2025-06-11T21:18:29.483Z,1749676709.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011957 target range: 19.431742 and range: 19.60 m.
2025-06-11T21:18:29.537Z,1749676709.537 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.255853
2025-06-11T21:18:29.789Z,1749676709.789 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.507525
2025-06-11T21:18:29.862Z,1749676709.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:29.864Z,1749676709.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:29.867Z,1749676709.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 16.928566 m,
bearing: 71.084576 deg,
approach rate: -0.842740 m/s,
LOS rate: 0.205887 deg/s,
cmd heading: 57.980875 deg,
new cmd heading: 58.218294 deg.
2025-06-11T21:18:29.884Z,1749676709.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016101 target range: 19.431742 and range: 19.60 m.
2025-06-11T21:18:30.041Z,1749676710.041 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.759825
2025-06-11T21:18:30.293Z,1749676710.293 [DAT](INFO): DAT read: Rx Time:21:18:31.4958
2025-06-11T21:18:30.294Z,1749676710.294 [DAT](INFO): Rx dataTimestamp_ set to:1749676710.293349
2025-06-11T21:18:30.294Z,1749676710.294 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.012993
2025-06-11T21:18:30.333Z,1749676710.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:30.335Z,1749676710.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 16.541439 m,
bearing: 71.144012 deg,
approach rate: -0.826227 m/s,
LOS rate: 0.129821 deg/s,
cmd heading: 58.218292 deg,
new cmd heading: 58.400774 deg.
2025-06-11T21:18:30.336Z,1749676710.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.019286 target range: 19.431742 and range: 19.60 m.
2025-06-11T21:18:30.545Z,1749676710.545 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.263471
2025-06-11T21:18:30.684Z,1749676710.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:30.686Z,1749676710.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 16.251440 m,
bearing: 71.189023 deg,
approach rate: -0.825977 m/s,
LOS rate: 0.130487 deg/s,
cmd heading: 58.400774 deg,
new cmd heading: 58.538215 deg.
2025-06-11T21:18:30.687Z,1749676710.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.021685 target range: 19.431742 and range: 19.60 m.
2025-06-11T21:18:30.798Z,1749676710.798 [DAT](INFO): DAT read: Range 10 to 50 : 16.6 m (Round-trip 22.2 ms) speed 0.8 m/s
2025-06-11T21:18:30.799Z,1749676710.799 [DAT](INFO): DAT read: user:864>
2025-06-11T21:18:30.799Z,1749676710.799 [DAT](INFO): DAT read: Tx time:21:18:32.5694
2025-06-11T21:18:30.800Z,1749676710.800 [DAT](INFO): Ping request sent.
2025-06-11T21:18:30.800Z,1749676710.800 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:18:30.800Z,1749676710.800 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-06-11T21:18:30.800Z,1749676710.800 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:30.801Z,1749676710.801 [DAT](INFO): publishing transmit ping time
2025-06-11T21:18:30.802Z,1749676710.802 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.001957
2025-06-11T21:18:31.052Z,1749676711.052 [DAT](INFO): DAT read: TxSync time:21:18:32.5686
2025-06-11T21:18:31.053Z,1749676711.053 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.252720
2025-06-11T21:18:31.151Z,1749676711.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.600000 m,
deltaT: 3.527866 s,
deltaX: -3.000000 m,
approachRate: -0.850372 m/s,
rangeRepo size: 4
2025-06-11T21:18:31.156Z,1749676711.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:31.162Z,1749676711.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 15.888184 m,
bearing: 71.237729 deg,
approach rate: -0.778314 m/s,
LOS rate: 0.106744 deg/s,
cmd heading: 58.538218 deg,
new cmd heading: 58.687677 deg.
2025-06-11T21:18:31.163Z,1749676711.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.024293 target range: 19.431742 and range: 16.60 m.
2025-06-11T21:18:31.301Z,1749676711.301 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.500791
2025-06-11T21:18:31.553Z,1749676711.553 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.753103
2025-06-11T21:18:31.632Z,1749676711.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:31.635Z,1749676711.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 15.499952 m,
bearing: 71.282519 deg,
approach rate: -0.806187 m/s,
LOS rate: 0.095339 deg/s,
cmd heading: 58.687676 deg,
new cmd heading: 58.825413 deg.
2025-06-11T21:18:31.636Z,1749676711.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026697 target range: 19.431742 and range: 16.60 m.
2025-06-11T21:18:31.805Z,1749676711.805 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.004791
2025-06-11T21:18:32.057Z,1749676712.057 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.256851
2025-06-11T21:18:32.065Z,1749676712.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:32.067Z,1749676712.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:32.074Z,1749676712.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 15.183015 m,
bearing: 71.320783 deg,
approach rate: -0.727744 m/s,
LOS rate: 0.089696 deg/s,
cmd heading: 58.825414 deg,
new cmd heading: 58.942603 deg.
2025-06-11T21:18:32.075Z,1749676712.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028743 target range: 19.431742 and range: 16.60 m.
2025-06-11T21:18:32.310Z,1749676712.310 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.509848
2025-06-11T21:18:32.543Z,1749676712.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:32.547Z,1749676712.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 14.785522 m,
bearing: 71.337552 deg,
approach rate: -0.835198 m/s,
LOS rate: 0.036180 deg/s,
cmd heading: 58.942606 deg,
new cmd heading: 58.994263 deg.
2025-06-11T21:18:32.548Z,1749676712.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.029644 target range: 19.431742 and range: 16.60 m.
2025-06-11T21:18:32.561Z,1749676712.561 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.760861
2025-06-11T21:18:32.813Z,1749676712.813 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.012718
2025-06-11T21:18:32.953Z,1749676712.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.43 m.
2025-06-11T21:18:32.956Z,1749676712.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.431742 m,
nav range: 14.467632 m,
bearing: 71.350910 deg,
approach rate: -0.776146 m/s,
LOS rate: 0.033333 deg/s,
cmd heading: 58.994263 deg,
new cmd heading: 59.035220 deg.
2025-06-11T21:18:32.957Z,1749676712.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030359 target range: 19.431742 and range: 16.60 m.
2025-06-11T21:18:33.068Z,1749676713.068 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.267167
2025-06-11T21:18:33.317Z,1749676713.317 [DAT](INFO): DAT read: Rx Time:21:18:34.7170
2025-06-11T21:18:33.318Z,1749676713.318 [DAT](INFO): Rx dataTimestamp_ set to:1749676713.317543
2025-06-11T21:18:33.319Z,1749676713.319 [DAT](INFO): DAT read: Bearing 10.4, 3.5 (Local)
2025-06-11T21:18:33.319Z,1749676713.319 [DAT](INFO): Local bearing/azimuth received:
Bearing 10.4, 3.5 (Local)
2025-06-11T21:18:33.322Z,1749676713.322 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5
2025-06-11T21:18:33.326Z,1749676713.326 [DAT](INFO): DAT read: 21:18:34.7170 LVL= 16960, 19233, 15858, 27123, AGC= 62, IDX= 153, 0.29, 1.117,-0.247, 0.815, 0.688, PHS= 0.517,-0.888, 0.125, RAW= 134.3, 4.0, CAL= 139.6, -3.5, ROT= 10.4, 3.5
2025-06-11T21:18:33.327Z,1749676713.327 [DAT](INFO): got valid direction response:
21:18:34.7170 LVL= 16960, 19233, 15858, 27123, AGC= 62, IDX= 153, 0.29, 1.117,-0.247, 0.815, 0.688, PHS= 0.517,-0.888, 0.125, RAW= 134.3, 4.0, CAL= 139.6, -3.5, ROT= 10.4, 3.5
2025-06-11T21:18:33.328Z,1749676713.328 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-11T21:18:33.329Z,1749676713.329 [DAT](INFO): direction in FSK: [0.981737,0.180182,-0.061049]
2025-06-11T21:18:33.329Z,1749676713.329 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:33.333Z,1749676713.333 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.532645
2025-06-11T21:18:33.455Z,1749676713.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 2.521224 s,
deltaX: -2.800000 m,
approachRate: -1.110572 m/s,
rangeRepo size: 4
2025-06-11T21:18:33.462Z,1749676713.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.681355 m,
bearing: 70.470586 deg,
lat: 36.906866 deg,
lon: -122.115720 deg,
deltaT: 6.049090 s,
deltaX: -5.750386 m,
approachRate: -0.950620 m/s,
posRepo size: 4
2025-06-11T21:18:33.463Z,1749676713.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:18:33.470Z,1749676713.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.681355 m,
nav range: 14.106402 m,
bearing: 71.244223 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.033333 deg/s,
cmd heading: 59.035217 deg,
new cmd heading: 59.085408 deg.
2025-06-11T21:18:33.471Z,1749676713.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031235 target range: 13.681355 and range: 13.80 m.
2025-06-11T21:18:33.574Z,1749676713.574 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.773955
2025-06-11T21:18:33.748Z,1749676713.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:18:33.751Z,1749676713.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.681355 m,
nav range: 13.870979 m,
bearing: 71.233076 deg,
approach rate: -0.802851 m/s,
LOS rate: -0.038661 deg/s,
cmd heading: 59.085405 deg,
new cmd heading: 59.051395 deg.
2025-06-11T21:18:33.752Z,1749676713.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030641 target range: 13.681355 and range: 13.80 m.
2025-06-11T21:18:33.826Z,1749676713.826 [DAT](INFO): DAT read: Rx Time:21:18:35.2166
2025-06-11T21:18:33.827Z,1749676713.827 [DAT](INFO): Rx dataTimestamp_ set to:1749676713.826786
2025-06-11T21:18:33.829Z,1749676713.829 [DAT](INFO): DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.6
2025-06-11T21:18:33.831Z,1749676713.831 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-06-11T21:18:33.833Z,1749676713.833 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.032114
2025-06-11T21:18:34.079Z,1749676714.079 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.279053
2025-06-11T21:18:34.226Z,1749676714.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:34.228Z,1749676714.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 0.509243 s,
deltaX: -0.700000 m,
approachRate: -1.374589 m/s,
rangeRepo size: 4
2025-06-11T21:18:34.229Z,1749676714.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.68 m.
2025-06-11T21:18:34.235Z,1749676714.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.681355 m,
nav range: 13.509484 m,
bearing: 71.185579 deg,
approach rate: -0.753957 m/s,
LOS rate: -0.101714 deg/s,
cmd heading: 59.051398 deg,
new cmd heading: 58.905094 deg.
2025-06-11T21:18:34.237Z,1749676714.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028088 target range: 13.681355 and range: 13.10 m.
2025-06-11T21:18:34.330Z,1749676714.330 [DAT](INFO): DAT read: Rx Time:21:18:35.7164
2025-06-11T21:18:34.331Z,1749676714.331 [DAT](INFO): Rx dataTimestamp_ set to:1749676714.330675
2025-06-11T21:18:34.332Z,1749676714.332 [DAT](INFO): DAT read: Bearing 8.5, 4.7 (Local)
2025-06-11T21:18:34.333Z,1749676714.333 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.5, 4.7 (Local)
2025-06-11T21:18:34.335Z,1749676714.335 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed 0.7
2025-06-11T21:18:34.341Z,1749676714.341 [DAT](INFO): DAT read: 21:18:35.7164 LVL= 18848, 32753, 18594, 32755, AGC= 59, IDX= 499, 0.01,-1.381,-2.715,-1.620,-1.794, PHS= 0.501,-0.873, 0.171, RAW= 136.7, 3.3, CAL= 141.5, -4.7, ROT= 8.5, 4.7
2025-06-11T21:18:34.343Z,1749676714.343 [DAT](INFO): got valid direction response:
21:18:35.7164 LVL= 18848, 32753, 18594, 32755, AGC= 59, IDX= 499, 0.01,-1.381,-2.715,-1.620,-1.794, PHS= 0.501,-0.873, 0.171, RAW= 136.7, 3.3, CAL= 141.5, -4.7, ROT= 8.5, 4.7
2025-06-11T21:18:34.343Z,1749676714.343 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-11T21:18:34.345Z,1749676714.345 [DAT](INFO): direction in FSK: [0.985690,0.147312,-0.081939]
2025-06-11T21:18:34.346Z,1749676714.346 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:34.365Z,1749676714.365 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.565259
2025-06-11T21:18:34.571Z,1749676714.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 0.503889 s,
deltaX: -0.300000 m,
approachRate: -0.595370 m/s,
rangeRepo size: 4
2025-06-11T21:18:34.573Z,1749676714.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.689969 m,
bearing: 68.914758 deg,
lat: 36.906867 deg,
lon: -122.115721 deg,
deltaT: 1.013132 s,
deltaX: -0.991386 m,
approachRate: -0.978536 m/s,
posRepo size: 4
2025-06-11T21:18:34.573Z,1749676714.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.69 m.
2025-06-11T21:18:34.576Z,1749676714.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.689969 m,
nav range: 13.218752 m,
bearing: 70.592394 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.101714 deg/s,
cmd heading: 58.905095 deg,
new cmd heading: 58.800629 deg.
2025-06-11T21:18:34.577Z,1749676714.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026265 target range: 12.689969 and range: 12.80 m.
2025-06-11T21:18:34.581Z,1749676714.581 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.780879
2025-06-11T21:18:34.833Z,1749676714.833 [DAT](INFO): DAT read: Rx Time:21:18:36.2161
2025-06-11T21:18:34.834Z,1749676714.834 [DAT](INFO): Rx dataTimestamp_ set to:1749676714.833619
2025-06-11T21:18:34.835Z,1749676714.835 [DAT](INFO): DAT read: Bearing 8.6, 4.1 (Local)
2025-06-11T21:18:34.836Z,1749676714.836 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.6, 4.1 (Local)
2025-06-11T21:18:34.838Z,1749676714.838 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.7
2025-06-11T21:18:34.843Z,1749676714.843 [DAT](INFO): DAT read: 21:18:36.2161 LVL= 24096, 32753, 22082, 32755, AGC= 61, IDX= 495, 0.33,-1.762, 3.050,-2.034,-2.214, PHS= 0.540,-0.972, 0.177, RAW= 136.7, 3.8, CAL= 141.4, -4.1, ROT= 8.6, 4.1
2025-06-11T21:18:34.844Z,1749676714.844 [DAT](INFO): got valid direction response:
21:18:36.2161 LVL= 24096, 32753, 22082, 32755, AGC= 61, IDX= 495, 0.33,-1.762, 3.050,-2.034,-2.214, PHS= 0.540,-0.972, 0.177, RAW= 136.7, 3.8, CAL= 141.4, -4.1, ROT= 8.6, 4.1
2025-06-11T21:18:34.844Z,1749676714.844 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-11T21:18:34.845Z,1749676714.845 [DAT](INFO): direction in FSK: [0.986226,0.149153,-0.071497]
2025-06-11T21:18:34.845Z,1749676714.845 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:34.849Z,1749676714.849 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=4.049080
2025-06-11T21:18:35.007Z,1749676715.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.502944 s,
deltaX: -0.300000 m,
approachRate: -0.596488 m/s,
rangeRepo size: 4
2025-06-11T21:18:35.014Z,1749676715.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.392548 m,
bearing: 69.049322 deg,
lat: 36.906868 deg,
lon: -122.115727 deg,
deltaT: 0.502944 s,
deltaX: -0.297421 m,
approachRate: -0.591361 m/s,
posRepo size: 4
2025-06-11T21:18:35.014Z,1749676715.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.39 m.
2025-06-11T21:18:35.032Z,1749676715.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.392548 m,
nav range: 12.463631 m,
bearing: 69.393889 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.101714 deg/s,
cmd heading: 58.800627 deg,
new cmd heading: 58.667295 deg.
2025-06-11T21:18:35.033Z,1749676715.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023937 target range: 12.392548 and range: 12.50 m.
2025-06-11T21:18:35.087Z,1749676715.087 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=4.286874
2025-06-11T21:18:35.337Z,1749676715.337 [DAT](INFO): DAT read: Rx Time:21:18:36.7159
2025-06-11T21:18:35.338Z,1749676715.338 [DAT](INFO): Rx dataTimestamp_ set to:1749676715.337678
2025-06-11T21:18:35.339Z,1749676715.339 [DAT](INFO): DAT read: Bearing 8.4, 3.0 (Local)
2025-06-11T21:18:35.340Z,1749676715.340 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.4, 3.0 (Local)
2025-06-11T21:18:35.342Z,1749676715.342 [DAT](INFO): DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.6
2025-06-11T21:18:35.347Z,1749676715.347 [DAT](INFO): DAT read: 21:18:36.7159 LVL= 28320, 32753, 22450, 32755, AGC= 59, IDX= 510,-0.06,-2.624, 2.219,-2.882,-3.043, PHS= 0.507,-0.975, 0.157, RAW= 137.0, 4.7, CAL= 141.6, -3.0, ROT= 8.4, 3.0
2025-06-11T21:18:35.349Z,1749676715.349 [DAT](INFO): got valid direction response:
21:18:36.7159 LVL= 28320, 32753, 22450, 32755, AGC= 59, IDX= 510,-0.06,-2.624, 2.219,-2.882,-3.043, PHS= 0.507,-0.975, 0.157, RAW= 137.0, 4.7, CAL= 141.6, -3.0, ROT= 8.4, 3.0
2025-06-11T21:18:35.349Z,1749676715.349 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-11T21:18:35.350Z,1749676715.350 [DAT](INFO): direction in FSK: [0.987917,0.145883,-0.052336]
2025-06-11T21:18:35.350Z,1749676715.350 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:35.354Z,1749676715.354 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.553802
2025-06-11T21:18:35.504Z,1749676715.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.504059 s,
deltaX: -0.300000 m,
approachRate: -0.595169 m/s,
rangeRepo size: 4
2025-06-11T21:18:35.506Z,1749676715.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.095164 m,
bearing: 68.747360 deg,
lat: 36.906869 deg,
lon: -122.115728 deg,
deltaT: 0.504059 s,
deltaX: -0.297383 m,
approachRate: -0.589977 m/s,
posRepo size: 4
2025-06-11T21:18:35.506Z,1749676715.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-11T21:18:35.513Z,1749676715.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.095164 m,
nav range: 11.991430 m,
bearing: 68.893843 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.101714 deg/s,
cmd heading: 58.667295 deg,
new cmd heading: 58.520594 deg.
2025-06-11T21:18:35.514Z,1749676715.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.021377 target range: 12.095164 and range: 12.20 m.
2025-06-11T21:18:35.590Z,1749676715.590 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.789685
2025-06-11T21:18:35.767Z,1749676715.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-11T21:18:35.770Z,1749676715.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.095164 m,
nav range: 11.770268 m,
bearing: 68.792527 deg,
approach rate: -0.790903 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 58.520596 deg,
new cmd heading: 58.210941 deg.
2025-06-11T21:18:35.771Z,1749676715.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015973 target range: 12.095164 and range: 12.20 m.
2025-06-11T21:18:35.842Z,1749676715.842 [DAT](INFO): DAT read: Rx Time:21:18:37.2156
2025-06-11T21:18:35.842Z,1749676715.842 [DAT](INFO): Rx dataTimestamp_ set to:1749676715.841698
2025-06-11T21:18:35.844Z,1749676715.844 [DAT](INFO): DAT read: Bearing 7.4, 2.3 (Local)
2025-06-11T21:18:35.845Z,1749676715.845 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.4, 2.3 (Local)
2025-06-11T21:18:35.848Z,1749676715.848 [DAT](INFO): DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.6
2025-06-11T21:18:35.854Z,1749676715.854 [DAT](INFO): DAT read: 21:18:37.2156 LVL= 32064, 32753, 22866, 32755, AGC= 60, IDX= 507,-0.49, 0.858,-0.582, 0.637, 0.468, PHS= 0.478,-1.003, 0.165, RAW= 138.4, 5.4, CAL= 142.6, -2.3, ROT= 7.4, 2.3
2025-06-11T21:18:35.856Z,1749676715.856 [DAT](INFO): got valid direction response:
21:18:37.2156 LVL= 32064, 32753, 22866, 32755, AGC= 60, IDX= 507,-0.49, 0.858,-0.582, 0.637, 0.468, PHS= 0.478,-1.003, 0.165, RAW= 138.4, 5.4, CAL= 142.6, -2.3, ROT= 7.4, 2.3
2025-06-11T21:18:35.856Z,1749676715.856 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-11T21:18:35.857Z,1749676715.857 [DAT](INFO): direction in FSK: [0.990872,0.128692,-0.040132]
2025-06-11T21:18:35.858Z,1749676715.858 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:35.890Z,1749676715.890 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=5.089527
2025-06-11T21:18:36.096Z,1749676716.096 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=5.295374
2025-06-11T21:18:36.193Z,1749676716.193 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:18:36.270Z,1749676716.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.504020 s,
deltaX: -0.500000 m,
approachRate: -0.992024 m/s,
rangeRepo size: 4
2025-06-11T21:18:36.273Z,1749676716.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.599390 m,
bearing: 67.886028 deg,
lat: 36.906869 deg,
lon: -122.115728 deg,
deltaT: 0.504020 s,
deltaX: -0.495774 m,
approachRate: -0.983640 m/s,
posRepo size: 4
2025-06-11T21:18:36.273Z,1749676716.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.60 m.
2025-06-11T21:18:36.278Z,1749676716.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.599390 m,
nav range: 11.390093 m,
bearing: 68.615667 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 58.210943 deg,
new cmd heading: 57.654484 deg.
2025-06-11T21:18:36.303Z,1749676716.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006261 target range: 11.599390 and range: 11.70 m.
2025-06-11T21:18:36.345Z,1749676716.345 [DAT](INFO): DAT read: Rx Time:21:18:37.7154
2025-06-11T21:18:36.346Z,1749676716.346 [DAT](INFO): Rx dataTimestamp_ set to:1749676716.345678
2025-06-11T21:18:36.347Z,1749676716.347 [DAT](INFO): DAT read: Bearing 8.0, 3.5 (Local)
2025-06-11T21:18:36.348Z,1749676716.348 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.0, 3.5 (Local)
2025-06-11T21:18:36.350Z,1749676716.350 [DAT](INFO): DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5
2025-06-11T21:18:36.355Z,1749676716.355 [DAT](INFO): DAT read: 21:18:37.7154 LVL= 32368, 32753, 23314, 32755, AGC= 60, IDX= 505, 0.09, 2.458, 0.907, 2.186, 1.997, PHS= 0.549,-1.043, 0.186, RAW= 137.4, 4.3, CAL= 142.0, -3.5, ROT= 8.0, 3.5
2025-06-11T21:18:36.356Z,1749676716.356 [DAT](INFO): got valid direction response:
21:18:37.7154 LVL= 32368, 32753, 23314, 32755, AGC= 60, IDX= 505, 0.09, 2.458, 0.907, 2.186, 1.997, PHS= 0.549,-1.043, 0.186, RAW= 137.4, 4.3, CAL= 142.0, -3.5, ROT= 8.0, 3.5
2025-06-11T21:18:36.356Z,1749676716.356 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-11T21:18:36.357Z,1749676716.357 [DAT](INFO): direction in FSK: [0.988421,0.138914,-0.061049]
2025-06-11T21:18:36.358Z,1749676716.358 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:36.361Z,1749676716.361 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.561386
2025-06-11T21:18:36.597Z,1749676716.597 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.796750
2025-06-11T21:18:36.702Z,1749676716.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.503980 s,
deltaX: -0.300000 m,
approachRate: -0.595262 m/s,
rangeRepo size: 4
2025-06-11T21:18:36.708Z,1749676716.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.301970 m,
bearing: 68.817676 deg,
lat: 36.906869 deg,
lon: -122.115728 deg,
deltaT: 0.503980 s,
deltaX: -0.297421 m,
approachRate: -0.590143 m/s,
posRepo size: 4
2025-06-11T21:18:36.712Z,1749676716.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.30 m.
2025-06-11T21:18:36.715Z,1749676716.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.301970 m,
nav range: 11.106956 m,
bearing: 68.470124 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 57.654487 deg,
new cmd heading: 57.176755 deg.
2025-06-11T21:18:36.716Z,1749676716.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997923 target range: 11.301970 and range: 11.40 m.
2025-06-11T21:18:36.856Z,1749676716.856 [DAT](INFO): DAT read: Rx Time:21:18:38.2151
2025-06-11T21:18:36.856Z,1749676716.856 [DAT](INFO): Rx dataTimestamp_ set to:1749676716.855931
2025-06-11T21:18:36.858Z,1749676716.858 [DAT](INFO): DAT read: Bearing 7.6, 1.9 (Local)
2025-06-11T21:18:36.858Z,1749676716.858 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.6, 1.9 (Local)
2025-06-11T21:18:36.860Z,1749676716.860 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.7
2025-06-11T21:18:36.865Z,1749676716.865 [DAT](INFO): DAT read: 21:18:38.2151 LVL= 32752, 32753, 26418, 32755, AGC= 60, IDX= 502,-0.19,-0.939,-2.457,-1.182,-1.350, PHS= 0.499,-1.060, 0.165, RAW= 138.2, 5.6, CAL= 142.4, -1.9, ROT= 7.6, 1.9
2025-06-11T21:18:36.866Z,1749676716.866 [DAT](INFO): got valid direction response:
21:18:38.2151 LVL= 32752, 32753, 26418, 32755, AGC= 60, IDX= 502,-0.19,-0.939,-2.457,-1.182,-1.350, PHS= 0.499,-1.060, 0.165, RAW= 138.2, 5.6, CAL= 142.4, -1.9, ROT= 7.6, 1.9
2025-06-11T21:18:36.866Z,1749676716.866 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-11T21:18:36.867Z,1749676716.867 [DAT](INFO): direction in FSK: [0.990671,0.132184,-0.033155]
2025-06-11T21:18:36.867Z,1749676716.867 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:36.871Z,1749676716.871 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=6.070899
2025-06-11T21:18:37.046Z,1749676717.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.510253 s,
deltaX: -0.400000 m,
approachRate: -0.783924 m/s,
rangeRepo size: 4
2025-06-11T21:18:37.052Z,1749676717.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.905410 m,
bearing: 68.398980 deg,
lat: 36.906868 deg,
lon: -122.115728 deg,
deltaT: 0.510253 s,
deltaX: -0.396560 m,
approachRate: -0.777183 m/s,
posRepo size: 4
2025-06-11T21:18:37.057Z,1749676717.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-11T21:18:37.062Z,1749676717.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.905410 m,
nav range: 10.844398 m,
bearing: 68.398940 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 57.176753 deg,
new cmd heading: 56.795464 deg.
2025-06-11T21:18:37.063Z,1749676717.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991268 target range: 10.905410 and range: 11.00 m.
2025-06-11T21:18:37.112Z,1749676717.112 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=6.311134
2025-06-11T21:18:37.198Z,1749676717.198 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:18:37.362Z,1749676717.362 [DAT](INFO): DAT read: Rx Time:21:18:38.7149
2025-06-11T21:18:37.363Z,1749676717.363 [DAT](INFO): Rx dataTimestamp_ set to:1749676717.362552
2025-06-11T21:18:37.365Z,1749676717.365 [DAT](INFO): DAT read: Bearing 7.5, 3.0 (Local)
2025-06-11T21:18:37.366Z,1749676717.366 [DAT](INFO): Local bearing/azimuth received:
Bearing 7.5, 3.0 (Local)
2025-06-11T21:18:37.369Z,1749676717.369 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.5
2025-06-11T21:18:37.374Z,1749676717.374 [DAT](INFO): DAT read: 21:18:38.7149 LVL= 32752, 32753, 24546, 32755, AGC= 60, IDX= 499, 0.33,-0.098,-1.686,-0.359,-0.554, PHS= 0.544,-1.085, 0.192, RAW= 138.2, 4.8, CAL= 142.5, -3.0, ROT= 7.5, 3.0
2025-06-11T21:18:37.375Z,1749676717.375 [DAT](INFO): got valid direction response:
21:18:38.7149 LVL= 32752, 32753, 24546, 32755, AGC= 60, IDX= 499, 0.33,-0.098,-1.686,-0.359,-0.554, PHS= 0.544,-1.085, 0.192, RAW= 138.2, 4.8, CAL= 142.5, -3.0, ROT= 7.5, 3.0
2025-06-11T21:18:37.375Z,1749676717.375 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-11T21:18:37.380Z,1749676717.380 [DAT](INFO): direction in FSK: [0.990086,0.130347,-0.052336]
2025-06-11T21:18:37.380Z,1749676717.380 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:37.385Z,1749676717.385 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.584528
2025-06-11T21:18:37.589Z,1749676717.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.506621 s,
deltaX: -0.300000 m,
approachRate: -0.592159 m/s,
rangeRepo size: 4
2025-06-11T21:18:37.591Z,1749676717.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.607862 m,
bearing: 68.565926 deg,
lat: 36.906868 deg,
lon: -122.115727 deg,
deltaT: 0.506621 s,
deltaX: -0.297548 m,
approachRate: -0.587319 m/s,
posRepo size: 4
2025-06-11T21:18:37.591Z,1749676717.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.61 m.
2025-06-11T21:18:37.610Z,1749676717.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.607862 m,
nav range: 10.444853 m,
bearing: 68.228087 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 56.795465 deg,
new cmd heading: 56.194957 deg.
2025-06-11T21:18:37.611Z,1749676717.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980787 target range: 10.607862 and range: 10.70 m.
2025-06-11T21:18:37.613Z,1749676717.613 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.812902
2025-06-11T21:18:37.866Z,1749676717.866 [DAT](INFO): DAT read: Rx Time:21:18:39.2146
2025-06-11T21:18:37.867Z,1749676717.867 [DAT](INFO): Rx dataTimestamp_ set to:1749676717.866469
2025-06-11T21:18:37.869Z,1749676717.869 [DAT](INFO): DAT read: Bearing 6.8, 2.4 (Local)
2025-06-11T21:18:37.870Z,1749676717.870 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.8, 2.4 (Local)
2025-06-11T21:18:37.872Z,1749676717.872 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed 0.5
2025-06-11T21:18:37.876Z,1749676717.876 [DAT](INFO): DAT read: 21:18:39.2146 LVL= 32752, 32753, 26610, 32755, AGC= 60, IDX= 496,-0.00,-2.358, 2.353,-2.586,-2.784, PHS= 0.514,-1.099, 0.195, RAW= 139.2, 5.3, CAL= 143.2, -2.4, ROT= 6.8, 2.4
2025-06-11T21:18:37.877Z,1749676717.877 [DAT](INFO): got valid direction response:
21:18:39.2146 LVL= 32752, 32753, 26610, 32755, AGC= 60, IDX= 496,-0.00,-2.358, 2.353,-2.586,-2.784, PHS= 0.514,-1.099, 0.195, RAW= 139.2, 5.3, CAL= 143.2, -2.4, ROT= 6.8, 2.4
2025-06-11T21:18:37.878Z,1749676717.878 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-11T21:18:37.879Z,1749676717.879 [DAT](INFO): direction in FSK: [0.992095,0.118300,-0.041876]
2025-06-11T21:18:37.879Z,1749676717.879 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:37.883Z,1749676717.883 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=7.083295
2025-06-11T21:18:38.013Z,1749676718.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.503917 s,
deltaX: -0.500000 m,
approachRate: -0.992227 m/s,
rangeRepo size: 4
2025-06-11T21:18:38.015Z,1749676718.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.112166 m,
bearing: 67.872525 deg,
lat: 36.906868 deg,
lon: -122.115727 deg,
deltaT: 0.503917 s,
deltaX: -0.495695 m,
approachRate: -0.983684 m/s,
posRepo size: 4
2025-06-11T21:18:38.020Z,1749676718.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.11 m.
2025-06-11T21:18:38.023Z,1749676718.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.112166 m,
nav range: 10.127205 m,
bearing: 68.064454 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 56.194958 deg,
new cmd heading: 55.729646 deg.
2025-06-11T21:18:38.032Z,1749676718.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972666 target range: 10.112166 and range: 10.20 m.
2025-06-11T21:18:38.119Z,1749676718.119 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=7.318855
2025-06-11T21:18:38.371Z,1749676718.371 [DAT](INFO): DAT read: Rx Time:21:18:39.7144
2025-06-11T21:18:38.372Z,1749676718.372 [DAT](INFO): Rx dataTimestamp_ set to:1749676718.371261
2025-06-11T21:18:38.373Z,1749676718.373 [DAT](INFO): DAT read: Bearing 6.1, 1.9 (Local)
2025-06-11T21:18:38.373Z,1749676718.373 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.1, 1.9 (Local)
2025-06-11T21:18:38.375Z,1749676718.375 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4
2025-06-11T21:18:38.382Z,1749676718.382 [DAT](INFO): DAT read: 21:18:39.7144 LVL= 32752, 32753, 25714, 32755, AGC= 58, IDX= 511,-0.40,-1.861, 2.841,-2.064,-2.266, PHS= 0.493,-1.129, 0.199, RAW= 140.2, 5.9, CAL= 143.9, -1.9, ROT= 6.1, 1.9
2025-06-11T21:18:38.383Z,1749676718.383 [DAT](INFO): got valid direction response:
21:18:39.7144 LVL= 32752, 32753, 25714, 32755, AGC= 58, IDX= 511,-0.40,-1.861, 2.841,-2.064,-2.266, PHS= 0.493,-1.129, 0.199, RAW= 140.2, 5.9, CAL= 143.9, -1.9, ROT= 6.1, 1.9
2025-06-11T21:18:38.384Z,1749676718.384 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-11T21:18:38.386Z,1749676718.386 [DAT](INFO): direction in FSK: [0.993791,0.106206,-0.033155]
2025-06-11T21:18:38.386Z,1749676718.386 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:38.418Z,1749676718.418 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=7.618443
2025-06-11T21:18:38.552Z,1749676718.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.504792 s,
deltaX: -0.300000 m,
approachRate: -0.594305 m/s,
rangeRepo size: 4
2025-06-11T21:18:38.554Z,1749676718.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.814895 m,
bearing: 67.130266 deg,
lat: 36.906868 deg,
lon: -122.115727 deg,
deltaT: 0.504792 s,
deltaX: -0.297272 m,
approachRate: -0.588899 m/s,
posRepo size: 4
2025-06-11T21:18:38.555Z,1749676718.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.81 m.
2025-06-11T21:18:38.555Z,1749676718.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-06-11T21:18:38.592Z,1749676718.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-11T21:18:38.594Z,1749676718.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 9.706100 m,
bearing: 67.852659 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 55.729644 deg,
new cmd heading: 55.132270 deg.
2025-06-11T21:18:38.595Z,1749676718.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962240 target range: 9.814895 and range: 9.90 m.
2025-06-11T21:18:38.621Z,1749676718.621 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=7.820798
2025-06-11T21:18:38.873Z,1749676718.873 [DAT](INFO): DAT read: Rx Time:21:18:40.2141
2025-06-11T21:18:38.874Z,1749676718.874 [DAT](INFO): Rx dataTimestamp_ set to:1749676718.873645
2025-06-11T21:18:38.875Z,1749676718.875 [DAT](INFO): DAT read: Bearing 5.7, 2.1 (Local)
2025-06-11T21:18:38.876Z,1749676718.876 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.7, 2.1 (Local)
2025-06-11T21:18:38.878Z,1749676718.878 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4
2025-06-11T21:18:38.883Z,1749676718.883 [DAT](INFO): DAT read: 21:18:40.2141 LVL= 32752, 32753, 26834, 32755, AGC= 59, IDX= 507, 0.02,-1.438,-3.075,-1.637,-1.858, PHS= 0.508,-1.170, 0.218, RAW= 140.7, 5.8, CAL= 144.3, -2.1, ROT= 5.7, 2.1
2025-06-11T21:18:38.885Z,1749676718.885 [DAT](INFO): got valid direction response:
21:18:40.2141 LVL= 32752, 32753, 26834, 32755, AGC= 59, IDX= 507, 0.02,-1.438,-3.075,-1.637,-1.858, PHS= 0.508,-1.170, 0.218, RAW= 140.7, 5.8, CAL= 144.3, -2.1, ROT= 5.7, 2.1
2025-06-11T21:18:38.885Z,1749676718.885 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-11T21:18:38.886Z,1749676718.886 [DAT](INFO): direction in FSK: [0.994387,0.099253,-0.036644]
2025-06-11T21:18:38.886Z,1749676718.886 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:38.890Z,1749676718.890 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=8.089758
2025-06-11T21:18:38.918Z,1749676718.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.502384 s,
deltaX: -0.400000 m,
approachRate: -0.796203 m/s,
rangeRepo size: 4
2025-06-11T21:18:38.926Z,1749676718.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.418334 m,
bearing: 66.777871 deg,
lat: 36.906868 deg,
lon: -122.115728 deg,
deltaT: 0.502384 s,
deltaX: -0.396561 m,
approachRate: -0.789358 m/s,
posRepo size: 4
2025-06-11T21:18:38.927Z,1749676718.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.42 m. 9.81 m.
2025-06-11T21:18:38.934Z,1749676718.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 9.432994 m,
bearing: 67.689182 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 55.132269 deg,
new cmd heading: 54.723071 deg.
2025-06-11T21:18:38.935Z,1749676718.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.955098 target range: 9.814895 and range: 9.50 m.
2025-06-11T21:18:39.128Z,1749676719.128 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=8.327158
2025-06-11T21:18:39.334Z,1749676719.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:39.340Z,1749676719.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:39.343Z,1749676719.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 9.051078 m,
bearing: 67.508505 deg,
approach rate: -0.912245 m/s,
LOS rate: -0.449774 deg/s,
cmd heading: 54.723073 deg,
new cmd heading: 54.158190 deg.
2025-06-11T21:18:39.348Z,1749676719.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.945239 target range: 9.814895 and range: 9.50 m.
2025-06-11T21:18:39.378Z,1749676719.378 [DAT](INFO): DAT read: Rx Time:21:18:40.7139
2025-06-11T21:18:39.378Z,1749676719.378 [DAT](INFO): Rx dataTimestamp_ set to:1749676719.377778
2025-06-11T21:18:39.379Z,1749676719.379 [DAT](INFO): DAT read: Bearing 4.6, 3.0 (Local)
2025-06-11T21:18:39.380Z,1749676719.380 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.6, 3.0 (Local)
2025-06-11T21:18:39.382Z,1749676719.382 [DAT](INFO): DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.5
2025-06-11T21:18:39.387Z,1749676719.387 [DAT](INFO): DAT read: 21:18:40.7139 LVL= 32752, 32753, 24882, 32755, AGC= 59, IDX= 505, 0.32, 1.544,-0.133, 1.379, 1.111, PHS= 0.521,-1.197, 0.265, RAW= 142.1, 5.2, CAL= 145.4, -3.0, ROT= 4.6, 3.0
2025-06-11T21:18:39.388Z,1749676719.388 [DAT](INFO): got valid direction response:
21:18:40.7139 LVL= 32752, 32753, 24882, 32755, AGC= 59, IDX= 505, 0.32, 1.544,-0.133, 1.379, 1.111, PHS= 0.521,-1.197, 0.265, RAW= 142.1, 5.2, CAL= 145.4, -3.0, ROT= 4.6, 3.0
2025-06-11T21:18:39.388Z,1749676719.388 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-11T21:18:39.389Z,1749676719.389 [DAT](INFO): direction in FSK: [0.995413,0.080089,-0.052336]
2025-06-11T21:18:39.390Z,1749676719.390 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:39.394Z,1749676719.394 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=8.594401
2025-06-11T21:18:39.629Z,1749676719.629 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=8.828611
2025-06-11T21:18:39.730Z,1749676719.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.504133 s,
deltaX: -0.300000 m,
approachRate: -0.595081 m/s,
rangeRepo size: 4
2025-06-11T21:18:39.736Z,1749676719.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.120962 m,
bearing: 65.622711 deg,
lat: 36.906869 deg,
lon: -122.115727 deg,
deltaT: 1.006517 s,
deltaX: -0.693933 m,
approachRate: -0.689439 m/s,
posRepo size: 4
2025-06-11T21:18:39.737Z,1749676719.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.12 m. 9.81 m.
2025-06-11T21:18:39.739Z,1749676719.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 8.728707 m,
bearing: 67.346089 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 54.158189 deg,
new cmd heading: 53.722670 deg.
2025-06-11T21:18:39.744Z,1749676719.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937637 target range: 9.814895 and range: 9.20 m.
2025-06-11T21:18:39.882Z,1749676719.882 [DAT](INFO): DAT read: Rx Time:21:18:41.2138
2025-06-11T21:18:39.882Z,1749676719.882 [DAT](INFO): Rx dataTimestamp_ set to:1749676719.881697
2025-06-11T21:18:39.887Z,1749676719.887 [DAT](INFO): DAT read: Bearing 2.8, 3.7 (Local)
2025-06-11T21:18:39.888Z,1749676719.888 [DAT](INFO): Local bearing/azimuth received:
Bearing 2.8, 3.7 (Local)
2025-06-11T21:18:39.890Z,1749676719.890 [DAT](INFO): DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.6
2025-06-11T21:18:39.897Z,1749676719.897 [DAT](INFO): DAT read: 21:18:41.2138 LVL= 30576, 32753, 25426, 32755, AGC= 59, IDX= 502,-0.32, 0.743,-0.926, 0.649, 0.328, PHS= 0.503,-1.207, 0.318, RAW= 144.4, 4.8, CAL= 147.2, -3.7, ROT= 2.8, 3.7
2025-06-11T21:18:39.899Z,1749676719.899 [DAT](INFO): got valid direction response:
21:18:41.2138 LVL= 30576, 32753, 25426, 32755, AGC= 59, IDX= 502,-0.32, 0.743,-0.926, 0.649, 0.328, PHS= 0.503,-1.207, 0.318, RAW= 144.4, 4.8, CAL= 147.2, -3.7, ROT= 2.8, 3.7
2025-06-11T21:18:39.899Z,1749676719.899 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-11T21:18:39.901Z,1749676719.901 [DAT](INFO): direction in FSK: [0.996724,0.048748,-0.064532]
2025-06-11T21:18:39.902Z,1749676719.902 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:39.911Z,1749676719.911 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=9.111224
2025-06-11T21:18:40.137Z,1749676720.137 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=9.336405
2025-06-11T21:18:40.258Z,1749676720.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.000000 m,
deltaT: 0.503919 s,
deltaX: -0.200000 m,
approachRate: -0.396889 m/s,
rangeRepo size: 4
2025-06-11T21:18:40.260Z,1749676720.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.922548 m,
bearing: 63.700900 deg,
lat: 36.906870 deg,
lon: -122.115727 deg,
deltaT: 1.510436 s,
deltaX: -0.892346 m,
approachRate: -0.590787 m/s,
posRepo size: 4
2025-06-11T21:18:40.261Z,1749676720.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.92 m. 9.81 m.
2025-06-11T21:18:40.264Z,1749676720.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 8.271731 m,
bearing: 67.191087 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 53.722669 deg,
new cmd heading: 53.137752 deg.
2025-06-11T21:18:40.265Z,1749676720.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.927429 target range: 9.814895 and range: 9.00 m.
2025-06-11T21:18:40.386Z,1749676720.386 [DAT](INFO): DAT read: Rx Time:21:18:41.7136
2025-06-11T21:18:40.386Z,1749676720.386 [DAT](INFO): Rx dataTimestamp_ set to:1749676720.385781
2025-06-11T21:18:40.387Z,1749676720.387 [DAT](INFO): DAT read: Bearing 0.2, 5.2 (Local)
2025-06-11T21:18:40.388Z,1749676720.388 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.2, 5.2 (Local)
2025-06-11T21:18:40.391Z,1749676720.391 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.6
2025-06-11T21:18:40.398Z,1749676720.398 [DAT](INFO): DAT read: 21:18:41.7136 LVL= 26976, 32753, 22402, 32755, AGC= 60, IDX= 500,-0.15,-2.564, 2.074,-2.565,-2.972, PHS= 0.496,-1.190, 0.404, RAW= 147.2, 3.6, CAL= 149.8, -5.2, ROT= 0.2, 5.2
2025-06-11T21:18:40.399Z,1749676720.399 [DAT](INFO): got valid direction response:
21:18:41.7136 LVL= 26976, 32753, 22402, 32755, AGC= 60, IDX= 500,-0.15,-2.564, 2.074,-2.565,-2.972, PHS= 0.496,-1.190, 0.404, RAW= 147.2, 3.6, CAL= 149.8, -5.2, ROT= 0.2, 5.2
2025-06-11T21:18:40.404Z,1749676720.404 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-11T21:18:40.405Z,1749676720.405 [DAT](INFO): direction in FSK: [0.995878,0.003476,-0.090633]
2025-06-11T21:18:40.405Z,1749676720.405 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:40.411Z,1749676720.411 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.611103
2025-06-11T21:18:40.506Z,1749676720.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.504084 s,
deltaX: -0.300000 m,
approachRate: -0.595139 m/s,
rangeRepo size: 4
2025-06-11T21:18:40.517Z,1749676720.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.625130 m,
bearing: 60.972851 deg,
lat: 36.906872 deg,
lon: -122.115727 deg,
deltaT: 2.014520 s,
deltaX: -1.189765 m,
approachRate: -0.590595 m/s,
posRepo size: 4
2025-06-11T21:18:40.518Z,1749676720.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.63 m. 9.81 m.
2025-06-11T21:18:40.525Z,1749676720.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 8.069074 m,
bearing: 67.121404 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 53.137752 deg,
new cmd heading: 52.862435 deg.
2025-06-11T21:18:40.525Z,1749676720.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922624 target range: 9.814895 and range: 8.70 m.
2025-06-11T21:18:40.641Z,1749676720.641 [DAT](INFO): DAT read: Rx Time:21:18:42.2133
2025-06-11T21:18:40.643Z,1749676720.643 [DAT](INFO): Rx dataTimestamp_ set to:1749676720.642098
2025-06-11T21:18:40.646Z,1749676720.646 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.845076
2025-06-11T21:18:40.890Z,1749676720.890 [DAT](INFO): DAT read: Bearing 357.5, 5.8 (Local)
2025-06-11T21:18:40.890Z,1749676720.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.5, 5.8 (Local)
2025-06-11T21:18:40.893Z,1749676720.893 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed 0.7
2025-06-11T21:18:40.900Z,1749676720.900 [DAT](INFO): DAT read: 21:18:42.2133 LVL= 26096, 32753, 20418, 32755, AGC= 58, IDX= 496, 0.01,-2.131, 2.548,-2.031,-2.505, PHS= 0.462,-1.183, 0.470, RAW= 150.3, 3.1, CAL= 152.5, -5.8, ROT= 357.5, 5.8
2025-06-11T21:18:40.901Z,1749676720.901 [DAT](INFO): got valid direction response:
21:18:42.2133 LVL= 26096, 32753, 20418, 32755, AGC= 58, IDX= 496, 0.01,-2.131, 2.548,-2.031,-2.505, PHS= 0.462,-1.183, 0.470, RAW= 150.3, 3.1, CAL= 152.5, -5.8, ROT= 357.5, 5.8
2025-06-11T21:18:40.902Z,1749676720.902 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-11T21:18:40.903Z,1749676720.903 [DAT](INFO): direction in FSK: [0.993934,-0.043396,-0.101056]
2025-06-11T21:18:40.908Z,1749676720.908 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:40.922Z,1749676720.922 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=10.121569
2025-06-11T21:18:40.934Z,1749676720.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.502605 s,
deltaX: -0.400000 m,
approachRate: -0.795853 m/s,
rangeRepo size: 4
2025-06-11T21:18:40.941Z,1749676720.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.228573 m,
bearing: 58.279388 deg,
lat: 36.906875 deg,
lon: -122.115727 deg,
deltaT: 2.517125 s,
deltaX: -1.586322 m,
approachRate: -0.630212 m/s,
posRepo size: 4
2025-06-11T21:18:40.942Z,1749676720.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 9.81 m.
2025-06-11T21:18:40.948Z,1749676720.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 7.736492 m,
bearing: 66.999125 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 52.862437 deg,
new cmd heading: 52.388499 deg.
2025-06-11T21:18:40.949Z,1749676720.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914352 target range: 9.814895 and range: 8.30 m.
2025-06-11T21:18:41.173Z,1749676721.173 [DAT](INFO): DAT read: Rx Time:21:18:42.7128
2025-06-11T21:18:41.175Z,1749676721.175 [DAT](INFO): Rx dataTimestamp_ set to:1749676721.174016
2025-06-11T21:18:41.189Z,1749676721.189 [DAT](INFO): DAT read: Bearing 355.6, 6.2 (Local)
2025-06-11T21:18:41.191Z,1749676721.191 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.6, 6.2 (Local)
2025-06-11T21:18:41.206Z,1749676721.206 [DAT](INFO): DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed 0.6
2025-06-11T21:18:41.220Z,1749676721.220 [DAT](INFO): DAT read: 21:18:42.7128 LVL= 23760, 31137, 20706, 32755, AGC= 58, IDX= 493, 0.16,-0.985,-2.567,-0.821,-1.341, PHS= 0.443,-1.179, 0.517, RAW= 152.2, 2.7, CAL= 154.4, -6.2, ROT= 355.6, 6.2
2025-06-11T21:18:41.221Z,1749676721.221 [DAT](INFO): got valid direction response:
21:18:42.7128 LVL= 23760, 31137, 20706, 32755, AGC= 58, IDX= 493, 0.16,-0.985,-2.567,-0.821,-1.341, PHS= 0.443,-1.179, 0.517, RAW= 152.2, 2.7, CAL= 154.4, -6.2, ROT= 355.6, 6.2
2025-06-11T21:18:41.221Z,1749676721.221 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-11T21:18:41.222Z,1749676721.223 [DAT](INFO): direction in FSK: [0.991221,-0.076270,-0.107999]
2025-06-11T21:18:41.223Z,1749676721.223 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:41.231Z,1749676721.231 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.430982
2025-06-11T21:18:41.374Z,1749676721.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.500000 m,
deltaT: 0.285630 s,
deltaX: -0.800000 m,
approachRate: -2.800827 m/s,
rangeRepo size: 4
2025-06-11T21:18:41.381Z,1749676721.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.435352 m,
bearing: 55.839163 deg,
lat: 36.906877 deg,
lon: -122.115727 deg,
deltaT: 2.802755 s,
deltaX: -2.379542 m,
approachRate: -0.849001 m/s,
posRepo size: 4
2025-06-11T21:18:41.382Z,1749676721.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.44 m. 9.81 m.
2025-06-11T21:18:41.389Z,1749676721.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 7.335081 m,
bearing: 66.910540 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 52.388500 deg,
new cmd heading: 51.901285 deg.
2025-06-11T21:18:41.390Z,1749676721.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905848 target range: 9.814895 and range: 7.50 m.
2025-06-11T21:18:41.421Z,1749676721.421 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.620830
2025-06-11T21:18:41.678Z,1749676721.678 [DAT](INFO): DAT read: Rx Time:21:18:43.2125
2025-06-11T21:18:41.680Z,1749676721.680 [DAT](INFO): Rx dataTimestamp_ set to:1749676721.678740
2025-06-11T21:18:41.684Z,1749676721.684 [DAT](INFO): DAT read: Bearing 353.6, 6.4 (Local)
2025-06-11T21:18:41.686Z,1749676721.686 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.6, 6.4 (Local)
2025-06-11T21:18:41.701Z,1749676721.701 [DAT](INFO): DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed 0.5
2025-06-11T21:18:41.725Z,1749676721.725 [DAT](INFO): DAT read: 21:18:43.2125 LVL= 26224, 32753, 20834, 32755, AGC= 58, IDX= 505, 0.36,-2.291, 2.456,-2.054,-2.611, PHS= 0.408,-1.169, 0.555, RAW= 154.4, 2.5, CAL= 156.4, -6.4, ROT= 353.6, 6.4
2025-06-11T21:18:41.727Z,1749676721.727 [DAT](INFO): got valid direction response:
21:18:43.2125 LVL= 26224, 32753, 20834, 32755, AGC= 58, IDX= 505, 0.36,-2.291, 2.456,-2.054,-2.611, PHS= 0.408,-1.169, 0.555, RAW= 154.4, 2.5, CAL= 156.4, -6.4, ROT= 353.6, 6.4
2025-06-11T21:18:41.727Z,1749676721.727 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-11T21:18:41.738Z,1749676721.738 [DAT](INFO): direction in FSK: [0.987575,-0.110774,-0.111469]
2025-06-11T21:18:41.738Z,1749676721.738 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:41.750Z,1749676721.750 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.950431
2025-06-11T21:18:41.926Z,1749676721.926 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.125197
2025-06-11T21:18:41.996Z,1749676721.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.100000 m,
deltaT: 0.504724 s,
deltaX: -0.400000 m,
approachRate: -0.792513 m/s,
rangeRepo size: 4
2025-06-11T21:18:41.998Z,1749676721.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.038800 m,
bearing: 53.483770 deg,
lat: 36.906879 deg,
lon: -122.115730 deg,
deltaT: 3.307479 s,
deltaX: -2.776095 m,
approachRate: -0.839339 m/s,
posRepo size: 4
2025-06-11T21:18:41.999Z,1749676721.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.04 m. 9.81 m.
2025-06-11T21:18:42.005Z,1749676722.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 6.806985 m,
bearing: 66.803168 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 51.901286 deg,
new cmd heading: 51.222322 deg.
2025-06-11T21:18:42.006Z,1749676722.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893998 target range: 9.814895 and range: 7.10 m.
2025-06-11T21:18:42.184Z,1749676722.184 [DAT](INFO): DAT read: Rx Time:21:18:43.7124
2025-06-11T21:18:42.187Z,1749676722.187 [DAT](INFO): Rx dataTimestamp_ set to:1749676722.185231
2025-06-11T21:18:42.202Z,1749676722.202 [DAT](INFO): DAT read: Bearing 350.6, 6.2 (Local)
2025-06-11T21:18:42.202Z,1749676722.202 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.6, 6.2 (Local)
2025-06-11T21:18:42.205Z,1749676722.205 [DAT](INFO): DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed 0.7
2025-06-11T21:18:42.209Z,1749676722.209 [DAT](INFO): DAT read: 21:18:43.7124 LVL= 21472, 32753, 21154, 32755, AGC= 57, IDX= 504,-0.38,-2.796, 2.128,-2.462,-3.025, PHS= 0.318,-1.083, 0.560, RAW= 157.9, 2.7, CAL= 159.4, -6.2, ROT= 350.6, 6.2
2025-06-11T21:18:42.211Z,1749676722.211 [DAT](INFO): got valid direction response:
21:18:43.7124 LVL= 21472, 32753, 21154, 32755, AGC= 57, IDX= 504,-0.38,-2.796, 2.128,-2.462,-3.025, PHS= 0.318,-1.083, 0.560, RAW= 157.9, 2.7, CAL= 159.4, -6.2, ROT= 350.6, 6.2
2025-06-11T21:18:42.211Z,1749676722.211 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-11T21:18:42.212Z,1749676722.212 [DAT](INFO): direction in FSK: [0.980802,-0.162371,-0.107999]
2025-06-11T21:18:42.212Z,1749676722.212 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:42.224Z,1749676722.224 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.415677
2025-06-11T21:18:42.426Z,1749676722.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.506491 s,
deltaX: -0.300000 m,
approachRate: -0.592310 m/s,
rangeRepo size: 4
2025-06-11T21:18:42.429Z,1749676722.429 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.628860
2025-06-11T21:18:42.432Z,1749676722.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.741382 m,
bearing: 49.668622 deg,
lat: 36.906880 deg,
lon: -122.115735 deg,
deltaT: 3.813970 s,
deltaX: -3.073513 m,
approachRate: -0.805857 m/s,
posRepo size: 4
2025-06-11T21:18:42.433Z,1749676722.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.74 m. 9.81 m.
2025-06-11T21:18:42.440Z,1749676722.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 6.428481 m,
bearing: 66.870901 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 51.222321 deg,
new cmd heading: 50.736713 deg.
2025-06-11T21:18:42.441Z,1749676722.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.885523 target range: 9.814895 and range: 6.80 m.
2025-06-11T21:18:42.686Z,1749676722.686 [DAT](INFO): DAT read: Rx Time:21:18:44.2120
2025-06-11T21:18:42.688Z,1749676722.688 [DAT](INFO): Rx dataTimestamp_ set to:1749676722.687036
2025-06-11T21:18:42.693Z,1749676722.693 [DAT](INFO): DAT read: Bearing 348.4, 5.1 (Local)
2025-06-11T21:18:42.694Z,1749676722.694 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.4, 5.1 (Local)
2025-06-11T21:18:42.699Z,1749676722.699 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.7
2025-06-11T21:18:42.752Z,1749676722.752 [DAT](INFO): DAT read: 21:18:44.2120 LVL= 18880, 32753, 23474, 32755, AGC= 54, IDX= 500,-0.16, 1.028,-0.096, 1.408, 0.912, PHS= 0.204,-0.961, 0.493, RAW= 160.8, 4.0, CAL= 161.6, -5.1, ROT= 348.4, 5.1
2025-06-11T21:18:42.753Z,1749676722.753 [DAT](INFO): got valid direction response:
21:18:44.2120 LVL= 18880, 32753, 23474, 32755, AGC= 54, IDX= 500,-0.16, 1.028,-0.096, 1.408, 0.912, PHS= 0.204,-0.961, 0.493, RAW= 160.8, 4.0, CAL= 161.6, -5.1, ROT= 348.4, 5.1
2025-06-11T21:18:42.754Z,1749676722.754 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-11T21:18:42.755Z,1749676722.755 [DAT](INFO): direction in FSK: [0.975697,-0.200282,-0.088894]
2025-06-11T21:18:42.755Z,1749676722.755 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:42.767Z,1749676722.767 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.966646
2025-06-11T21:18:42.814Z,1749676722.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.501805 s,
deltaX: -0.600000 m,
approachRate: -1.195684 m/s,
rangeRepo size: 4
2025-06-11T21:18:42.820Z,1749676722.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.146554 m,
bearing: 46.979404 deg,
lat: 36.906881 deg,
lon: -122.115735 deg,
deltaT: 4.315775 s,
deltaX: -3.668341 m,
approachRate: -0.849984 m/s,
posRepo size: 4
2025-06-11T21:18:42.821Z,1749676722.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.15 m. 9.81 m.
2025-06-11T21:18:42.823Z,1749676722.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 6.105330 m,
bearing: 66.958287 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 50.736711 deg,
new cmd heading: 50.307423 deg.
2025-06-11T21:18:42.833Z,1749676722.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.878030 target range: 9.814895 and range: 6.20 m.
2025-06-11T21:18:42.933Z,1749676722.933 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=12.132958
2025-06-11T21:18:43.188Z,1749676723.188 [DAT](INFO): DAT read: Rx Time:21:18:44.7118
2025-06-11T21:18:43.190Z,1749676723.190 [DAT](INFO): Rx dataTimestamp_ set to:1749676723.188782
2025-06-11T21:18:43.196Z,1749676723.196 [DAT](INFO): DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed 0.8
2025-06-11T21:18:43.198Z,1749676723.198 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-06-11T21:18:43.206Z,1749676723.206 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.405221
2025-06-11T21:18:43.249Z,1749676723.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:43.256Z,1749676723.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.000000 m,
deltaT: 0.501746 s,
deltaX: -0.200000 m,
approachRate: -0.398608 m/s,
rangeRepo size: 4
2025-06-11T21:18:43.257Z,1749676723.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:43.259Z,1749676723.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 5.732128 m,
bearing: 67.099901 deg,
approach rate: -0.852193 m/s,
LOS rate: 0.344423 deg/s,
cmd heading: 50.307424 deg,
new cmd heading: 50.759915 deg.
2025-06-11T21:18:43.267Z,1749676723.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.885928 target range: 9.814895 and range: 6.00 m.
2025-06-11T21:18:43.441Z,1749676723.441 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.640816
2025-06-11T21:18:43.609Z,1749676723.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:43.611Z,1749676723.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 5.401818 m,
bearing: 67.301676 deg,
approach rate: -0.925361 m/s,
LOS rate: 0.599836 deg/s,
cmd heading: 50.759917 deg,
new cmd heading: 51.402228 deg.
2025-06-11T21:18:43.612Z,1749676723.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897138 target range: 9.814895 and range: 6.00 m.
2025-06-11T21:18:43.690Z,1749676723.690 [DAT](INFO): DAT read: Rx Time:21:18:45.2114
2025-06-11T21:18:43.691Z,1749676723.691 [DAT](INFO): Rx dataTimestamp_ set to:1749676723.690292
2025-06-11T21:18:43.693Z,1749676723.693 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.7
2025-06-11T21:18:43.694Z,1749676723.694 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-06-11T21:18:43.695Z,1749676723.695 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.894765
2025-06-11T21:18:43.941Z,1749676723.941 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=13.140931
2025-06-11T21:18:44.018Z,1749676724.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.501510 s,
deltaX: -0.600000 m,
approachRate: -1.196387 m/s,
rangeRepo size: 4
2025-06-11T21:18:44.019Z,1749676724.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:44.022Z,1749676724.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 5.063136 m,
bearing: 67.567941 deg,
approach rate: -0.827351 m/s,
LOS rate: 0.693952 deg/s,
cmd heading: 51.402228 deg,
new cmd heading: 52.254390 deg.
2025-06-11T21:18:44.022Z,1749676724.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.912011 target range: 9.814895 and range: 5.40 m.
2025-06-11T21:18:44.195Z,1749676724.195 [DAT](INFO): DAT read: Rx Time:21:18:45.7113
2025-06-11T21:18:44.199Z,1749676724.199 [DAT](INFO): Rx dataTimestamp_ set to:1749676724.198075
2025-06-11T21:18:44.203Z,1749676724.203 [DAT](INFO): DAT read: Range 10 to 50 : 5.3 m (trip time 3.5 ms) speed 0.7
2025-06-11T21:18:44.205Z,1749676724.205 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-06-11T21:18:44.209Z,1749676724.209 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.407549
2025-06-11T21:18:44.418Z,1749676724.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.507783 s,
deltaX: -0.100000 m,
approachRate: -0.196934 m/s,
rangeRepo size: 4
2025-06-11T21:18:44.419Z,1749676724.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:44.421Z,1749676724.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 4.715652 m,
bearing: 67.783643 deg,
approach rate: -0.869400 m/s,
LOS rate: 0.579452 deg/s,
cmd heading: 52.254390 deg,
new cmd heading: 52.949145 deg.
2025-06-11T21:18:44.422Z,1749676724.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924137 target range: 9.814895 and range: 5.30 m.
2025-06-11T21:18:44.445Z,1749676724.445 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.644634
2025-06-11T21:18:44.697Z,1749676724.697 [DAT](INFO): DAT read: Rx Time:21:18:46.2111
2025-06-11T21:18:44.698Z,1749676724.698 [DAT](INFO): Rx dataTimestamp_ set to:1749676724.697642
2025-06-11T21:18:44.699Z,1749676724.699 [DAT](INFO): DAT read: Bearing 37.1, 8.5 (Local)
2025-06-11T21:18:44.700Z,1749676724.700 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.1, 8.5 (Local)
2025-06-11T21:18:44.702Z,1749676724.702 [DAT](INFO): DAT read: Range 10 to 50 : 5.0 m (trip time 3.3 ms) speed 0.7
2025-06-11T21:18:44.707Z,1749676724.707 [DAT](INFO): DAT read: 21:18:46.2111 LVL= 14736, 32753, 19730, 32755, AGC= 48, IDX= 505, 0.13,-3.035, 1.187, 1.783, 2.062, PHS= 1.273,-0.829,-0.282, RAW= 104.5, -1.7, CAL= 112.9, -8.5, ROT= 37.1, 8.5
2025-06-11T21:18:44.708Z,1749676724.708 [DAT](INFO): got valid direction response:
21:18:46.2111 LVL= 14736, 32753, 19730, 32755, AGC= 48, IDX= 505, 0.13,-3.035, 1.187, 1.783, 2.062, PHS= 1.273,-0.829,-0.282, RAW= 104.5, -1.7, CAL= 112.9, -8.5, ROT= 37.1, 8.5
2025-06-11T21:18:44.708Z,1749676724.708 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-11T21:18:44.709Z,1749676724.709 [DAT](INFO): direction in FSK: [0.788823,0.596582,-0.147809]
2025-06-11T21:18:44.709Z,1749676724.709 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:44.718Z,1749676724.718 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.917980
2025-06-11T21:18:44.835Z,1749676724.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.000000 m,
deltaT: 0.499567 s,
deltaX: -0.300000 m,
approachRate: -0.600520 m/s,
rangeRepo size: 4
2025-06-11T21:18:44.841Z,1749676724.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.956832 m,
bearing: 94.262310 deg,
lat: 36.906881 deg,
lon: -122.115735 deg,
deltaT: 6.326381 s,
deltaX: -4.858062 m,
approachRate: -0.767905 m/s,
posRepo size: 4
2025-06-11T21:18:44.842Z,1749676724.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.96 m. 9.81 m.
2025-06-11T21:18:44.848Z,1749676724.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 4.379516 m,
bearing: 68.024925 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.369126 deg/s,
cmd heading: 52.949146 deg,
new cmd heading: 52.487468 deg.
2025-06-11T21:18:44.849Z,1749676724.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.916079 target range: 9.814895 and range: 5.00 m.
2025-06-11T21:18:44.950Z,1749676724.950 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.149732
2025-06-11T21:18:45.205Z,1749676725.205 [DAT](INFO): DAT read: Rx Time:21:18:46.7108
2025-06-11T21:18:45.206Z,1749676725.206 [DAT](INFO): Rx dataTimestamp_ set to:1749676725.205147
2025-06-11T21:18:45.210Z,1749676725.210 [DAT](INFO): DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.8
2025-06-11T21:18:45.212Z,1749676725.212 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-06-11T21:18:45.215Z,1749676725.215 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.414491
2025-06-11T21:18:45.278Z,1749676725.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:45.285Z,1749676725.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.507505 s,
deltaX: -0.500000 m,
approachRate: -0.985212 m/s,
rangeRepo size: 4
2025-06-11T21:18:45.286Z,1749676725.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:45.292Z,1749676725.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 4.008534 m,
bearing: 68.417740 deg,
approach rate: -0.832115 m/s,
LOS rate: 0.962622 deg/s,
cmd heading: 52.487470 deg,
new cmd heading: 53.774750 deg.
2025-06-11T21:18:45.293Z,1749676725.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.938546 target range: 9.814895 and range: 4.50 m.
2025-06-11T21:18:45.453Z,1749676725.453 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.652913
2025-06-11T21:18:45.632Z,1749676725.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:45.641Z,1749676725.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 3.700090 m,
bearing: 68.761395 deg,
approach rate: -0.876858 m/s,
LOS rate: 1.058392 deg/s,
cmd heading: 53.774749 deg,
new cmd heading: 54.891510 deg.
2025-06-11T21:18:45.645Z,1749676725.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958038 target range: 9.814895 and range: 4.50 m.
2025-06-11T21:18:45.705Z,1749676725.705 [DAT](INFO): DAT read: Rx Time:21:18:47.2105
2025-06-11T21:18:45.706Z,1749676725.706 [DAT](INFO): Rx dataTimestamp_ set to:1749676725.705398
2025-06-11T21:18:45.707Z,1749676725.707 [DAT](INFO): DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed 0.7
2025-06-11T21:18:45.709Z,1749676725.709 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-06-11T21:18:45.710Z,1749676725.710 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=14.909787
2025-06-11T21:18:45.957Z,1749676725.957 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.156699
2025-06-11T21:18:46.024Z,1749676726.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.500251 s,
deltaX: -0.400000 m,
approachRate: -0.799599 m/s,
rangeRepo size: 4
2025-06-11T21:18:46.025Z,1749676726.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:46.028Z,1749676726.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 3.375228 m,
bearing: 69.191483 deg,
approach rate: -0.829322 m/s,
LOS rate: 1.203612 deg/s,
cmd heading: 54.891509 deg,
new cmd heading: 56.305658 deg.
2025-06-11T21:18:46.029Z,1749676726.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982719 target range: 9.814895 and range: 4.10 m.
2025-06-11T21:18:46.212Z,1749676726.212 [DAT](INFO): DAT read: Rx Time:21:18:47.7103
2025-06-11T21:18:46.214Z,1749676726.214 [DAT](INFO): Rx dataTimestamp_ set to:1749676726.212933
2025-06-11T21:18:46.218Z,1749676726.218 [DAT](INFO): DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed 0.6
2025-06-11T21:18:46.220Z,1749676726.220 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-06-11T21:18:46.229Z,1749676726.229 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.423320
2025-06-11T21:18:46.461Z,1749676726.461 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.660814
2025-06-11T21:18:46.466Z,1749676726.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.800000 m,
deltaT: 0.507535 s,
deltaX: -0.300000 m,
approachRate: -0.591092 m/s,
rangeRepo size: 4
2025-06-11T21:18:46.467Z,1749676726.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:46.474Z,1749676726.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 3.029872 m,
bearing: 69.573692 deg,
approach rate: -0.780518 m/s,
LOS rate: 0.962260 deg/s,
cmd heading: 56.305658 deg,
new cmd heading: 57.582760 deg.
2025-06-11T21:18:46.475Z,1749676726.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.005009 target range: 9.814895 and range: 3.80 m.
2025-06-11T21:18:46.717Z,1749676726.717 [DAT](INFO): DAT read: Rx Time:21:18:48.2099
2025-06-11T21:18:46.718Z,1749676726.718 [DAT](INFO): Rx dataTimestamp_ set to:1749676726.717250
2025-06-11T21:18:46.719Z,1749676726.719 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.6
2025-06-11T21:18:46.719Z,1749676726.719 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-06-11T21:18:46.720Z,1749676726.720 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.920412
2025-06-11T21:18:46.854Z,1749676726.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.504317 s,
deltaX: -0.600000 m,
approachRate: -1.189728 m/s,
rangeRepo size: 4
2025-06-11T21:18:46.855Z,1749676726.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.81 m. 9.81 m.
2025-06-11T21:18:46.858Z,1749676726.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.814895 m,
nav range: 2.703429 m,
bearing: 70.157674 deg,
approach rate: -0.842202 m/s,
LOS rate: 1.688539 deg/s,
cmd heading: 57.582757 deg,
new cmd heading: 59.545453 deg.
2025-06-11T21:18:46.859Z,1749676726.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.039264 target range: 9.814895 and range: 3.20 m.
2025-06-11T21:18:46.965Z,1749676726.965 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.164927
2025-06-11T21:18:47.217Z,1749676727.217 [DAT](INFO): DAT read: Rx Time:21:18:48.7098
2025-06-11T21:18:47.218Z,1749676727.218 [DAT](INFO): Rx dataTimestamp_ set to:1749676727.217238
2025-06-11T21:18:47.219Z,1749676727.219 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.6
2025-06-11T21:18:47.219Z,1749676727.219 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-06-11T21:18:47.220Z,1749676727.220 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.420359
2025-06-11T21:18:47.301Z,1749676727.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:47.303Z,1749676727.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.499988 s,
deltaX: -0.200000 m,
approachRate: -0.400010 m/s,
rangeRepo size: 4
2025-06-11T21:18:47.317Z,1749676727.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-06-11T21:18:47.317Z,1749676727.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-11T21:18:47.469Z,1749676727.469 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.668915
2025-06-11T21:18:47.722Z,1749676727.722 [DAT](INFO): DAT read: Rx Time:21:18:49.2095
2025-06-11T21:18:47.722Z,1749676727.722 [DAT](INFO): Rx dataTimestamp_ set to:1749676727.721755
2025-06-11T21:18:47.723Z,1749676727.723 [DAT](INFO): DAT read: Bearing 167.3, -33.7 (Local)
2025-06-11T21:18:47.724Z,1749676727.724 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.3, -33.7 (Local)
2025-06-11T21:18:47.726Z,1749676727.726 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.5
2025-06-11T21:18:47.731Z,1749676727.731 [DAT](INFO): DAT read: 21:18:49.2095 LVL= 17824, 18081, 10706, 17763, AGC= 41, IDX= 506, 0.26, 0.742, 2.023, 0.420, 1.967, PHS=-1.136, 0.103,-1.550, RAW= 343.9, 31.5, CAL= 342.7, 33.7, ROT= 167.3, -33.7
2025-06-11T21:18:47.733Z,1749676727.733 [DAT](INFO): got valid direction response:
21:18:49.2095 LVL= 17824, 18081, 10706, 17763, AGC= 41, IDX= 506, 0.26, 0.742, 2.023, 0.420, 1.967, PHS=-1.136, 0.103,-1.550, RAW= 343.9, 31.5, CAL= 342.7, 33.7, ROT= 167.3, -33.7
2025-06-11T21:18:47.733Z,1749676727.733 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-11T21:18:47.734Z,1749676727.734 [DAT](INFO): direction in FSK: [-0.811600,0.182902,0.554844]
2025-06-11T21:18:47.734Z,1749676727.734 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:47.738Z,1749676727.738 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.937927
2025-06-11T21:18:47.973Z,1749676727.973 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.172729
2025-06-11T21:18:48.037Z,1749676728.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.504517 s,
deltaX: -0.400000 m,
approachRate: -0.792838 m/s,
rangeRepo size: 4
2025-06-11T21:18:48.039Z,1749676728.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.577544 m,
bearing: 223.682201 deg,
lat: 36.906881 deg,
lon: -122.115737 deg,
deltaT: 9.350494 s,
deltaX: -7.237351 m,
approachRate: -0.774007 m/s,
posRepo size: 4
2025-06-11T21:18:48.229Z,1749676728.229 [DAT](INFO): DAT read: Rx Time:21:18:49.7093
2025-06-11T21:18:48.230Z,1749676728.230 [DAT](INFO): Rx dataTimestamp_ set to:1749676728.229545
2025-06-11T21:18:48.235Z,1749676728.235 [DAT](INFO): DAT read: Bearing 180.1, -39.3 (Local)
2025-06-11T21:18:48.236Z,1749676728.236 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.1, -39.3 (Local)
2025-06-11T21:18:48.246Z,1749676728.246 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.4
2025-06-11T21:18:48.288Z,1749676728.288 [DAT](INFO): DAT read: 21:18:49.7093 LVL= 8368, 13745, 7650, 14787, AGC= 39, IDX= 506,-0.19,-3.063,-1.976,-2.941,-1.812, PHS=-1.163,-0.117,-1.132, RAW= 328.5, 39.6, CAL= 329.9, 39.3, ROT= 180.1, -39.3
2025-06-11T21:18:48.291Z,1749676728.291 [DAT](INFO): got valid direction response:
21:18:49.7093 LVL= 8368, 13745, 7650, 14787, AGC= 39, IDX= 506,-0.19,-3.063,-1.976,-2.941,-1.812, PHS=-1.163,-0.117,-1.132, RAW= 328.5, 39.6, CAL= 329.9, 39.3, ROT= 180.1, -39.3
2025-06-11T21:18:48.301Z,1749676728.301 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-11T21:18:48.302Z,1749676728.302 [DAT](INFO): direction in FSK: [-0.773839,-0.001351,0.633381]
2025-06-11T21:18:48.302Z,1749676728.302 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:48.310Z,1749676728.310 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.509567
2025-06-11T21:18:48.465Z,1749676728.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.507790 s,
deltaX: -0.300000 m,
approachRate: -0.590795 m/s,
rangeRepo size: 4
2025-06-11T21:18:48.467Z,1749676728.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.280157 m,
bearing: 237.948105 deg,
lat: 36.906857 deg,
lon: -122.115741 deg,
deltaT: 0.507790 s,
deltaX: -0.297387 m,
approachRate: -0.585649 m/s,
posRepo size: 4
2025-06-11T21:18:48.478Z,1749676728.478 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.677950
2025-06-11T21:18:48.729Z,1749676728.729 [DAT](INFO): DAT read: Rx Time:21:18:50.2091
2025-06-11T21:18:48.730Z,1749676728.730 [DAT](INFO): Rx dataTimestamp_ set to:1749676728.729558
2025-06-11T21:18:48.731Z,1749676728.731 [DAT](INFO): DAT read: Bearing 175.4, -31.6 (Local)
2025-06-11T21:18:48.731Z,1749676728.731 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.4, -31.6 (Local)
2025-06-11T21:18:48.734Z,1749676728.734 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:18:48.739Z,1749676728.739 [DAT](INFO): DAT read: 21:18:50.2091 LVL= 12912, 21393, 11378, 23123, AGC= 42, IDX= 504,-0.44, 1.553,-2.908, 1.514,-3.118, PHS=-1.524, 0.257,-1.654, RAW= 333.5, 29.2, CAL= 334.6, 31.6, ROT= 175.4, -31.6
2025-06-11T21:18:48.740Z,1749676728.740 [DAT](INFO): got valid direction response:
21:18:50.2091 LVL= 12912, 21393, 11378, 23123, AGC= 42, IDX= 504,-0.44, 1.553,-2.908, 1.514,-3.118, PHS=-1.524, 0.257,-1.654, RAW= 333.5, 29.2, CAL= 334.6, 31.6, ROT= 175.4, -31.6
2025-06-11T21:18:48.740Z,1749676728.740 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-11T21:18:48.741Z,1749676728.741 [DAT](INFO): direction in FSK: [-0.848983,0.068308,0.523986]
2025-06-11T21:18:48.741Z,1749676728.741 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:48.745Z,1749676728.745 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.945093
2025-06-11T21:18:48.867Z,1749676728.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.000000 m,
deltaT: 0.500013 s,
deltaX: -0.300000 m,
approachRate: -0.599984 m/s,
rangeRepo size: 4
2025-06-11T21:18:48.874Z,1749676728.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.982745 m,
bearing: 230.814728 deg,
lat: 36.906857 deg,
lon: -122.115754 deg,
deltaT: 0.500013 s,
deltaX: -0.297412 m,
approachRate: -0.594808 m/s,
posRepo size: 4
2025-06-11T21:18:48.981Z,1749676728.981 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.181023
2025-06-11T21:18:49.233Z,1749676729.233 [DAT](INFO): DAT read: Rx Time:21:18:50.7093
2025-06-11T21:18:49.235Z,1749676729.235 [DAT](INFO): Rx dataTimestamp_ set to:1749676729.233795
2025-06-11T21:18:49.238Z,1749676729.238 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-11T21:18:49.245Z,1749676729.245 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-06-11T21:18:49.245Z,1749676729.245 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.445385
2025-06-11T21:18:49.298Z,1749676729.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.504237 s,
deltaX: 0.300000 m,
approachRate: 0.594958 m/s,
rangeRepo size: 4
2025-06-11T21:18:49.485Z,1749676729.485 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.684729
2025-06-11T21:18:49.687Z,1749676729.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:49.738Z,1749676729.738 [DAT](INFO): DAT read: Rx Time:21:18:51.2091
2025-06-11T21:18:49.738Z,1749676729.738 [DAT](INFO): Rx dataTimestamp_ set to:1749676729.738212
2025-06-11T21:18:49.740Z,1749676729.740 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:18:49.741Z,1749676729.741 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-06-11T21:18:49.743Z,1749676729.743 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.942690
2025-06-11T21:18:49.989Z,1749676729.989 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.188789
2025-06-11T21:18:50.061Z,1749676730.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.000000 m,
deltaT: 0.504417 s,
deltaX: -0.300000 m,
approachRate: -0.594746 m/s,
rangeRepo size: 4
2025-06-11T21:18:50.242Z,1749676730.242 [DAT](INFO): DAT read: Rx Time:21:18:51.7091
2025-06-11T21:18:50.242Z,1749676730.242 [DAT](INFO): Rx dataTimestamp_ set to:1749676730.242154
2025-06-11T21:18:50.244Z,1749676730.244 [DAT](INFO): DAT read: Bearing 102.9, -24.5 (Local)
2025-06-11T21:18:50.244Z,1749676730.244 [DAT](INFO): Local bearing/azimuth received:
Bearing 102.9, -24.5 (Local)
2025-06-11T21:18:50.247Z,1749676730.247 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.1
2025-06-11T21:18:50.257Z,1749676730.257 [DAT](INFO): DAT read: 21:18:51.7091 LVL= 24224, 18417, 20674, 29075, AGC= 47, IDX= 503, 0.05,-1.534,-1.996,-2.858,-1.722, PHS= 0.276,-0.226,-1.139, RAW= 50.5, 17.2, CAL= 47.1, 24.5, ROT= 102.9, -24.5
2025-06-11T21:18:50.260Z,1749676730.260 [DAT](INFO): got valid direction response:
21:18:51.7091 LVL= 24224, 18417, 20674, 29075, AGC= 47, IDX= 503, 0.05,-1.534,-1.996,-2.858,-1.722, PHS= 0.276,-0.226,-1.139, RAW= 50.5, 17.2, CAL= 47.1, 24.5, ROT= 102.9, -24.5
2025-06-11T21:18:50.261Z,1749676730.261 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-11T21:18:50.264Z,1749676730.264 [DAT](INFO): direction in FSK: [-0.203149,0.886995,0.414693]
2025-06-11T21:18:50.265Z,1749676730.265 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:50.279Z,1749676730.279 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.478455
2025-06-11T21:18:50.489Z,1749676730.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.000000 m,
deltaT: 0.503942 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-11T21:18:50.491Z,1749676730.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.982749 m,
bearing: 143.411897 deg,
lat: 36.906857 deg,
lon: -122.115754 deg,
deltaT: 1.512596 s,
deltaX: 0.000003 m,
approachRate: 0.000002 m/s,
posRepo size: 4
2025-06-11T21:18:50.493Z,1749676730.493 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.692890
2025-06-11T21:18:50.746Z,1749676730.746 [DAT](INFO): DAT read: Rx Time:21:18:52.2094
2025-06-11T21:18:50.747Z,1749676730.747 [DAT](INFO): Rx dataTimestamp_ set to:1749676730.746381
2025-06-11T21:18:50.749Z,1749676730.749 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-11T21:18:50.751Z,1749676730.751 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-06-11T21:18:50.752Z,1749676730.752 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.951977
2025-06-11T21:18:50.878Z,1749676730.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 0.504227 s,
deltaX: 0.400000 m,
approachRate: 0.793294 m/s,
rangeRepo size: 4
2025-06-11T21:18:50.878Z,1749676730.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m.
2025-06-11T21:18:51.002Z,1749676731.002 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.201511
2025-06-11T21:18:51.254Z,1749676731.254 [DAT](INFO): DAT read: Rx Time:21:18:52.7090
2025-06-11T21:18:51.254Z,1749676731.254 [DAT](INFO): Rx dataTimestamp_ set to:1749676731.254047
2025-06-11T21:18:51.256Z,1749676731.256 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.2
2025-06-11T21:18:51.256Z,1749676731.256 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-06-11T21:18:51.257Z,1749676731.257 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.457190
2025-06-11T21:18:51.277Z,1749676731.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 0.507666 s,
deltaX: -0.600000 m,
approachRate: -1.181880 m/s,
rangeRepo size: 4
2025-06-11T21:18:51.277Z,1749676731.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m.
2025-06-11T21:18:51.505Z,1749676731.505 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.704865
2025-06-11T21:18:51.698Z,1749676731.698 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 88.93, 76.03, 84.86,
2025-06-11T21:18:51.713Z,1749676731.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:51.757Z,1749676731.757 [DAT](INFO): DAT read: Rx Time:21:18:53.2091
2025-06-11T21:18:51.758Z,1749676731.758 [DAT](INFO): Rx dataTimestamp_ set to:1749676731.757665
2025-06-11T21:18:51.759Z,1749676731.759 [DAT](INFO): DAT read: Bearing 125.3, -81.5 (Local)
2025-06-11T21:18:51.760Z,1749676731.760 [DAT](INFO): Local bearing/azimuth received:
Bearing 125.3, -81.5 (Local)
2025-06-11T21:18:51.762Z,1749676731.762 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:18:51.767Z,1749676731.767 [DAT](INFO): DAT read: 21:18:53.2091 LVL= 12128, 25745, 15794, 26259, AGC= 42, IDX= 502,-0.01, 2.899, 2.961, 2.754,-1.962, PHS=-1.335,-1.313,-1.571, RAW= 25.7, 80.6, CAL= 24.7, 81.5, ROT= 125.3, -81.5
2025-06-11T21:18:51.768Z,1749676731.768 [DAT](INFO): got valid direction response:
21:18:53.2091 LVL= 12128, 25745, 15794, 26259, AGC= 42, IDX= 502,-0.01, 2.899, 2.961, 2.754,-1.962, PHS=-1.335,-1.313,-1.571, RAW= 25.7, 80.6, CAL= 24.7, 81.5, ROT= 125.3, -81.5
2025-06-11T21:18:51.768Z,1749676731.768 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-11T21:18:51.769Z,1749676731.769 [DAT](INFO): direction in FSK: [-0.085413,0.120633,0.989016]
2025-06-11T21:18:51.770Z,1749676731.770 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:51.777Z,1749676731.777 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.977283
2025-06-11T21:18:52.009Z,1749676732.009 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.208752
2025-06-11T21:18:52.079Z,1749676732.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.000000 m,
deltaT: 0.503618 s,
deltaX: 0.200000 m,
approachRate: 0.397126 m/s,
rangeRepo size: 4
2025-06-11T21:18:52.081Z,1749676732.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.982741 m,
bearing: 234.977853 deg,
lat: 36.906857 deg,
lon: -122.115754 deg,
deltaT: 1.515511 s,
deltaX: -0.000008 m,
approachRate: -0.000005 m/s,
posRepo size: 4
2025-06-11T21:18:52.082Z,1749676732.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-06-11T21:18:52.262Z,1749676732.262 [DAT](INFO): DAT read: Rx Time:21:18:53.7097
2025-06-11T21:18:52.262Z,1749676732.262 [DAT](INFO): Rx dataTimestamp_ set to:1749676732.261728
2025-06-11T21:18:52.264Z,1749676732.264 [DAT](INFO): DAT read: Bearing 58.3, 23.2 (Local)
2025-06-11T21:18:52.265Z,1749676732.265 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.3, 23.2 (Local)
2025-06-11T21:18:52.270Z,1749676732.270 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0
2025-06-11T21:18:52.275Z,1749676732.275 [DAT](INFO): DAT read: 21:18:53.7097 LVL= 13168, 29377, 16050, 20131, AGC= 41, IDX= 499,-0.01, 2.981, 1.797, 1.575, 1.833, PHS= 1.235, 0.011,-0.261, RAW= 80.2, -14.2, CAL= 91.7, -23.2, ROT= 58.3, 23.2
2025-06-11T21:18:52.280Z,1749676732.280 [DAT](INFO): got valid direction response:
21:18:53.7097 LVL= 13168, 29377, 16050, 20131, AGC= 41, IDX= 499,-0.01, 2.981, 1.797, 1.575, 1.833, PHS= 1.235, 0.011,-0.261, RAW= 80.2, -14.2, CAL= 91.7, -23.2, ROT= 58.3, 23.2
2025-06-11T21:18:52.280Z,1749676732.280 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-11T21:18:52.282Z,1749676732.282 [DAT](INFO): direction in FSK: [0.482980,0.782011,-0.393942]
2025-06-11T21:18:52.283Z,1749676732.283 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:52.337Z,1749676732.337 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.536713
2025-06-11T21:18:52.515Z,1749676732.515 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.713524
2025-06-11T21:18:52.520Z,1749676732.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.504063 s,
deltaX: 0.900000 m,
approachRate: 1.785491 m/s,
rangeRepo size: 4
2025-06-11T21:18:52.522Z,1749676732.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.874993 m,
bearing: 85.984929 deg,
lat: 36.906859 deg,
lon: -122.115729 deg,
deltaT: 0.504063 s,
deltaX: 0.892251 m,
approachRate: 1.770119 m/s,
posRepo size: 4
2025-06-11T21:18:52.523Z,1749676732.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.90 m.
2025-06-11T21:18:52.523Z,1749676732.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-06-11T21:18:52.765Z,1749676732.765 [DAT](INFO): DAT read: Rx Time:21:18:54.2095
2025-06-11T21:18:52.766Z,1749676732.766 [DAT](INFO): Rx dataTimestamp_ set to:1749676732.765575
2025-06-11T21:18:52.767Z,1749676732.767 [DAT](INFO): DAT read: Bearing 60.9, 22.6 (Local)
2025-06-11T21:18:52.767Z,1749676732.767 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.9, 22.6 (Local)
2025-06-11T21:18:52.770Z,1749676732.770 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0
2025-06-11T21:18:52.775Z,1749676732.775 [DAT](INFO): DAT read: 21:18:54.2095 LVL= 17328, 32753, 23954, 32755, AGC= 42, IDX= 498, 0.02, 2.369, 1.087, 0.744, 1.090, PHS= 1.367, 0.044,-0.349, RAW= 77.4, -13.5, CAL= 89.1, -22.6, ROT= 60.9, 22.6
2025-06-11T21:18:52.776Z,1749676732.776 [DAT](INFO): got valid direction response:
21:18:54.2095 LVL= 17328, 32753, 23954, 32755, AGC= 42, IDX= 498, 0.02, 2.369, 1.087, 0.744, 1.090, PHS= 1.367, 0.044,-0.349, RAW= 77.4, -13.5, CAL= 89.1, -22.6, ROT= 60.9, 22.6
2025-06-11T21:18:52.776Z,1749676732.776 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-11T21:18:52.777Z,1749676732.777 [DAT](INFO): direction in FSK: [0.448990,0.806675,-0.384295]
2025-06-11T21:18:52.777Z,1749676732.777 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:52.781Z,1749676732.781 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.981211
2025-06-11T21:18:52.976Z,1749676732.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.503847 s,
deltaX: -0.300000 m,
approachRate: -0.595419 m/s,
rangeRepo size: 4
2025-06-11T21:18:52.978Z,1749676732.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.577579 m,
bearing: 86.805537 deg,
lat: 36.906875 deg,
lon: -122.115719 deg,
deltaT: 0.503847 s,
deltaX: -0.297413 m,
approachRate: -0.590285 m/s,
posRepo size: 4
2025-06-11T21:18:53.018Z,1749676733.018 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.217791
2025-06-11T21:18:53.033Z,1749676733.033 [DockingStepper](INFO): Changing to mode: 1
2025-06-11T21:18:53.033Z,1749676733.033 [DockingStepper](INFO): Standby mode.
2025-06-11T21:18:53.096Z,1749676733.096 [DockingStepper](INFO): Commanding positive:54679
2025-06-11T21:18:53.270Z,1749676733.270 [DAT](INFO): DAT read: Rx Time:21:18:54.7096
2025-06-11T21:18:53.271Z,1749676733.271 [DAT](INFO): Rx dataTimestamp_ set to:1749676733.270543
2025-06-11T21:18:53.273Z,1749676733.273 [DAT](INFO): DAT read: Bearing 63.0, 22.9 (Local)
2025-06-11T21:18:53.273Z,1749676733.273 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.0, 22.9 (Local)
2025-06-11T21:18:53.275Z,1749676733.275 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0
2025-06-11T21:18:53.282Z,1749676733.282 [DAT](INFO): DAT read: 21:18:54.7096 LVL= 14928, 32753, 25986, 32755, AGC= 42, IDX= 499, 0.09,-3.088, 1.912, 1.478, 1.858, PHS= 1.425, 0.101,-0.383, RAW= 75.0, -14.0, CAL= 87.0, -22.9, ROT= 63.0, 22.9
2025-06-11T21:18:53.285Z,1749676733.285 [DAT](INFO): got valid direction response:
21:18:54.7096 LVL= 14928, 32753, 25986, 32755, AGC= 42, IDX= 499, 0.09,-3.088, 1.912, 1.478, 1.858, PHS= 1.425, 0.101,-0.383, RAW= 75.0, -14.0, CAL= 87.0, -22.9, ROT= 63.0, 22.9
2025-06-11T21:18:53.285Z,1749676733.285 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-11T21:18:53.286Z,1749676733.286 [DAT](INFO): direction in FSK: [0.418209,0.820782,-0.389124]
2025-06-11T21:18:53.287Z,1749676733.287 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:53.290Z,1749676733.290 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.490320
2025-06-11T21:18:53.515Z,1749676733.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.504968 s,
deltaX: 0.100000 m,
approachRate: 0.198033 m/s,
rangeRepo size: 4
2025-06-11T21:18:53.521Z,1749676733.521 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.720863
2025-06-11T21:18:53.523Z,1749676733.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.676731 m,
bearing: 82.782249 deg,
lat: 36.906878 deg,
lon: -122.115698 deg,
deltaT: 0.504968 s,
deltaX: 0.099152 m,
approachRate: 0.196353 m/s,
posRepo size: 4
2025-06-11T21:18:53.774Z,1749676733.774 [DAT](INFO): DAT read: Rx Time:21:18:55.2095
2025-06-11T21:18:53.774Z,1749676733.774 [DAT](INFO): Rx dataTimestamp_ set to:1749676733.773734
2025-06-11T21:18:53.775Z,1749676733.775 [DAT](INFO): DAT read: Bearing 60.9, 22.2 (Local)
2025-06-11T21:18:53.776Z,1749676733.776 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.9, 22.2 (Local)
2025-06-11T21:18:53.778Z,1749676733.778 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0
2025-06-11T21:18:53.783Z,1749676733.783 [DAT](INFO): DAT read: 21:18:55.2095 LVL= 15632, 32753, 24098, 32755, AGC= 42, IDX= 498, 0.15, 2.006, 0.890, 0.601, 0.915, PHS= 1.179, 0.022,-0.316, RAW= 77.5, -13.0, CAL= 89.1, -22.2, ROT= 60.9, 22.2
2025-06-11T21:18:53.785Z,1749676733.785 [DAT](INFO): got valid direction response:
21:18:55.2095 LVL= 15632, 32753, 24098, 32755, AGC= 42, IDX= 498, 0.15, 2.006, 0.890, 0.601, 0.915, PHS= 1.179, 0.022,-0.316, RAW= 77.5, -13.0, CAL= 89.1, -22.2, ROT= 60.9, 22.2
2025-06-11T21:18:53.785Z,1749676733.785 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-11T21:18:53.786Z,1749676733.786 [DAT](INFO): direction in FSK: [0.450284,0.809000,-0.377841]
2025-06-11T21:18:53.786Z,1749676733.786 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:53.790Z,1749676733.790 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.989819
2025-06-11T21:18:53.993Z,1749676733.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.503191 s,
deltaX: -0.100000 m,
approachRate: -0.198732 m/s,
rangeRepo size: 4
2025-06-11T21:18:53.995Z,1749676733.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.577593 m,
bearing: 76.247352 deg,
lat: 36.906878 deg,
lon: -122.115698 deg,
deltaT: 0.503191 s,
deltaX: -0.099138 m,
approachRate: -0.197019 m/s,
posRepo size: 4
2025-06-11T21:18:54.026Z,1749676734.026 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.225622
2025-06-11T21:18:54.277Z,1749676734.277 [DAT](INFO): DAT read: Rx Time:21:18:55.7090
2025-06-11T21:18:54.278Z,1749676734.278 [DAT](INFO): Rx dataTimestamp_ set to:1749676734.277269
2025-06-11T21:18:54.279Z,1749676734.279 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-06-11T21:18:54.279Z,1749676734.279 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-06-11T21:18:54.280Z,1749676734.280 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.480404
2025-06-11T21:18:54.302Z,1749676734.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:54.309Z,1749676734.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 0.503535 s,
deltaX: -0.800000 m,
approachRate: -1.588767 m/s,
rangeRepo size: 4
2025-06-11T21:18:54.529Z,1749676734.529 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.728794
2025-06-11T21:18:54.781Z,1749676734.781 [DAT](INFO): DAT read: Rx Time:21:18:56.2092
2025-06-11T21:18:54.781Z,1749676734.781 [DAT](INFO): Rx dataTimestamp_ set to:1749676734.781134
2025-06-11T21:18:54.783Z,1749676734.783 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:18:54.783Z,1749676734.783 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-06-11T21:18:54.784Z,1749676734.784 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.984278
2025-06-11T21:18:55.033Z,1749676735.033 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.232719
2025-06-11T21:18:55.174Z,1749676735.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 0.503865 s,
deltaX: 0.300000 m,
approachRate: 0.595397 m/s,
rangeRepo size: 4
2025-06-11T21:18:55.285Z,1749676735.285 [DAT](INFO): DAT read: Rx Time:21:18:56.7093
2025-06-11T21:18:55.286Z,1749676735.286 [DAT](INFO): Rx dataTimestamp_ set to:1749676735.285337
2025-06-11T21:18:55.287Z,1749676735.287 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-11T21:18:55.287Z,1749676735.287 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-06-11T21:18:55.289Z,1749676735.289 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.488590
2025-06-11T21:18:55.537Z,1749676735.537 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.736826
2025-06-11T21:18:55.583Z,1749676735.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.504203 s,
deltaX: 0.200000 m,
approachRate: 0.396666 m/s,
rangeRepo size: 4
2025-06-11T21:18:55.789Z,1749676735.789 [DAT](INFO): DAT read: Rx Time:21:18:57.2094
2025-06-11T21:18:55.790Z,1749676735.790 [DAT](INFO): Rx dataTimestamp_ set to:1749676735.789586
2025-06-11T21:18:55.791Z,1749676735.791 [DAT](INFO): DAT read: Bearing 56.1, 26.1 (Local)
2025-06-11T21:18:55.791Z,1749676735.791 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.1, 26.1 (Local)
2025-06-11T21:18:55.794Z,1749676735.794 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0
2025-06-11T21:18:55.798Z,1749676735.798 [DAT](INFO): DAT read: 21:18:57.2094 LVL= 16752, 31121, 15730, 27635, AGC= 42, IDX= 498, 0.26, 1.911, 0.813, 0.656, 0.791, PHS= 1.207, 0.069,-0.139, RAW= 81.8, -17.8, CAL= 93.9, -26.1, ROT= 56.1, 26.1
2025-06-11T21:18:55.799Z,1749676735.799 [DAT](INFO): got valid direction response:
21:18:57.2094 LVL= 16752, 31121, 15730, 27635, AGC= 42, IDX= 498, 0.26, 1.911, 0.813, 0.656, 0.791, PHS= 1.207, 0.069,-0.139, RAW= 81.8, -17.8, CAL= 93.9, -26.1, ROT= 56.1, 26.1
2025-06-11T21:18:55.811Z,1749676735.811 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-11T21:18:55.814Z,1749676735.814 [DAT](INFO): direction in FSK: [0.500871,0.745374,-0.439939]
2025-06-11T21:18:55.814Z,1749676735.814 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:55.834Z,1749676735.834 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.033951
2025-06-11T21:18:55.986Z,1749676735.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 0.504249 s,
deltaX: 0.100000 m,
approachRate: 0.198315 m/s,
rangeRepo size: 4
2025-06-11T21:18:55.992Z,1749676735.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.379299 m,
bearing: 56.834282 deg,
lat: 36.906881 deg,
lon: -122.115698 deg,
deltaT: 2.015852 s,
deltaX: -0.198294 m,
approachRate: -0.098367 m/s,
posRepo size: 4
2025-06-11T21:18:56.042Z,1749676736.042 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.241587
2025-06-11T21:18:56.303Z,1749676736.303 [DAT](INFO): DAT read: Rx Time:21:18:57.7096
2025-06-11T21:18:56.308Z,1749676736.308 [DAT](INFO): Rx dataTimestamp_ set to:1749676736.304813
2025-06-11T21:18:56.319Z,1749676736.319 [DAT](INFO): DAT read: Bearing 58.3, 26.1 (Local)
2025-06-11T21:18:56.319Z,1749676736.319 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.3, 26.1 (Local)
2025-06-11T21:18:56.321Z,1749676736.321 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0
2025-06-11T21:18:56.375Z,1749676736.375 [DAT](INFO): DAT read: 21:18:57.7096 LVL= 16032, 31729, 17938, 25939, AGC= 41, IDX= 499, 0.34, 2.665, 1.559, 1.325, 1.494, PHS= 1.259, 0.112,-0.172, RAW= 79.2, -17.9, CAL= 91.7, -26.1, ROT= 58.3, 26.1
2025-06-11T21:18:56.420Z,1749676736.420 [DAT](INFO): got valid direction response:
21:18:57.7096 LVL= 16032, 31729, 17938, 25939, AGC= 41, IDX= 499, 0.34, 2.665, 1.559, 1.325, 1.494, PHS= 1.259, 0.112,-0.172, RAW= 79.2, -17.9, CAL= 91.7, -26.1, ROT= 58.3, 26.1
2025-06-11T21:18:56.420Z,1749676736.420 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-11T21:18:56.421Z,1749676736.421 [DAT](INFO): direction in FSK: [0.471888,0.764052,-0.439939]
2025-06-11T21:18:56.422Z,1749676736.422 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:56.433Z,1749676736.433 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.633219
2025-06-11T21:18:56.545Z,1749676736.545 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.744850
2025-06-11T21:18:56.596Z,1749676736.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.700000 m,
deltaT: 0.515227 s,
deltaX: 0.300000 m,
approachRate: 0.582268 m/s,
rangeRepo size: 4
2025-06-11T21:18:56.598Z,1749676736.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.676702 m,
bearing: 50.862705 deg,
lat: 36.906883 deg,
lon: -122.115698 deg,
deltaT: 0.515227 s,
deltaX: 0.297403 m,
approachRate: 0.577226 m/s,
posRepo size: 4
2025-06-11T21:18:56.799Z,1749676736.799 [DAT](INFO): DAT read: Rx Time:21:18:58.2095
2025-06-11T21:18:56.799Z,1749676736.799 [DAT](INFO): Rx dataTimestamp_ set to:1749676736.798852
2025-06-11T21:18:56.803Z,1749676736.803 [DAT](INFO): DAT read: Bearing 57.9, 26.0 (Local)
2025-06-11T21:18:56.803Z,1749676736.803 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.9, 26.0 (Local)
2025-06-11T21:18:56.806Z,1749676736.806 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0
2025-06-11T21:18:56.822Z,1749676736.822 [DAT](INFO): DAT read: 21:18:58.2095 LVL= 16784, 30113, 17906, 25795, AGC= 42, IDX= 498, 0.37, 2.102, 0.976, 0.752, 0.923, PHS= 1.267, 0.100,-0.174, RAW= 79.7, -17.6, CAL= 92.1, -26.0, ROT= 57.9, 26.0
2025-06-11T21:18:56.823Z,1749676736.823 [DAT](INFO): got valid direction response:
21:18:58.2095 LVL= 16784, 30113, 17906, 25795, AGC= 42, IDX= 498, 0.37, 2.102, 0.976, 0.752, 0.923, PHS= 1.267, 0.100,-0.174, RAW= 79.7, -17.6, CAL= 92.1, -26.0, ROT= 57.9, 26.0
2025-06-11T21:18:56.823Z,1749676736.823 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-11T21:18:56.834Z,1749676736.834 [DAT](INFO): direction in FSK: [0.477618,0.761388,-0.438371]
2025-06-11T21:18:56.834Z,1749676736.834 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:56.843Z,1749676736.843 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.043129
2025-06-11T21:18:57.047Z,1749676737.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.600000 m,
deltaT: 0.494039 s,
deltaX: -0.100000 m,
approachRate: -0.202413 m/s,
rangeRepo size: 4
2025-06-11T21:18:57.049Z,1749676737.049 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.248852
2025-06-11T21:18:57.051Z,1749676737.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.577565 m,
bearing: 45.751268 deg,
lat: 36.906890 deg,
lon: -122.115704 deg,
deltaT: 0.494039 s,
deltaX: -0.099137 m,
approachRate: -0.200667 m/s,
posRepo size: 4
2025-06-11T21:18:57.302Z,1749676737.302 [DAT](INFO): DAT read: Rx Time:21:18:58.7097
2025-06-11T21:18:57.302Z,1749676737.302 [DAT](INFO): Rx dataTimestamp_ set to:1749676737.301776
2025-06-11T21:18:57.303Z,1749676737.303 [DAT](INFO): DAT read: Bearing 58.6, 25.7 (Local)
2025-06-11T21:18:57.304Z,1749676737.304 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.6, 25.7 (Local)
2025-06-11T21:18:57.306Z,1749676737.306 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0
2025-06-11T21:18:57.311Z,1749676737.311 [DAT](INFO): DAT read: 21:18:58.7097 LVL= 19312, 29169, 20050, 29667, AGC= 43, IDX= 499, 0.40,-2.963, 2.202, 1.959, 2.146, PHS= 1.263, 0.103,-0.190, RAW= 79.0, -17.4, CAL= 91.4, -25.7, ROT= 58.6, 25.7
2025-06-11T21:18:57.312Z,1749676737.312 [DAT](INFO): got valid direction response:
21:18:58.7097 LVL= 19312, 29169, 20050, 29667, AGC= 43, IDX= 499, 0.40,-2.963, 2.202, 1.959, 2.146, PHS= 1.263, 0.103,-0.190, RAW= 79.0, -17.4, CAL= 91.4, -25.7, ROT= 58.6, 25.7
2025-06-11T21:18:57.312Z,1749676737.312 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-11T21:18:57.313Z,1749676737.313 [DAT](INFO): direction in FSK: [0.469470,0.769115,-0.433659]
2025-06-11T21:18:57.313Z,1749676737.313 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:57.317Z,1749676737.317 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.516928
2025-06-11T21:18:57.553Z,1749676737.553 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.752911
2025-06-11T21:18:57.589Z,1749676737.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.502924 s,
deltaX: 0.300000 m,
approachRate: 0.596512 m/s,
rangeRepo size: 4
2025-06-11T21:18:57.591Z,1749676737.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.874989 m,
bearing: 41.976401 deg,
lat: 36.906893 deg,
lon: -122.115704 deg,
deltaT: 0.502924 s,
deltaX: 0.297424 m,
approachRate: 0.591389 m/s,
posRepo size: 4
2025-06-11T21:18:57.805Z,1749676737.805 [DAT](INFO): DAT read: Rx Time:21:18:59.2089
2025-06-11T21:18:57.806Z,1749676737.806 [DAT](INFO): Rx dataTimestamp_ set to:1749676737.805587
2025-06-11T21:18:57.807Z,1749676737.807 [DAT](INFO): DAT read: Bearing 57.0, 26.8 (Local)
2025-06-11T21:18:57.808Z,1749676737.808 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.0, 26.8 (Local)
2025-06-11T21:18:57.811Z,1749676737.811 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:18:57.817Z,1749676737.817 [DAT](INFO): DAT read: 21:18:59.2089 LVL= 15344, 28481, 15954, 26755, AGC= 41, IDX= 499,-0.49, 0.655,-0.384,-0.566,-0.442, PHS= 1.185, 0.105,-0.127, RAW= 80.4, -18.7, CAL= 93.0, -26.8, ROT= 57.0, 26.8
2025-06-11T21:18:57.818Z,1749676737.818 [DAT](INFO): got valid direction response:
21:18:59.2089 LVL= 15344, 28481, 15954, 26755, AGC= 41, IDX= 499,-0.49, 0.655,-0.384,-0.566,-0.442, PHS= 1.185, 0.105,-0.127, RAW= 80.4, -18.7, CAL= 93.0, -26.8, ROT= 57.0, 26.8
2025-06-11T21:18:57.818Z,1749676737.818 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-11T21:18:57.819Z,1749676737.819 [DAT](INFO): direction in FSK: [0.486137,0.748585,-0.450878]
2025-06-11T21:18:57.836Z,1749676737.836 [DAT](INFO): publishing direction and range info
2025-06-11T21:18:57.844Z,1749676737.844 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.039639
2025-06-11T21:18:57.957Z,1749676737.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.503811 s,
deltaX: -1.200000 m,
approachRate: -2.381846 m/s,
rangeRepo size: 4
2025-06-11T21:18:57.959Z,1749676737.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.685338 m,
bearing: 40.594649 deg,
lat: 36.906893 deg,
lon: -122.115706 deg,
deltaT: 0.503811 s,
deltaX: -1.189650 m,
approachRate: -2.361303 m/s,
posRepo size: 4
2025-06-11T21:18:58.057Z,1749676738.057 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.256851
2025-06-11T21:18:58.293Z,1749676738.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:18:58.309Z,1749676738.309 [DAT](INFO): DAT read: Rx Time:21:18:59.7090
2025-06-11T21:18:58.310Z,1749676738.310 [DAT](INFO): Rx dataTimestamp_ set to:1749676738.309286
2025-06-11T21:18:58.311Z,1749676738.311 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-06-11T21:18:58.311Z,1749676738.311 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-06-11T21:18:58.312Z,1749676738.312 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.512436
2025-06-11T21:18:58.561Z,1749676738.561 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.760721
2025-06-11T21:18:58.730Z,1749676738.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 0.503699 s,
deltaX: 0.100000 m,
approachRate: 0.198531 m/s,
rangeRepo size: 4
2025-06-11T21:18:58.814Z,1749676738.814 [DAT](INFO): DAT read: Rx Time:21:19:00.2093
2025-06-11T21:18:58.814Z,1749676738.814 [DAT](INFO): Rx dataTimestamp_ set to:1749676738.813944
2025-06-11T21:18:58.815Z,1749676738.815 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-11T21:18:58.816Z,1749676738.816 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-06-11T21:18:58.817Z,1749676738.817 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.017277
2025-06-11T21:18:59.065Z,1749676739.065 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.264784
2025-06-11T21:18:59.114Z,1749676739.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 0.504658 s,
deltaX: 0.500000 m,
approachRate: 0.990770 m/s,
rangeRepo size: 4
2025-06-11T21:18:59.115Z,1749676739.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.30 m. Lat: 36.906893 Lon: -122.115706 Cable present.
2025-06-11T21:18:59.115Z,1749676739.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-06-11T21:18:59.115Z,1749676739.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-11T21:18:59.116Z,1749676739.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-06-11T21:18:59.318Z,1749676739.318 [DAT](INFO): DAT read: Rx Time:21:19:00.7093
2025-06-11T21:18:59.319Z,1749676739.319 [DAT](INFO): Rx dataTimestamp_ set to:1749676739.318223
2025-06-11T21:18:59.320Z,1749676739.320 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-11T21:18:59.321Z,1749676739.321 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-06-11T21:18:59.323Z,1749676739.323 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.522722
2025-06-11T21:18:59.533Z,1749676739.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-06-11T21:18:59.533Z,1749676739.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-06-11T21:18:59.534Z,1749676739.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-06-11T21:18:59.546Z,1749676739.546 [DockingStepper](INFO): Pause
2025-06-11T21:18:59.569Z,1749676739.569 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.768829
2025-06-11T21:18:59.821Z,1749676739.821 [DAT](INFO): DAT read: Rx Time:21:19:01.2092
2025-06-11T21:18:59.822Z,1749676739.822 [DAT](INFO): Rx dataTimestamp_ set to:1749676739.821262
2025-06-11T21:18:59.823Z,1749676739.823 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:18:59.823Z,1749676739.823 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-06-11T21:18:59.824Z,1749676739.824 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.024429
2025-06-11T21:18:59.955Z,1749676739.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-06-11T21:18:59.960Z,1749676739.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-11T21:18:59.960Z,1749676739.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-11T21:18:59.960Z,1749676739.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-11T21:18:59.960Z,1749676739.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-11T21:18:59.960Z,1749676739.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-11T21:18:59.960Z,1749676739.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-11T21:18:59.961Z,1749676739.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-11T21:18:59.961Z,1749676739.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-11T21:18:59.961Z,1749676739.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-11T21:18:59.961Z,1749676739.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-11T21:19:00.073Z,1749676740.073 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.272659
2025-06-11T21:19:00.311Z,1749676740.311 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-11T21:19:00.311Z,1749676740.311 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-11T21:19:00.312Z,1749676740.312 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-11T21:19:00.312Z,1749676740.312 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-11T21:19:00.312Z,1749676740.312 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-11T21:19:00.312Z,1749676740.312 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-11T21:19:00.313Z,1749676740.313 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2025-06-11T21:19:00.313Z,1749676740.313 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-11T21:19:00.313Z,1749676740.313 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-06-11T21:19:00.313Z,1749676740.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:19:00.314Z,1749676740.314 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-06-11T21:19:00.314Z,1749676740.314 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-11T21:19:00.314Z,1749676740.314 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-06-11T21:19:00.314Z,1749676740.314 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-11T21:19:00.314Z,1749676740.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-11T21:19:00.315Z,1749676740.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-11T21:19:00.315Z,1749676740.315 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-06-11T21:19:00.315Z,1749676740.315 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-06-11T21:19:00.325Z,1749676740.325 [DAT](INFO): DAT read: Rx Time:21:19:01.7093
2025-06-11T21:19:00.326Z,1749676740.326 [DAT](INFO): Rx dataTimestamp_ set to:1749676740.325242
2025-06-11T21:19:00.327Z,1749676740.327 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-11T21:19:00.327Z,1749676740.327 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-06-11T21:19:00.328Z,1749676740.328 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.528374
2025-06-11T21:19:00.577Z,1749676740.577 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.776783
2025-06-11T21:19:00.744Z,1749676740.744 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-06-11T21:19:00.745Z,1749676740.745 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-06-11T21:19:00.829Z,1749676740.829 [DAT](INFO): DAT read: Rx Time:21:19:02.2088
2025-06-11T21:19:00.829Z,1749676740.829 [DAT](INFO): Rx dataTimestamp_ set to:1749676740.829176
2025-06-11T21:19:00.831Z,1749676740.831 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:00.831Z,1749676740.831 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-06-11T21:19:00.832Z,1749676740.832 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.032320
2025-06-11T21:19:01.081Z,1749676741.081 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.280769
2025-06-11T21:19:01.157Z,1749676741.157 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-11T21:19:01.157Z,1749676741.157 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-11T21:19:01.157Z,1749676741.157 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-06-11T21:19:01.333Z,1749676741.333 [DAT](INFO): DAT read: Rx Time:21:19:02.7089
2025-06-11T21:19:01.334Z,1749676741.334 [DAT](INFO): Rx dataTimestamp_ set to:1749676741.333609
2025-06-11T21:19:01.335Z,1749676741.335 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:01.342Z,1749676741.342 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-06-11T21:19:01.343Z,1749676741.343 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.542803
2025-06-11T21:19:01.585Z,1749676741.585 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.784819
2025-06-11T21:19:01.837Z,1749676741.837 [DAT](INFO): DAT read: Rx Time:21:19:03.2088
2025-06-11T21:19:01.837Z,1749676741.837 [DAT](INFO): Rx dataTimestamp_ set to:1749676741.837150
2025-06-11T21:19:01.839Z,1749676741.839 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:01.839Z,1749676741.839 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-06-11T21:19:01.840Z,1749676741.840 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.040297
2025-06-11T21:19:02.089Z,1749676742.089 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.288794
2025-06-11T21:19:02.331Z,1749676742.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:19:02.341Z,1749676742.341 [DAT](INFO): DAT read: Rx Time:21:19:03.7088
2025-06-11T21:19:02.342Z,1749676742.342 [DAT](INFO): Rx dataTimestamp_ set to:1749676742.341235
2025-06-11T21:19:02.343Z,1749676742.343 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:02.343Z,1749676742.343 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-06-11T21:19:02.344Z,1749676742.344 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.544369
2025-06-11T21:19:02.593Z,1749676742.593 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.792746
2025-06-11T21:19:02.845Z,1749676742.845 [DAT](INFO): DAT read: Rx Time:21:19:04.2087
2025-06-11T21:19:02.845Z,1749676742.845 [DAT](INFO): Rx dataTimestamp_ set to:1749676742.845187
2025-06-11T21:19:02.847Z,1749676742.847 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-06-11T21:19:02.847Z,1749676742.847 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-06-11T21:19:02.848Z,1749676742.848 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.048336
2025-06-11T21:19:03.097Z,1749676743.097 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.296680
2025-06-11T21:19:03.349Z,1749676743.349 [DAT](INFO): DAT read: Rx Time:21:19:04.7088
2025-06-11T21:19:03.349Z,1749676743.349 [DAT](INFO): Rx dataTimestamp_ set to:1749676743.349145
2025-06-11T21:19:03.351Z,1749676743.351 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:03.351Z,1749676743.351 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-06-11T21:19:03.352Z,1749676743.352 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.552299
2025-06-11T21:19:03.601Z,1749676743.601 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.800877
2025-06-11T21:19:03.853Z,1749676743.853 [DAT](INFO): DAT read: Rx Time:21:19:05.2087
2025-06-11T21:19:03.853Z,1749676743.853 [DAT](INFO): Rx dataTimestamp_ set to:1749676743.853163
2025-06-11T21:19:03.855Z,1749676743.855 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-06-11T21:19:03.855Z,1749676743.855 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-06-11T21:19:03.856Z,1749676743.856 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.056309
2025-06-11T21:19:03.978Z,1749676743.978 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-06-11T21:19:03.979Z,1749676743.979 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-06-11T21:19:03.979Z,1749676743.979 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-06-11T21:19:03.979Z,1749676743.979 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-06-11T21:19:04.105Z,1749676744.105 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.304752
2025-06-11T21:19:04.360Z,1749676744.360 [DAT](INFO): DAT read: Rx Time:21:19:05.7089
2025-06-11T21:19:04.360Z,1749676744.360 [DAT](INFO): Rx dataTimestamp_ set to:1749676744.360168
2025-06-11T21:19:04.362Z,1749676744.362 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:04.362Z,1749676744.362 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-06-11T21:19:04.363Z,1749676744.363 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.563198
2025-06-11T21:19:04.367Z,1749676744.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:19:04.369Z,1749676744.369 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count
2025-06-11T21:19:04.369Z,1749676744.369 [lineCaptureHoming:LineCapture:M] Stopped
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture] Stopped
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-11T21:19:04.371Z,1749676744.371 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:G] Stopped
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:H] Stopped
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-11T21:19:04.372Z,1749676744.372 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-11T21:19:04.373Z,1749676744.373 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-11T21:19:04.373Z,1749676744.373 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-11T21:19:04.609Z,1749676744.609 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.808720
2025-06-11T21:19:04.791Z,1749676744.791 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-06-11T21:19:04.791Z,1749676744.791 [lineCaptureHoming:Lap:B] Stopped
2025-06-11T21:19:04.792Z,1749676744.792 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-06-11T21:19:04.792Z,1749676744.792 [lineCaptureHoming:Lap:C] Running Loop=1
2025-06-11T21:19:04.861Z,1749676744.861 [DAT](INFO): DAT read: Rx Time:21:19:06.2088
2025-06-11T21:19:04.861Z,1749676744.861 [DAT](INFO): Rx dataTimestamp_ set to:1749676744.861150
2025-06-11T21:19:04.863Z,1749676744.863 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:04.863Z,1749676744.863 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-06-11T21:19:04.864Z,1749676744.864 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.064297
2025-06-11T21:19:05.113Z,1749676745.113 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.313168
2025-06-11T21:19:05.185Z,1749676745.185 [lineCaptureHoming:Lap:C] Stopped
2025-06-11T21:19:05.185Z,1749676745.185 [lineCaptureHoming:Lap:D] Running Loop=1
2025-06-11T21:19:05.365Z,1749676745.365 [DAT](INFO): DAT read: Rx Time:21:19:06.7093
2025-06-11T21:19:05.365Z,1749676745.365 [DAT](INFO): Rx dataTimestamp_ set to:1749676745.365130
2025-06-11T21:19:05.367Z,1749676745.367 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-11T21:19:05.367Z,1749676745.367 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-06-11T21:19:05.368Z,1749676745.368 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.568275
2025-06-11T21:19:05.614Z,1749676745.614 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count
2025-06-11T21:19:05.615Z,1749676745.615 [lineCaptureHoming:Lap:D] Stopped
2025-06-11T21:19:05.615Z,1749676745.615 [lineCaptureHoming:Lap:E] Running Loop=1
2025-06-11T21:19:05.615Z,1749676745.615 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-06-11T21:19:05.617Z,1749676745.617 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.816868
2025-06-11T21:19:05.869Z,1749676745.869 [DAT](INFO): DAT read: Rx Time:21:19:07.2092
2025-06-11T21:19:05.870Z,1749676745.870 [DAT](INFO): Rx dataTimestamp_ set to:1749676745.869240
2025-06-11T21:19:05.871Z,1749676745.871 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:05.871Z,1749676745.871 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-06-11T21:19:05.872Z,1749676745.872 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.072392
2025-06-11T21:19:05.975Z,1749676745.975 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-06-11T21:19:05.975Z,1749676745.975 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-06-11T21:19:05.975Z,1749676745.975 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-06-11T21:19:05.975Z,1749676745.975 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-06-11T21:19:05.975Z,1749676745.975 [lineCaptureHoming:restartDHCP:A] Stopped
2025-06-11T21:19:05.975Z,1749676745.975 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-06-11T21:19:06.121Z,1749676746.121 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.320709
2025-06-11T21:19:06.373Z,1749676746.373 [DAT](INFO): DAT read: Rx Time:21:19:07.7092
2025-06-11T21:19:06.374Z,1749676746.374 [DAT](INFO): Rx dataTimestamp_ set to:1749676746.373343
2025-06-11T21:19:06.375Z,1749676746.375 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:06.375Z,1749676746.375 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-06-11T21:19:06.377Z,1749676746.377 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.576607
2025-06-11T21:19:06.422Z,1749676746.422 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-11T21:19:06.422Z,1749676746.422 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-06-11T21:19:06.423Z,1749676746.423 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-06-11T21:19:06.423Z,1749676746.423 [lineCaptureHoming:restartDHCP] Stopped
2025-06-11T21:19:06.423Z,1749676746.423 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-06-11T21:19:06.423Z,1749676746.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:19:06.490Z,1749676746.490 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-11T21:19:06.627Z,1749676746.627 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.826439
2025-06-11T21:19:06.829Z,1749676746.829 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-06-11T21:19:06.829Z,1749676746.829 [lineCaptureHoming:Lap:E] Stopped
2025-06-11T21:19:06.830Z,1749676746.830 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-06-11T21:19:06.830Z,1749676746.830 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-06-11T21:19:06.830Z,1749676746.830 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-06-11T21:19:06.830Z,1749676746.830 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-06-11T21:19:06.877Z,1749676746.877 [DAT](INFO): DAT read: Rx Time:21:19:08.2091
2025-06-11T21:19:06.878Z,1749676746.878 [DAT](INFO): Rx dataTimestamp_ set to:1749676746.877307
2025-06-11T21:19:06.879Z,1749676746.879 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:06.880Z,1749676746.880 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-06-11T21:19:06.881Z,1749676746.881 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.080902
2025-06-11T21:19:07.131Z,1749676747.131 [DAT](INFO): DAT read: Rx Time:21:19:08.7092
2025-06-11T21:19:07.133Z,1749676747.133 [DAT](INFO): Rx dataTimestamp_ set to:1749676747.132146
2025-06-11T21:19:07.135Z,1749676747.135 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.334343
2025-06-11T21:19:07.143Z,1749676747.143 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-06-11UTC211907_sh
2025-06-11T21:19:07.317Z,1749676747.317 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-11T21:19:07.382Z,1749676747.382 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:07.382Z,1749676747.382 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-06-11T21:19:07.383Z,1749676747.383 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.583279
2025-06-11T21:19:07.422Z,1749676747.422 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min
2025-06-11T21:19:07.422Z,1749676747.422 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-06-11T21:19:07.422Z,1749676747.422 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-06-11T21:19:07.635Z,1749676747.635 [DAT](INFO): DAT read: Rx Time:21:19:09.2091
2025-06-11T21:19:07.637Z,1749676747.637 [DAT](INFO): Rx dataTimestamp_ set to:1749676747.636298
2025-06-11T21:19:07.639Z,1749676747.639 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.838249
2025-06-11T21:19:07.749Z,1749676747.749 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-06-11T21:19:07.750Z,1749676747.750 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-06-11T21:19:07.886Z,1749676747.886 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:07.887Z,1749676747.887 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-06-11T21:19:07.888Z,1749676747.888 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.087547
2025-06-11T21:19:08.015Z,1749676748.015 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-06-11T21:19:08.015Z,1749676748.015 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-06-11T21:19:08.015Z,1749676748.015 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-06-11T21:19:08.019Z,1749676748.019 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-11T21:19:08.139Z,1749676748.139 [DAT](INFO): DAT read: Rx Time:21:19:09.7092
2025-06-11T21:19:08.141Z,1749676748.141 [DAT](INFO): Rx dataTimestamp_ set to:1749676748.140195
2025-06-11T21:19:08.142Z,1749676748.142 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.342228
2025-06-11T21:19:08.321Z,1749676748.321 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:19:08.389Z,1749676748.389 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:08.390Z,1749676748.390 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-06-11T21:19:08.391Z,1749676748.391 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.591118
2025-06-11T21:19:08.497Z,1749676748.497 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-06-11T21:19:08.552Z,1749676748.552 [DockingStepper](INFO): Resume
2025-06-11T21:19:08.643Z,1749676748.643 [DAT](INFO): DAT read: Rx Time:21:19:10.2091
2025-06-11T21:19:08.643Z,1749676748.643 [DAT](INFO): Rx dataTimestamp_ set to:1749676748.642773
2025-06-11T21:19:08.644Z,1749676748.644 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:08.645Z,1749676748.645 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-06-11T21:19:08.646Z,1749676748.646 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.846092
2025-06-11T21:19:08.893Z,1749676748.893 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.093231
2025-06-11T21:19:08.894Z,1749676748.894 [DAT](INFO): Requesting device enable set for address 50.
2025-06-11T21:19:08.904Z,1749676748.904 [DockingStepper](INFO): Resuming
2025-06-11T21:19:09.145Z,1749676749.145 [DAT](INFO): DAT read: Rx Time:21:19:10.7092
2025-06-11T21:19:09.146Z,1749676749.146 [DAT](INFO): Rx dataTimestamp_ set to:1749676749.145197
2025-06-11T21:19:09.147Z,1749676749.147 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:09.147Z,1749676749.147 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-06-11T21:19:09.149Z,1749676749.149 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.348557
2025-06-11T21:19:09.149Z,1749676749.149 [DAT](INFO): Requesting device enable set for address 50.
2025-06-11T21:19:09.280Z,1749676749.280 [DockingStepper](INFO): Start
2025-06-11T21:19:09.280Z,1749676749.280 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-11T21:19:09.397Z,1749676749.397 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.597054
2025-06-11T21:19:09.397Z,1749676749.397 [DAT](INFO): Requesting device enable set for address 50.
2025-06-11T21:19:09.401Z,1749676749.401 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-11T21:19:09.649Z,1749676749.649 [DAT](INFO): DAT read: Rx Time:21:19:11.2091
2025-06-11T21:19:09.650Z,1749676749.650 [DAT](INFO): Rx dataTimestamp_ set to:1749676749.649284
2025-06-11T21:19:09.651Z,1749676749.651 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:09.651Z,1749676749.651 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-06-11T21:19:09.653Z,1749676749.653 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.852501
2025-06-11T21:19:09.741Z,1749676749.741 [DockingStepper](INFO): Starting
2025-06-11T21:19:09.901Z,1749676749.901 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.101368
2025-06-11T21:19:10.037Z,1749676750.037 [DockingStepper](INFO): Starting
2025-06-11T21:19:10.158Z,1749676750.158 [DAT](INFO): DAT read: Rx Time:21:19:11.7092
2025-06-11T21:19:10.158Z,1749676750.158 [DAT](INFO): Rx dataTimestamp_ set to:1749676750.157725
2025-06-11T21:19:10.159Z,1749676750.159 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:10.160Z,1749676750.160 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-06-11T21:19:10.161Z,1749676750.161 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.360893
2025-06-11T21:19:10.405Z,1749676750.405 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.604904
2025-06-11T21:19:10.461Z,1749676750.461 [DockingStepper](INFO): Starting
2025-06-11T21:19:10.508Z,1749676750.508 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-11T21:19:10.657Z,1749676750.657 [DAT](INFO): DAT read: Rx Time:21:19:12.2091
2025-06-11T21:19:10.658Z,1749676750.658 [DAT](INFO): Rx dataTimestamp_ set to:1749676750.657219
2025-06-11T21:19:10.659Z,1749676750.659 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:10.659Z,1749676750.659 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-06-11T21:19:10.660Z,1749676750.660 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.860405
2025-06-11T21:19:10.854Z,1749676750.854 [DockingStepper](INFO): Starting
2025-06-11T21:19:10.910Z,1749676750.910 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.109985
2025-06-11T21:19:11.161Z,1749676751.161 [DAT](INFO): DAT read: Rx Time:21:19:12.7089
2025-06-11T21:19:11.162Z,1749676751.162 [DAT](INFO): Rx dataTimestamp_ set to:1749676751.161220
2025-06-11T21:19:11.163Z,1749676751.163 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:11.163Z,1749676751.163 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-06-11T21:19:11.165Z,1749676751.165 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.364445
2025-06-11T21:19:11.251Z,1749676751.251 [DockingStepper](INFO): Starting
2025-06-11T21:19:11.413Z,1749676751.413 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.612846
2025-06-11T21:19:11.665Z,1749676751.665 [DAT](INFO): DAT read: Rx Time:21:19:13.2088
2025-06-11T21:19:11.666Z,1749676751.666 [DAT](INFO): Rx dataTimestamp_ set to:1749676751.665268
2025-06-11T21:19:11.667Z,1749676751.667 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:11.667Z,1749676751.667 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-06-11T21:19:11.669Z,1749676751.669 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.868401
2025-06-11T21:19:11.738Z,1749676751.738 [DockingStepper](INFO): Starting
2025-06-11T21:19:11.917Z,1749676751.917 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.117275
2025-06-11T21:19:12.039Z,1749676752.039 [DockingStepper](INFO): Starting
2025-06-11T21:19:12.072Z,1749676752.072 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-11T21:19:12.172Z,1749676752.172 [DAT](INFO): DAT read: Rx Time:21:19:13.7089
2025-06-11T21:19:12.173Z,1749676752.173 [DAT](INFO): Rx dataTimestamp_ set to:1749676752.172557
2025-06-11T21:19:12.175Z,1749676752.175 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:12.176Z,1749676752.176 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-06-11T21:19:12.178Z,1749676752.178 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.377865
2025-06-11T21:19:12.421Z,1749676752.421 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.620625
2025-06-11T21:19:12.463Z,1749676752.463 [DockingStepper](INFO): Starting
2025-06-11T21:19:12.673Z,1749676752.673 [DAT](INFO): DAT read: Rx Time:21:19:14.2088
2025-06-11T21:19:12.673Z,1749676752.673 [DAT](INFO): Rx dataTimestamp_ set to:1749676752.673201
2025-06-11T21:19:12.675Z,1749676752.675 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:12.675Z,1749676752.675 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-06-11T21:19:12.676Z,1749676752.676 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.876343
2025-06-11T21:19:12.892Z,1749676752.892 [DockingStepper](INFO): Changing to mode: 1
2025-06-11T21:19:12.892Z,1749676752.892 [DockingStepper](INFO): Standby mode.
2025-06-11T21:19:12.926Z,1749676752.926 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.125622
2025-06-11T21:19:13.177Z,1749676753.177 [DAT](INFO): DAT read: Rx Time:21:19:14.7089
2025-06-11T21:19:13.177Z,1749676753.177 [DAT](INFO): Rx dataTimestamp_ set to:1749676753.177137
2025-06-11T21:19:13.179Z,1749676753.179 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:13.179Z,1749676753.179 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-06-11T21:19:13.180Z,1749676753.180 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.380287
2025-06-11T21:19:13.429Z,1749676753.429 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.628796
2025-06-11T21:19:13.686Z,1749676753.686 [DAT](INFO): DAT read: Rx Time:21:19:15.2088
2025-06-11T21:19:13.687Z,1749676753.687 [DAT](INFO): Rx dataTimestamp_ set to:1749676753.686536
2025-06-11T21:19:13.688Z,1749676753.688 [DAT](INFO): DAT read: Bearing 73.5, -26.3 (Local)
2025-06-11T21:19:13.689Z,1749676753.689 [DAT](INFO): Local bearing/azimuth received:
Bearing 73.5, -26.3 (Local)
2025-06-11T21:19:13.691Z,1749676753.691 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:13.700Z,1749676753.700 [DAT](INFO): DAT read: 21:19:15.2088 LVL= 13344, 20833, 19906, 23171, AGC= 44, IDX= 512, 0.09, 1.191,-0.241,-0.716, 0.680, PHS= 0.599,-0.874,-1.399, RAW= 75.3, 18.3, CAL= 76.5, 26.3, ROT= 73.5, -26.3
2025-06-11T21:19:13.701Z,1749676753.701 [DAT](INFO): got valid direction response:
21:19:15.2088 LVL= 13344, 20833, 19906, 23171, AGC= 44, IDX= 512, 0.09, 1.191,-0.241,-0.716, 0.680, PHS= 0.599,-0.874,-1.399, RAW= 75.3, 18.3, CAL= 76.5, 26.3, ROT= 73.5, -26.3
2025-06-11T21:19:13.701Z,1749676753.701 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-11T21:19:13.703Z,1749676753.703 [DAT](INFO): direction in FSK: [0.254616,0.859569,0.443071]
2025-06-11T21:19:13.703Z,1749676753.703 [DAT](INFO): publishing direction and range info
2025-06-11T21:19:13.711Z,1749676753.711 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.910671
2025-06-11T21:19:13.934Z,1749676753.934 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.133785
2025-06-11T21:19:14.185Z,1749676754.185 [DAT](INFO): DAT read: Rx Time:21:19:15.7088
2025-06-11T21:19:14.186Z,1749676754.186 [DAT](INFO): Rx dataTimestamp_ set to:1749676754.185200
2025-06-11T21:19:14.187Z,1749676754.187 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:14.188Z,1749676754.188 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-06-11T21:19:14.190Z,1749676754.190 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.389690
2025-06-11T21:19:14.438Z,1749676754.438 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.637684
2025-06-11T21:19:14.689Z,1749676754.689 [DAT](INFO): DAT read: Rx Time:21:19:16.2087
2025-06-11T21:19:14.689Z,1749676754.689 [DAT](INFO): Rx dataTimestamp_ set to:1749676754.689165
2025-06-11T21:19:14.691Z,1749676754.691 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-06-11T21:19:14.691Z,1749676754.691 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-06-11T21:19:14.692Z,1749676754.692 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.892334
2025-06-11T21:19:14.961Z,1749676754.961 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.160873
2025-06-11T21:19:15.213Z,1749676755.213 [DAT](INFO): DAT read: Rx Time:21:19:16.7088
2025-06-11T21:19:15.213Z,1749676755.213 [DAT](INFO): Rx dataTimestamp_ set to:1749676755.213135
2025-06-11T21:19:15.215Z,1749676755.215 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:15.215Z,1749676755.215 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-06-11T21:19:15.216Z,1749676755.216 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.416298
2025-06-11T21:19:15.465Z,1749676755.465 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.665367
2025-06-11T21:19:15.717Z,1749676755.717 [DAT](INFO): DAT read: Rx Time:21:19:17.2087
2025-06-11T21:19:15.718Z,1749676755.718 [DAT](INFO): Rx dataTimestamp_ set to:1749676755.717310
2025-06-11T21:19:15.719Z,1749676755.719 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-06-11T21:19:15.719Z,1749676755.719 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-06-11T21:19:15.720Z,1749676755.720 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.920448
2025-06-11T21:19:15.969Z,1749676755.969 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.168686
2025-06-11T21:19:16.221Z,1749676756.221 [DAT](INFO): DAT read: Rx Time:21:19:17.7089
2025-06-11T21:19:16.221Z,1749676756.221 [DAT](INFO): Rx dataTimestamp_ set to:1749676756.221181
2025-06-11T21:19:16.223Z,1749676756.223 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:16.223Z,1749676756.223 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-06-11T21:19:16.224Z,1749676756.224 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.424339
2025-06-11T21:19:16.473Z,1749676756.473 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.672787
2025-06-11T21:19:16.725Z,1749676756.725 [DAT](INFO): DAT read: Rx Time:21:19:18.2088
2025-06-11T21:19:16.725Z,1749676756.725 [DAT](INFO): Rx dataTimestamp_ set to:1749676756.725086
2025-06-11T21:19:16.727Z,1749676756.727 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:16.727Z,1749676756.727 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-06-11T21:19:16.728Z,1749676756.728 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.928261
2025-06-11T21:19:16.977Z,1749676756.977 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.176891
2025-06-11T21:19:17.230Z,1749676757.230 [DAT](INFO): DAT read: Rx Time:21:19:18.7089
2025-06-11T21:19:17.230Z,1749676757.230 [DAT](INFO): Rx dataTimestamp_ set to:1749676757.229805
2025-06-11T21:19:17.231Z,1749676757.231 [DAT](INFO): DAT read: Bearing 79.5, -21.0 (Local)
2025-06-11T21:19:17.232Z,1749676757.232 [DAT](INFO): Local bearing/azimuth received:
Bearing 79.5, -21.0 (Local)
2025-06-11T21:19:17.234Z,1749676757.234 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:17.239Z,1749676757.239 [DAT](INFO): DAT read: 21:19:18.7089 LVL= 12864, 21409, 18226, 22771, AGC= 43, IDX= 512, 0.40, 1.531, 0.130,-0.578, 0.827, PHS= 0.791,-0.650,-1.408, RAW= 70.2, 13.0, CAL= 70.5, 21.0, ROT= 79.5, -21.0
2025-06-11T21:19:17.255Z,1749676757.255 [DAT](INFO): got valid direction response:
21:19:18.7089 LVL= 12864, 21409, 18226, 22771, AGC= 43, IDX= 512, 0.40, 1.531, 0.130,-0.578, 0.827, PHS= 0.791,-0.650,-1.408, RAW= 70.2, 13.0, CAL= 70.5, 21.0, ROT= 79.5, -21.0
2025-06-11T21:19:17.255Z,1749676757.255 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-11T21:19:17.256Z,1749676757.256 [DAT](INFO): direction in FSK: [0.170132,0.917948,0.358368]
2025-06-11T21:19:17.256Z,1749676757.256 [DAT](INFO): publishing direction and range info
2025-06-11T21:19:17.320Z,1749676757.320 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.520210
2025-06-11T21:19:17.481Z,1749676757.481 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.680779
2025-06-11T21:19:17.736Z,1749676757.736 [DAT](INFO): DAT read: Rx Time:21:19:19.2088
2025-06-11T21:19:17.737Z,1749676757.737 [DAT](INFO): Rx dataTimestamp_ set to:1749676757.736493
2025-06-11T21:19:17.742Z,1749676757.742 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:17.743Z,1749676757.743 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-06-11T21:19:17.744Z,1749676757.744 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.943657
2025-06-11T21:19:17.985Z,1749676757.985 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.184814
2025-06-11T21:19:18.237Z,1749676758.237 [DAT](INFO): DAT read: Rx Time:21:19:19.7089
2025-06-11T21:19:18.237Z,1749676758.237 [DAT](INFO): Rx dataTimestamp_ set to:1749676758.237195
2025-06-11T21:19:18.239Z,1749676758.239 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:18.239Z,1749676758.239 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-06-11T21:19:18.240Z,1749676758.240 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.440350
2025-06-11T21:19:18.489Z,1749676758.489 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.688751
2025-06-11T21:19:18.743Z,1749676758.743 [DAT](INFO): DAT read: Rx Time:21:19:20.2088
2025-06-11T21:19:18.743Z,1749676758.743 [DAT](INFO): Rx dataTimestamp_ set to:1749676758.743165
2025-06-11T21:19:18.745Z,1749676758.745 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:18.745Z,1749676758.745 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-11T21:19:18.746Z,1749676758.746 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.946312
2025-06-11T21:19:18.993Z,1749676758.993 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.192627
2025-06-11T21:19:19.248Z,1749676759.248 [DAT](INFO): DAT read: Rx Time:21:19:20.7089
2025-06-11T21:19:19.249Z,1749676759.249 [DAT](INFO): Rx dataTimestamp_ set to:1749676759.248426
2025-06-11T21:19:19.250Z,1749676759.250 [DAT](INFO): DAT read: Bearing 70.3, -32.4 (Local)
2025-06-11T21:19:19.250Z,1749676759.250 [DAT](INFO): Local bearing/azimuth received:
Bearing 70.3, -32.4 (Local)
2025-06-11T21:19:19.253Z,1749676759.253 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:19.257Z,1749676759.257 [DAT](INFO): DAT read: 21:19:20.7089 LVL= 12704, 17617, 17138, 20195, AGC= 44, IDX= 512,-0.35,-1.139,-2.872, 3.023,-1.521, PHS= 0.471,-1.304,-1.742, RAW= 79.2, 24.2, CAL= 79.7, 32.4, ROT= 70.3, -32.4
2025-06-11T21:19:19.259Z,1749676759.259 [DAT](INFO): got valid direction response:
21:19:20.7089 LVL= 12704, 17617, 17138, 20195, AGC= 44, IDX= 512,-0.35,-1.139,-2.872, 3.023,-1.521, PHS= 0.471,-1.304,-1.742, RAW= 79.2, 24.2, CAL= 79.7, 32.4, ROT= 70.3, -32.4
2025-06-11T21:19:19.259Z,1749676759.259 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-11T21:19:19.260Z,1749676759.260 [DAT](INFO): direction in FSK: [0.284619,0.794910,0.535827]
2025-06-11T21:19:19.260Z,1749676759.260 [DAT](INFO): publishing direction and range info
2025-06-11T21:19:19.264Z,1749676759.264 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.464222
2025-06-11T21:19:19.502Z,1749676759.502 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.701797
2025-06-11T21:19:19.756Z,1749676759.756 [DAT](INFO): DAT read: Rx Time:21:19:21.2091
2025-06-11T21:19:19.758Z,1749676759.758 [DAT](INFO): Rx dataTimestamp_ set to:1749676759.756827
2025-06-11T21:19:19.762Z,1749676759.762 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:19.764Z,1749676759.764 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-06-11T21:19:19.767Z,1749676759.767 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.966194
2025-06-11T21:19:20.005Z,1749676760.005 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.204945
2025-06-11T21:19:20.257Z,1749676760.257 [DAT](INFO): DAT read: Rx Time:21:19:21.7092
2025-06-11T21:19:20.258Z,1749676760.258 [DAT](INFO): Rx dataTimestamp_ set to:1749676760.257308
2025-06-11T21:19:20.259Z,1749676760.259 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:20.259Z,1749676760.259 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-06-11T21:19:20.261Z,1749676760.261 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.460453
2025-06-11T21:19:20.509Z,1749676760.509 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.708748
2025-06-11T21:19:20.766Z,1749676760.766 [DAT](INFO): DAT read: Rx Time:21:19:22.2091
2025-06-11T21:19:20.767Z,1749676760.767 [DAT](INFO): Rx dataTimestamp_ set to:1749676760.766037
2025-06-11T21:19:20.771Z,1749676760.771 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:20.772Z,1749676760.772 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-06-11T21:19:20.773Z,1749676760.773 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.973206
2025-06-11T21:19:21.013Z,1749676761.013 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.212826
2025-06-11T21:19:21.265Z,1749676761.265 [DAT](INFO): DAT read: Rx Time:21:19:22.7091
2025-06-11T21:19:21.265Z,1749676761.265 [DAT](INFO): Rx dataTimestamp_ set to:1749676761.265134
2025-06-11T21:19:21.267Z,1749676761.267 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:21.267Z,1749676761.267 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-06-11T21:19:21.269Z,1749676761.269 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.468494
2025-06-11T21:19:21.517Z,1749676761.517 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.716827
2025-06-11T21:19:21.771Z,1749676761.771 [DAT](INFO): DAT read: Rx Time:21:19:23.2091
2025-06-11T21:19:21.773Z,1749676761.773 [DAT](INFO): Rx dataTimestamp_ set to:1749676761.771907
2025-06-11T21:19:21.777Z,1749676761.777 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:21.779Z,1749676761.779 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-06-11T21:19:21.782Z,1749676761.782 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.981365
2025-06-11T21:19:22.021Z,1749676762.021 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.220715
2025-06-11T21:19:22.274Z,1749676762.274 [DAT](INFO): DAT read: Rx Time:21:19:23.7093
2025-06-11T21:19:22.275Z,1749676762.275 [DAT](INFO): Rx dataTimestamp_ set to:1749676762.274357
2025-06-11T21:19:22.276Z,1749676762.276 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-11T21:19:22.277Z,1749676762.277 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-06-11T21:19:22.278Z,1749676762.278 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.477512
2025-06-11T21:19:22.525Z,1749676762.525 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.724789
2025-06-11T21:19:22.780Z,1749676762.780 [DAT](INFO): DAT read: Rx Time:21:19:24.2092
2025-06-11T21:19:22.782Z,1749676762.782 [DAT](INFO): Rx dataTimestamp_ set to:1749676762.780525
2025-06-11T21:19:22.786Z,1749676762.786 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:22.788Z,1749676762.788 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-06-11T21:19:22.791Z,1749676762.791 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.990322
2025-06-11T21:19:23.029Z,1749676763.029 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.228836
2025-06-11T21:19:23.281Z,1749676763.281 [DAT](INFO): DAT read: Rx Time:21:19:24.7093
2025-06-11T21:19:23.281Z,1749676763.281 [DAT](INFO): Rx dataTimestamp_ set to:1749676763.281192
2025-06-11T21:19:23.283Z,1749676763.283 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-11T21:19:23.283Z,1749676763.283 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-06-11T21:19:23.284Z,1749676763.284 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.484329
2025-06-11T21:19:23.533Z,1749676763.533 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.732727
2025-06-11T21:19:23.788Z,1749676763.788 [DAT](INFO): DAT read: Rx Time:21:19:25.2092
2025-06-11T21:19:23.790Z,1749676763.790 [DAT](INFO): Rx dataTimestamp_ set to:1749676763.788720
2025-06-11T21:19:23.794Z,1749676763.794 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:23.795Z,1749676763.795 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-06-11T21:19:23.799Z,1749676763.799 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.998199
2025-06-11T21:19:24.037Z,1749676764.037 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.236816
2025-06-11T21:19:24.290Z,1749676764.290 [DAT](INFO): DAT read: Rx Time:21:19:25.7093
2025-06-11T21:19:24.290Z,1749676764.290 [DAT](INFO): Rx dataTimestamp_ set to:1749676764.290081
2025-06-11T21:19:24.292Z,1749676764.292 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0
2025-06-11T21:19:24.293Z,1749676764.293 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-06-11T21:19:24.295Z,1749676764.295 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.494438
2025-06-11T21:19:24.541Z,1749676764.541 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.740913
2025-06-11T21:19:24.796Z,1749676764.796 [DAT](INFO): DAT read: Rx Time:21:19:26.2092
2025-06-11T21:19:24.798Z,1749676764.798 [DAT](INFO): Rx dataTimestamp_ set to:1749676764.796776
2025-06-11T21:19:24.801Z,1749676764.801 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:24.804Z,1749676764.804 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-06-11T21:19:24.807Z,1749676764.807 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.006084
2025-06-11T21:19:25.045Z,1749676765.045 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.244793
2025-06-11T21:19:25.297Z,1749676765.297 [DAT](INFO): DAT read: Rx Time:21:19:26.7092
2025-06-11T21:19:25.297Z,1749676765.297 [DAT](INFO): Rx dataTimestamp_ set to:1749676765.297203
2025-06-11T21:19:25.299Z,1749676765.299 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:25.299Z,1749676765.299 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-06-11T21:19:25.300Z,1749676765.300 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.500340
2025-06-11T21:19:25.550Z,1749676765.550 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.749710
2025-06-11T21:19:25.805Z,1749676765.805 [DAT](INFO): DAT read: Rx Time:21:19:27.2091
2025-06-11T21:19:25.806Z,1749676765.806 [DAT](INFO): Rx dataTimestamp_ set to:1749676765.805247
2025-06-11T21:19:25.819Z,1749676765.819 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:25.821Z,1749676765.821 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-06-11T21:19:25.841Z,1749676765.841 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.023445
2025-06-11T21:19:26.053Z,1749676766.053 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.252697
2025-06-11T21:19:26.305Z,1749676766.305 [DAT](INFO): DAT read: Rx Time:21:19:27.7092
2025-06-11T21:19:26.307Z,1749676766.307 [DAT](INFO): Rx dataTimestamp_ set to:1749676766.306335
2025-06-11T21:19:26.308Z,1749676766.308 [DAT](INFO): DAT read: Bearing 227.0, 9.7 (Local)
2025-06-11T21:19:26.308Z,1749676766.308 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.0, 9.7 (Local)
2025-06-11T21:19:26.310Z,1749676766.310 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:26.315Z,1749676766.315 [DAT](INFO): DAT read: 21:19:27.7092 LVL= 13360, 14161, 10418, 8035, AGC= 45, IDX= 0, 0.56,-0.883, 0.758, 0.546, 0.051, PHS=-0.845, 0.754, 0.492, RAW= 278.8, -5.4, CAL= 283.0, -9.7, ROT= 227.0, 9.7
2025-06-11T21:19:26.328Z,1749676766.328 [DAT](INFO): got valid direction response:
21:19:27.7092 LVL= 13360, 14161, 10418, 8035, AGC= 45, IDX= 0, 0.56,-0.883, 0.758, 0.546, 0.051, PHS=-0.845, 0.754, 0.492, RAW= 278.8, -5.4, CAL= 283.0, -9.7, ROT= 227.0, 9.7
2025-06-11T21:19:26.331Z,1749676766.331 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-11T21:19:26.357Z,1749676766.357 [DAT](INFO): direction in FSK: [-0.672248,-0.720898,-0.168489]
2025-06-11T21:19:26.357Z,1749676766.357 [DAT](INFO): publishing direction and range info
2025-06-11T21:19:26.369Z,1749676766.369 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.568775
2025-06-11T21:19:26.563Z,1749676766.563 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.762974
2025-06-11T21:19:26.820Z,1749676766.820 [DAT](INFO): DAT read: Rx Time:21:19:28.2091
2025-06-11T21:19:26.821Z,1749676766.821 [DAT](INFO): Rx dataTimestamp_ set to:1749676766.820271
2025-06-11T21:19:26.825Z,1749676766.825 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:26.826Z,1749676766.826 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-06-11T21:19:26.831Z,1749676766.831 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.029835
2025-06-11T21:19:27.069Z,1749676767.069 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.268711
2025-06-11T21:19:27.321Z,1749676767.321 [DAT](INFO): DAT read: Rx Time:21:19:28.7092
2025-06-11T21:19:27.321Z,1749676767.321 [DAT](INFO): Rx dataTimestamp_ set to:1749676767.321161
2025-06-11T21:19:27.323Z,1749676767.323 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:27.323Z,1749676767.323 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-06-11T21:19:27.329Z,1749676767.329 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.528549
2025-06-11T21:19:27.573Z,1749676767.573 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.772713
2025-06-11T21:19:27.828Z,1749676767.828 [DAT](INFO): DAT read: Rx Time:21:19:29.2091
2025-06-11T21:19:27.830Z,1749676767.830 [DAT](INFO): Rx dataTimestamp_ set to:1749676767.828908
2025-06-11T21:19:27.838Z,1749676767.838 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-06-11T21:19:27.844Z,1749676767.844 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-06-11T21:19:27.847Z,1749676767.847 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.046535
2025-06-11T21:19:28.077Z,1749676768.077 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.276733
2025-06-11T21:19:28.329Z,1749676768.329 [DAT](INFO): DAT read: Rx Time:21:19:29.7092
2025-06-11T21:19:28.329Z,1749676768.329 [DAT](INFO): Rx dataTimestamp_ set to:1749676768.329114
2025-06-11T21:19:28.331Z,1749676768.331 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0
2025-06-11T21:19:28.331Z,1749676768.331 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-06-11T21:19:28.332Z,1749676768.332 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.532330
2025-06-11T21:19:28.581Z,1749676768.581 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.780796
2025-06-11T21:19:28.835Z,1749676768.835 [DAT](INFO): DAT read: Rx Time:21:19:30.2088
2025-06-11T21:19:28.837Z,1749676768.837 [DAT](INFO): Rx dataTimestamp_ set to:1749676768.836353
2025-06-11T21:19:28.842Z,1749676768.842 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:28.844Z,1749676768.844 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-06-11T21:19:28.847Z,1749676768.847 [DAT](INFO): ****** received valid address query ******
2025-06-11T21:19:28.847Z,1749676768.847 [DAT](INFO): ****** received valid ping request ******
2025-06-11T21:19:28.848Z,1749676768.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:29.086Z,1749676769.086 [DAT](INFO): Reached modem response timeout
2025-06-11T21:19:29.086Z,1749676769.086 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:29.087Z,1749676769.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:29.337Z,1749676769.337 [DAT](INFO): DAT read: Rx Time:21:19:30.7089
2025-06-11T21:19:29.337Z,1749676769.337 [DAT](INFO): Rx dataTimestamp_ set to:1749676769.337154
2025-06-11T21:19:29.339Z,1749676769.339 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:29.339Z,1749676769.339 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:19:29.340Z,1749676769.340 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:29.340Z,1749676769.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:29.588Z,1749676769.588 [DAT](INFO): Reached modem response timeout
2025-06-11T21:19:29.589Z,1749676769.589 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:29.589Z,1749676769.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:29.841Z,1749676769.841 [DAT](INFO): DAT read: Rx Time:21:19:31.2088
2025-06-11T21:19:29.842Z,1749676769.842 [DAT](INFO): Rx dataTimestamp_ set to:1749676769.841279
2025-06-11T21:19:29.843Z,1749676769.843 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:29.843Z,1749676769.843 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:19:29.844Z,1749676769.844 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:29.844Z,1749676769.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:30.092Z,1749676770.092 [DAT](INFO): Reached modem response timeout
2025-06-11T21:19:30.093Z,1749676770.093 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:30.093Z,1749676770.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:30.345Z,1749676770.345 [DAT](INFO): DAT read: Rx Time:21:19:31.7089
2025-06-11T21:19:30.346Z,1749676770.346 [DAT](INFO): Rx dataTimestamp_ set to:1749676770.345762
2025-06-11T21:19:30.348Z,1749676770.348 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:30.349Z,1749676770.349 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:19:30.350Z,1749676770.350 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:30.350Z,1749676770.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:30.596Z,1749676770.596 [DAT](INFO): Reached modem response timeout
2025-06-11T21:19:30.597Z,1749676770.597 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:30.597Z,1749676770.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:30.854Z,1749676770.854 [DAT](INFO): DAT read: Rx Time:21:19:32.2088
2025-06-11T21:19:30.855Z,1749676770.855 [DAT](INFO): Rx dataTimestamp_ set to:1749676770.854379
2025-06-11T21:19:30.859Z,1749676770.859 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:30.866Z,1749676770.866 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:19:30.869Z,1749676770.869 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:30.870Z,1749676770.870 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:31.101Z,1749676771.101 [DAT](INFO): Reached modem response timeout
2025-06-11T21:19:31.101Z,1749676771.101 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:31.101Z,1749676771.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:31.363Z,1749676771.363 [DAT](INFO): DAT read: Rx Time:21:19:32.7089
2025-06-11T21:19:31.364Z,1749676771.364 [DAT](INFO): Rx dataTimestamp_ set to:1749676771.363385
2025-06-11T21:19:31.366Z,1749676771.366 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:31.367Z,1749676771.367 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:19:31.368Z,1749676771.368 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:31.368Z,1749676771.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:31.612Z,1749676771.612 [DAT](INFO): Reached modem response timeout
2025-06-11T21:19:31.613Z,1749676771.613 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:31.613Z,1749676771.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:31.869Z,1749676771.869 [DAT](INFO): DAT read: Rx Time:21:19:33.2088
2025-06-11T21:19:31.869Z,1749676771.869 [DAT](INFO): Rx dataTimestamp_ set to:1749676771.868748
2025-06-11T21:19:31.870Z,1749676771.870 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:31.871Z,1749676771.871 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:19:31.872Z,1749676771.872 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:31.872Z,1749676771.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:32.116Z,1749676772.116 [DAT](INFO): Reached modem response timeout
2025-06-11T21:19:32.117Z,1749676772.117 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:32.117Z,1749676772.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:32.370Z,1749676772.370 [DAT](INFO): DAT read: Rx Time:21:19:33.7089
2025-06-11T21:19:32.370Z,1749676772.370 [DAT](INFO): Rx dataTimestamp_ set to:1749676772.370109
2025-06-11T21:19:32.372Z,1749676772.372 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-06-11T21:19:32.372Z,1749676772.372 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:19:32.373Z,1749676772.373 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:32.373Z,1749676772.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:32.620Z,1749676772.620 [DAT](INFO): Reached modem response timeout
2025-06-11T21:19:32.621Z,1749676772.621 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:32.621Z,1749676772.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:32.873Z,1749676772.873 [DAT](INFO): DAT read: Rx Time:21:19:34.2088
2025-06-11T21:19:32.874Z,1749676772.874 [DAT](INFO): Rx dataTimestamp_ set to:1749676772.873228
2025-06-11T21:19:32.875Z,1749676772.875 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-06-11T21:19:32.875Z,1749676772.875 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:19:32.876Z,1749676772.876 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:32.876Z,1749676772.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:33.125Z,1749676773.125 [DAT](INFO): Reached modem response timeout
2025-06-11T21:19:33.126Z,1749676773.126 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:19:33.126Z,1749676773.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:19:33.379Z,1749676773.379 [DAT](INFO): DAT read: use:6>
2025-06-11T21:19:33.380Z,1749676773.380 [DAT](INFO): unknown deviceResponse_: use:6>
2025-06-11T21:19:33.382Z,1749676773.382 [DAT](INFO): DAT read: Tx time:21:19:35.1203
2025-06-11T21:19:33.382Z,1749676773.382 [DAT](INFO): Ping request sent.
2025-06-11T21:19:33.382Z,1749676773.382 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:19:33.383Z,1749676773.383 [DAT](INFO): DAT read: TxSync time:21:19:35.1195
2025-06-11T21:19:33.383Z,1749676773.383 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:33.384Z,1749676773.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001736
2025-06-11T21:19:33.629Z,1749676773.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246491
2025-06-11T21:19:33.881Z,1749676773.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498565
2025-06-11T21:19:34.133Z,1749676774.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750489
2025-06-11T21:19:34.385Z,1749676774.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002540
2025-06-11T21:19:34.637Z,1749676774.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254554
2025-06-11T21:19:34.889Z,1749676774.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506510
2025-06-11T21:19:35.145Z,1749676775.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762142
2025-06-11T21:19:35.393Z,1749676775.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010556
2025-06-11T21:19:35.645Z,1749676775.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262982
2025-06-11T21:19:35.897Z,1749676775.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515100
2025-06-11T21:19:36.149Z,1749676776.149 [DAT](INFO): DAT read: Rx Time:21:19:37.5262
2025-06-11T21:19:36.149Z,1749676776.149 [DAT](INFO): Rx dataTimestamp_ set to:1749676776.149072
2025-06-11T21:19:36.150Z,1749676776.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767674
2025-06-11T21:19:36.401Z,1749676776.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018604
2025-06-11T21:19:36.654Z,1749676776.654 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m (Round-trip 1.8 ms) speed 0.0 m/s
2025-06-11T21:19:36.654Z,1749676776.654 [DAT](INFO): DAT read: user:866>
2025-06-11T21:19:36.655Z,1749676776.655 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:19:36.905Z,1749676776.905 [DAT](INFO): DAT read: Tx time:21:19:38.6203
2025-06-11T21:19:36.906Z,1749676776.906 [DAT](INFO): Ping request sent.
2025-06-11T21:19:36.906Z,1749676776.906 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:19:36.907Z,1749676776.907 [DAT](INFO): DAT read: TxSync time:21:19:38.6195
2025-06-11T21:19:36.908Z,1749676776.908 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:39.677Z,1749676779.677 [DAT](INFO): DAT read: Rx Time:21:19:41.0266
2025-06-11T21:19:39.678Z,1749676779.678 [DAT](INFO): Rx dataTimestamp_ set to:1749676779.677319
2025-06-11T21:19:40.183Z,1749676780.183 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m (Round-trip 2.2 ms) speed 0.0 m/s
2025-06-11T21:19:40.183Z,1749676780.183 [DAT](INFO): DAT read: user:867>
2025-06-11T21:19:40.184Z,1749676780.184 [DAT](INFO): DAT read: Tx time:21:19:42.1204
2025-06-11T21:19:40.185Z,1749676780.185 [DAT](INFO): Ping request sent.
2025-06-11T21:19:40.185Z,1749676780.185 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:19:40.185Z,1749676780.185 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-11T21:19:40.185Z,1749676780.185 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:40.186Z,1749676780.186 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:40.433Z,1749676780.433 [DAT](INFO): DAT read: TxSync time:21:19:42.1196
2025-06-11T21:19:43.205Z,1749676783.205 [DAT](INFO): DAT read: Rx Time:21:19:44.5263
2025-06-11T21:19:43.205Z,1749676783.205 [DAT](INFO): Rx dataTimestamp_ set to:1749676783.205069
2025-06-11T21:19:43.710Z,1749676783.710 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m (Round-trip 1.8 ms) speed 0.0 m/s
2025-06-11T21:19:43.710Z,1749676783.710 [DAT](INFO): DAT read: user:868>
2025-06-11T21:19:43.711Z,1749676783.711 [DAT](INFO): DAT read: Tx time:21:19:45.6204
2025-06-11T21:19:43.712Z,1749676783.712 [DAT](INFO): Ping request sent.
2025-06-11T21:19:43.712Z,1749676783.712 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:19:43.712Z,1749676783.712 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-06-11T21:19:43.712Z,1749676783.712 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:43.713Z,1749676783.713 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:43.961Z,1749676783.961 [DAT](INFO): DAT read: TxSync time:21:19:45.6196
2025-06-11T21:19:46.733Z,1749676786.733 [DAT](INFO): DAT read: Rx Time:21:19:48.0263
2025-06-11T21:19:46.733Z,1749676786.733 [DAT](INFO): Rx dataTimestamp_ set to:1749676786.733065
2025-06-11T21:19:47.238Z,1749676787.238 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m (Round-trip 1.8 ms) speed 0.0 m/s
2025-06-11T21:19:47.239Z,1749676787.239 [DAT](INFO): DAT read: user:869>
2025-06-11T21:19:47.239Z,1749676787.239 [DAT](INFO): DAT read: Tx time:21:19:49.1204
2025-06-11T21:19:47.240Z,1749676787.240 [DAT](INFO): Ping request sent.
2025-06-11T21:19:47.240Z,1749676787.240 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:19:47.240Z,1749676787.240 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-06-11T21:19:47.240Z,1749676787.240 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:47.241Z,1749676787.241 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:47.489Z,1749676787.489 [DAT](INFO): DAT read: TxSync time:21:19:49.1196
2025-06-11T21:19:50.261Z,1749676790.261 [DAT](INFO): DAT read: Rx Time:21:19:51.5267
2025-06-11T21:19:50.262Z,1749676790.262 [DAT](INFO): Rx dataTimestamp_ set to:1749676790.261295
2025-06-11T21:19:50.766Z,1749676790.766 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m (Round-trip 2.2 ms) speed 0.0 m/s
2025-06-11T21:19:50.766Z,1749676790.766 [DAT](INFO): DAT read: user:870>
2025-06-11T21:19:50.767Z,1749676790.767 [DAT](INFO): DAT read: Tx time:21:19:52.6204
2025-06-11T21:19:50.768Z,1749676790.768 [DAT](INFO): Ping request sent.
2025-06-11T21:19:50.768Z,1749676790.768 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:19:50.768Z,1749676790.768 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-06-11T21:19:50.768Z,1749676790.768 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:50.769Z,1749676790.769 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:51.017Z,1749676791.017 [DAT](INFO): DAT read: TxSync time:21:19:52.6197
2025-06-11T21:19:53.789Z,1749676793.789 [DAT](INFO): DAT read: Rx Time:21:19:55.0264
2025-06-11T21:19:53.789Z,1749676793.789 [DAT](INFO): Rx dataTimestamp_ set to:1749676793.789028
2025-06-11T21:19:54.294Z,1749676794.294 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m (Round-trip 1.8 ms) speed 0.0 m/s
2025-06-11T21:19:54.295Z,1749676794.295 [DAT](INFO): DAT read: user:871>
2025-06-11T21:19:54.295Z,1749676794.295 [DAT](INFO): DAT read: Tx time:21:19:56.1205
2025-06-11T21:19:54.296Z,1749676794.296 [DAT](INFO): Ping request sent.
2025-06-11T21:19:54.296Z,1749676794.296 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:19:54.296Z,1749676794.296 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-06-11T21:19:54.296Z,1749676794.296 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:54.297Z,1749676794.297 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:54.545Z,1749676794.545 [DAT](INFO): DAT read: TxSync time:21:19:56.1197
2025-06-11T21:19:57.317Z,1749676797.317 [DAT](INFO): DAT read: Rx Time:21:19:58.5260
2025-06-11T21:19:57.317Z,1749676797.317 [DAT](INFO): Rx dataTimestamp_ set to:1749676797.317212
2025-06-11T21:19:57.822Z,1749676797.822 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m (Round-trip 1.4 ms) speed 0.0 m/s
2025-06-11T21:19:57.823Z,1749676797.823 [DAT](INFO): DAT read: user:872>
2025-06-11T21:19:57.823Z,1749676797.823 [DAT](INFO): DAT read: Tx time:21:19:59.6205
2025-06-11T21:19:57.824Z,1749676797.824 [DAT](INFO): Ping request sent.
2025-06-11T21:19:57.824Z,1749676797.824 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:19:57.824Z,1749676797.824 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-06-11T21:19:57.824Z,1749676797.824 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:57.825Z,1749676797.825 [DAT](INFO): publishing transmit ping time
2025-06-11T21:19:58.073Z,1749676798.073 [DAT](INFO): DAT read: TxSync time:21:19:59.6197
2025-06-11T21:20:00.845Z,1749676800.845 [DAT](INFO): DAT read: Rx Time:21:20:02.0261
2025-06-11T21:20:00.845Z,1749676800.845 [DAT](INFO): Rx dataTimestamp_ set to:1749676800.845019
2025-06-11T21:20:01.383Z,1749676801.383 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-06-11T21:20:01.389Z,1749676801.389 [DAT](INFO): DAT read: user:873>
2025-06-11T21:20:01.390Z,1749676801.390 [DAT](INFO): DAT read: Tx time:21:20:03.1205
2025-06-11T21:20:01.391Z,1749676801.391 [DAT](INFO): Ping request sent.
2025-06-11T21:20:01.391Z,1749676801.391 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:20:01.391Z,1749676801.391 [DAT](INFO): DAT read: TxSync time:21:20:03.1197
2025-06-11T21:20:01.396Z,1749676801.396 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-06-11T21:20:01.396Z,1749676801.396 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:01.397Z,1749676801.397 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:04.375Z,1749676804.375 [DAT](INFO): DAT read: Rx Time:21:20:05.5265
2025-06-11T21:20:04.377Z,1749676804.377 [DAT](INFO): Rx dataTimestamp_ set to:1749676804.376119
2025-06-11T21:20:04.880Z,1749676804.880 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m (Round-trip 1.8 ms) speed 0.0 m/s
2025-06-11T21:20:04.883Z,1749676804.883 [DAT](INFO): DAT read: user:874>
2025-06-11T21:20:04.883Z,1749676804.883 [DAT](INFO): DAT read: Tx time:21:20:06.6206
2025-06-11T21:20:04.884Z,1749676804.884 [DAT](INFO): Ping request sent.
2025-06-11T21:20:04.884Z,1749676804.884 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:20:04.885Z,1749676804.885 [DAT](INFO): DAT read: TxSync time:21:20:06.6198
2025-06-11T21:20:04.885Z,1749676804.885 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-06-11T21:20:04.885Z,1749676804.885 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:04.886Z,1749676804.886 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:07.653Z,1749676807.653 [DAT](INFO): DAT read: Rx Time:21:20:09.0269
2025-06-11T21:20:07.653Z,1749676807.653 [DAT](INFO): Rx dataTimestamp_ set to:1749676807.653033
2025-06-11T21:20:08.158Z,1749676808.158 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m (Round-trip 2.2 ms) speed 0.0 m/s
2025-06-11T21:20:08.158Z,1749676808.158 [DAT](INFO): DAT read: user:875>
2025-06-11T21:20:08.159Z,1749676808.159 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-06-11T21:20:08.423Z,1749676808.423 [DAT](INFO): DAT read: Tx time:21:20:10.1206
2025-06-11T21:20:08.424Z,1749676808.424 [DAT](INFO): Ping request sent.
2025-06-11T21:20:08.425Z,1749676808.425 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:20:08.427Z,1749676808.427 [DAT](INFO): DAT read: TxSync time:21:20:10.1198
2025-06-11T21:20:08.428Z,1749676808.428 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:11.193Z,1749676811.193 [DAT](INFO): DAT read: Rx Time:21:20:12.5262
2025-06-11T21:20:11.193Z,1749676811.193 [DAT](INFO): Rx dataTimestamp_ set to:1749676811.192966
2025-06-11T21:20:11.698Z,1749676811.698 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-06-11T21:20:11.698Z,1749676811.698 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-06-11T21:20:38.561Z,1749676838.561 [DockingStepper](INFO): Changing to mode: 4
2025-06-11T21:20:38.562Z,1749676838.562 [DockingStepper](INFO): Slide mode.
2025-06-11T21:20:38.624Z,1749676838.624 [DockingStepper](INFO): Commanding negative:34897
2025-06-11T21:20:38.927Z,1749676838.927 [DAT](INFO): DAT read: user:876>
2025-06-11T21:20:38.930Z,1749676838.930 [DAT](INFO): DAT read: Tx time:21:20:40.6700
2025-06-11T21:20:38.931Z,1749676838.931 [DAT](INFO): Ping request sent.
2025-06-11T21:20:38.931Z,1749676838.931 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:20:38.933Z,1749676838.933 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:41.197Z,1749676841.197 [DAT](INFO): DAT read: Rx Time:21:20:42.5411
2025-06-11T21:20:41.198Z,1749676841.198 [DAT](INFO): Rx dataTimestamp_ set to:1749676841.197262
2025-06-11T21:20:41.705Z,1749676841.705 [DAT](INFO): DAT read: 21:20:42.5411 LVL= 18544, 18545, 18834, 20467, AGC= 46, IDX= 89,-0.32, 2.247, 1.108, 0.761, 0.995, PHS= 1.340, 0.160,-0.237, RAW= 76.0, -17.5, CAL= 88.7, -25.7, ROT= 61.3, 25.7
2025-06-11T21:20:41.706Z,1749676841.706 [DAT](INFO): got valid direction response:
21:20:42.5411 LVL= 18544, 18545, 18834, 20467, AGC= 46, IDX= 89,-0.32, 2.247, 1.108, 0.761, 0.995, PHS= 1.340, 0.160,-0.237, RAW= 76.0, -17.5, CAL= 88.7, -25.7, ROT= 61.3, 25.7
2025-06-11T21:20:41.707Z,1749676841.707 [DAT](INFO): DAT read: OK
2025-06-11T21:20:41.707Z,1749676841.707 [DAT](INFO): unknown deviceResponse_: OK
2025-06-11T21:20:41.707Z,1749676841.707 [DAT](INFO): DAT read: user:877>
2025-06-11T21:20:41.713Z,1749676841.713 [DAT](INFO): DAT read: Tx time:21:20:43.6200
2025-06-11T21:20:41.713Z,1749676841.713 [DAT](INFO): Ping request sent.
2025-06-11T21:20:41.713Z,1749676841.713 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:20:41.714Z,1749676841.714 [DAT](INFO): #Rx 12: Read direction message, but no range.
2025-06-11T21:20:41.715Z,1749676841.715 [DAT](INFO): direction in FSK: [0.432718,0.790376,-0.433659]
2025-06-11T21:20:41.715Z,1749676841.715 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:41.718Z,1749676841.718 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:44.221Z,1749676844.221 [DAT](INFO): DAT read: Rx Time:21:20:45.4912
2025-06-11T21:20:44.222Z,1749676844.222 [DAT](INFO): Rx dataTimestamp_ set to:1749676844.221233
2025-06-11T21:20:44.730Z,1749676844.730 [DAT](INFO): DAT read: 21:20:45.4912 LVL= 15056, 32753, 31410, 32755, AGC= 42, IDX= 441, 0.21,-3.118, 1.920, 1.416, 1.846, PHS= 1.407, 0.122,-0.433, RAW= 72.9, -13.3, CAL= 84.9, -22.3, ROT= 65.1, 22.3
2025-06-11T21:20:44.731Z,1749676844.731 [DAT](INFO): got valid direction response:
21:20:45.4912 LVL= 15056, 32753, 31410, 32755, AGC= 42, IDX= 441, 0.21,-3.118, 1.920, 1.416, 1.846, PHS= 1.407, 0.122,-0.433, RAW= 72.9, -13.3, CAL= 84.9, -22.3, ROT= 65.1, 22.3
2025-06-11T21:20:44.733Z,1749676844.733 [DAT](INFO): DAT read: OK
2025-06-11T21:20:44.733Z,1749676844.733 [DAT](INFO): unknown deviceResponse_: OK
2025-06-11T21:20:44.734Z,1749676844.734 [DAT](INFO): DAT read: user:878>
2025-06-11T21:20:44.735Z,1749676844.735 [DAT](INFO): DAT read: Tx time:21:20:46.5700
2025-06-11T21:20:44.735Z,1749676844.735 [DAT](INFO): Ping request sent.
2025-06-11T21:20:44.735Z,1749676844.735 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:20:44.736Z,1749676844.736 [DAT](INFO): #Rx 13: Read direction message, but no range.
2025-06-11T21:20:44.737Z,1749676844.737 [DAT](INFO): direction in FSK: [0.389546,0.839206,-0.379456]
2025-06-11T21:20:44.738Z,1749676844.738 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:44.742Z,1749676844.742 [DAT](INFO): publishing transmit ping time
2025-06-11T21:20:47.245Z,1749676847.245 [DAT](INFO): DAT read: Rx Time:21:20:48.4409
2025-06-11T21:20:47.245Z,1749676847.245 [DAT](INFO): Rx dataTimestamp_ set to:1749676847.245071
2025-06-11T21:20:47.754Z,1749676847.754 [DAT](INFO): DAT read: 21:20:48.4409 LVL= 16240, 27233, 20242, 27987, AGC= 42, IDX= 442,-0.16, 2.201, 1.100, 0.655, 1.037, PHS= 1.253, 0.111,-0.384, RAW= 72.9, -13.4, CAL= 84.8, -22.3, ROT= 65.2, 22.3
2025-06-11T21:20:47.755Z,1749676847.755 [DAT](INFO): got valid direction response:
21:20:48.4409 LVL= 16240, 27233, 20242, 27987, AGC= 42, IDX= 442,-0.16, 2.201, 1.100, 0.655, 1.037, PHS= 1.253, 0.111,-0.384, RAW= 72.9, -13.4, CAL= 84.8, -22.3, ROT= 65.2, 22.3
2025-06-11T21:20:47.756Z,1749676847.756 [DAT](INFO): DAT read: OK
2025-06-11T21:20:47.756Z,1749676847.756 [DAT](INFO): unknown deviceResponse_: OK
2025-06-11T21:20:47.757Z,1749676847.757 [DAT](INFO): #Rx 14: Read direction message, but no range.
2025-06-11T21:20:47.758Z,1749676847.758 [DAT](INFO): direction in FSK: [0.388081,0.839885,-0.379456]
2025-06-11T21:21:06.516Z,1749676866.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:21:06.669Z,1749676866.669 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:21:06.669Z,1749676866.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:21:06.923Z,1749676866.923 [DAT](INFO): DAT read: user:879>
2025-06-11T21:21:06.929Z,1749676866.929 [DAT](INFO): DAT read: Tx time:21:21:08.6712
2025-06-11T21:21:06.930Z,1749676866.930 [DAT](INFO): Ping request sent.
2025-06-11T21:21:06.930Z,1749676866.930 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:21:06.931Z,1749676866.931 [DAT](INFO): DAT read: TxSync time:21:21:08.6705
2025-06-11T21:21:06.931Z,1749676866.931 [DAT](INFO): publishing transmit ping time
2025-06-11T21:21:06.932Z,1749676866.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002361
2025-06-11T21:21:07.173Z,1749676867.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243135
2025-06-11T21:21:07.429Z,1749676867.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499058
2025-06-11T21:21:07.681Z,1749676867.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751107
2025-06-11T21:21:07.933Z,1749676867.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003042
2025-06-11T21:21:08.185Z,1749676868.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254946
2025-06-11T21:21:08.437Z,1749676868.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507115
2025-06-11T21:21:08.690Z,1749676868.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759787
2025-06-11T21:21:08.941Z,1749676868.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011401
2025-06-11T21:21:09.193Z,1749676869.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263055
2025-06-11T21:21:09.445Z,1749676869.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514969
2025-06-11T21:21:09.697Z,1749676869.697 [DAT](INFO): DAT read: Rx Time:21:21:11.0769
2025-06-11T21:21:09.697Z,1749676869.697 [DAT](INFO): Rx dataTimestamp_ set to:1749676869.697096
2025-06-11T21:21:09.698Z,1749676869.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768177
2025-06-11T21:21:09.949Z,1749676869.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019045
2025-06-11T21:21:10.207Z,1749676870.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273652
2025-06-11T21:21:10.458Z,1749676870.458 [DAT](INFO): DAT read: 21:21:11.0769 LVL= 14240, 32737, 20626, 26099, AGC= 43, IDX= 284,-0.33, 0.640,-0.521,-0.633,-0.350, PHS= 1.078,-0.124,-0.286, RAW= 83.8, -10.4, CAL= 93.9, -20.5, ROT= 56.1, 20.5
2025-06-11T21:21:10.459Z,1749676870.459 [DAT](INFO): got valid direction response:
21:21:11.0769 LVL= 14240, 32737, 20626, 26099, AGC= 43, IDX= 284,-0.33, 0.640,-0.521,-0.633,-0.350, PHS= 1.078,-0.124,-0.286, RAW= 83.8, -10.4, CAL= 93.9, -20.5, ROT= 56.1, 20.5
2025-06-11T21:21:10.461Z,1749676870.461 [DAT](INFO): DAT read: Bearing 56.1, 20.5 (Local)
2025-06-11T21:21:10.461Z,1749676870.461 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.1, 20.5 (Local)
2025-06-11T21:21:10.462Z,1749676870.462 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s
2025-06-11T21:21:10.463Z,1749676870.463 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-11T21:21:10.464Z,1749676870.464 [DAT](INFO): direction in FSK: [0.522424,0.777449,-0.350207]
2025-06-11T21:21:10.464Z,1749676870.464 [DAT](INFO): publishing direction and range info
2025-06-11T21:21:16.506Z,1749676876.506 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250611,35.0, +10.2, 0.0,10
2025-06-11T21:22:08.668Z,1749676928.668 [DockingStepper](INFO): Changing to mode: 1
2025-06-11T21:22:08.668Z,1749676928.668 [DockingStepper](INFO): Standby mode.
2025-06-11T21:22:08.728Z,1749676928.728 [DockingStepper](INFO): Commanding positive:34496
2025-06-11T21:22:09.195Z,1749676929.195 [DAT](INFO): Requesting device enable set for address 50.
2025-06-11T21:22:09.445Z,1749676929.445 [DAT](INFO): DAT read: user:880>
2025-06-11T21:22:09.446Z,1749676929.446 [DAT](INFO): DAT read: Tx time:21:22:11.2210
2025-06-11T21:22:09.446Z,1749676929.446 [DAT](INFO): Ping request sent.
2025-06-11T21:22:09.446Z,1749676929.446 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:22:09.446Z,1749676929.446 [DAT](INFO): publishing transmit ping time
2025-06-11T21:22:09.447Z,1749676929.447 [DAT](INFO): Requesting device enable set for address 50.
2025-06-11T21:22:09.697Z,1749676929.697 [DAT](INFO): Requesting device enable set for address 50.
2025-06-11T21:22:11.713Z,1749676931.713 [DAT](INFO): DAT read: Rx Time:21:22:13.0928
2025-06-11T21:22:11.713Z,1749676931.713 [DAT](INFO): Rx dataTimestamp_ set to:1749676931.712997
2025-06-11T21:22:12.473Z,1749676932.473 [DAT](INFO): DAT read: 21:22:13.0928 LVL= 14112, 17265, 27458, 32755, AGC= 40, IDX= 85, 0.03, 1.569, 2.007, 1.657,-2.818, PHS=-1.808,-1.411,-1.812, RAW= 330.4, 77.3, CAL= 330.7, 77.2, ROT= 179.3, -77.2
2025-06-11T21:22:12.474Z,1749676932.474 [DAT](INFO): got valid direction response:
21:22:13.0928 LVL= 14112, 17265, 27458, 32755, AGC= 40, IDX= 85, 0.03, 1.569, 2.007, 1.657,-2.818, PHS=-1.808,-1.411,-1.812, RAW= 330.4, 77.3, CAL= 330.7, 77.2, ROT= 179.3, -77.2
2025-06-11T21:22:12.475Z,1749676932.475 [DAT](INFO): DAT read: OK
2025-06-11T21:22:12.475Z,1749676932.475 [DAT](INFO): unknown deviceResponse_: OK
2025-06-11T21:22:12.475Z,1749676932.475 [DAT](INFO): DAT read: user:881>
2025-06-11T21:22:12.476Z,1749676932.476 [DAT](INFO): DAT read: Tx time:21:22:14.1710
2025-06-11T21:22:12.476Z,1749676932.476 [DAT](INFO): Ping request sent.
2025-06-11T21:22:12.477Z,1749676932.477 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:22:12.477Z,1749676932.477 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-11T21:22:12.478Z,1749676932.478 [DAT](INFO): direction in FSK: [-0.221532,0.002707,0.975149]
2025-06-11T21:22:12.478Z,1749676932.478 [DAT](INFO): publishing transmit ping time
2025-06-11T21:22:12.481Z,1749676932.481 [DAT](INFO): publishing transmit ping time
2025-06-11T21:22:14.737Z,1749676934.737 [DAT](INFO): DAT read: Rx Time:21:22:16.0426
2025-06-11T21:22:14.737Z,1749676934.737 [DAT](INFO): Rx dataTimestamp_ set to:1749676934.737126
2025-06-11T21:22:15.241Z,1749676935.241 [DAT](INFO): DAT read: OK
2025-06-11T21:22:15.241Z,1749676935.241 [DAT](INFO): unknown deviceResponse_: OK
2025-06-11T21:22:15.241Z,1749676935.241 [DAT](INFO): DAT read: user:882>
2025-06-11T21:22:15.242Z,1749676935.242 [DAT](INFO): DAT read: Tx time:21:22:17.1210
2025-06-11T21:22:15.242Z,1749676935.242 [DAT](INFO): Ping request sent.
2025-06-11T21:22:15.242Z,1749676935.242 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:22:15.243Z,1749676935.243 [DAT](INFO): publishing transmit ping time
2025-06-11T21:22:17.761Z,1749676937.761 [DAT](INFO): DAT read: Rx Time:21:22:18.9931
2025-06-11T21:22:17.762Z,1749676937.762 [DAT](INFO): Rx dataTimestamp_ set to:1749676937.761654
2025-06-11T21:22:18.265Z,1749676938.265 [DAT](INFO): DAT read: OK
2025-06-11T21:22:18.265Z,1749676938.265 [DAT](INFO): unknown deviceResponse_: OK
2025-06-11T21:22:42.374Z,1749676962.374 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004209
2025-06-11T21:22:42.692Z,1749676962.692 [lineCaptureHoming:J] Running Loop=1
2025-06-11T21:22:42.692Z,1749676962.692 [lineCaptureHoming:J] Running Loop=1
2025-06-11T21:22:42.694Z,1749676962.694 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-11T21:22:42.694Z,1749676962.694 [lineCaptureHoming:MicromodemComms] Stopped
2025-06-11T21:22:42.694Z,1749676962.694 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-06-11T21:22:42.694Z,1749676962.694 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-11T21:22:42.694Z,1749676962.694 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-11T21:22:42.694Z,1749676962.694 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-11T21:22:43.694Z,1749676963.694 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:22:51.278Z,1749676971.278 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250611T041513/Courier0093.lzma
2025-06-11T21:22:52.278Z,1749676972.278 [DataOverHttps](INFO): Moved sent file to Logs/20250611T041513/Courier0093.lzma.bak
2025-06-11T21:22:52.278Z,1749676972.278 [DataOverHttps](INFO): SBD MOMSN=25194531
2025-06-11T21:22:53.775Z,1749676973.775 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:23:02.860Z,1749676982.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:23:06.617Z,1749676986.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-11T21:23:06.685Z,1749676986.685 [DAT](DEBUG): Acoustic response timeout
2025-06-11T21:23:06.685Z,1749676986.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-11T21:23:06.937Z,1749676986.937 [DAT](INFO): DAT read: user:883>
2025-06-11T21:23:06.938Z,1749676986.938 [DAT](INFO): DAT read: Tx time:21:23:08.6726
2025-06-11T21:23:06.938Z,1749676986.938 [DAT](INFO): Ping request sent.
2025-06-11T21:23:06.938Z,1749676986.938 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:23:06.939Z,1749676986.939 [DAT](INFO): DAT read: TxSync time:21:23:08.6718
2025-06-11T21:23:06.939Z,1749676986.939 [DAT](INFO): publishing transmit ping time
2025-06-11T21:23:06.940Z,1749676986.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001793
2025-06-11T21:23:07.195Z,1749676987.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256559
2025-06-11T21:23:07.445Z,1749676987.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506599
2025-06-11T21:23:07.697Z,1749676987.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758660
2025-06-11T21:23:07.949Z,1749676987.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010721
2025-06-11T21:23:08.201Z,1749676988.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262712
2025-06-11T21:23:08.453Z,1749676988.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514796
2025-06-11T21:23:08.705Z,1749676988.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766710
2025-06-11T21:23:08.957Z,1749676988.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018469
2025-06-11T21:23:09.209Z,1749676989.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270777
2025-06-11T21:23:09.468Z,1749676989.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529987
2025-06-11T21:23:09.713Z,1749676989.713 [DAT](INFO): DAT read: Rx Time:21:23:11.0779
2025-06-11T21:23:09.713Z,1749676989.713 [DAT](INFO): Rx dataTimestamp_ set to:1749676989.713050
2025-06-11T21:23:09.714Z,1749676989.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775748
2025-06-11T21:23:09.965Z,1749676989.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026670
2025-06-11T21:23:10.218Z,1749676990.218 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m (Round-trip 1.1 ms) speed 0.0 m/s
2025-06-11T21:23:10.218Z,1749676990.218 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-11T21:23:11.033Z,1749676991.033 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250611T203144/Courier0000.lzma
2025-06-11T21:23:12.026Z,1749676992.026 [DataOverHttps](INFO): Moved sent file to Logs/20250611T203144/Courier0000.lzma.bak
2025-06-11T21:23:12.026Z,1749676992.026 [DataOverHttps](INFO): SBD MOMSN=25194534
2025-06-11T21:23:13.051Z,1749676993.051 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DOCKED at depth of 63.660679 with power and with comms
2025-06-11T21:23:13.377Z,1749676993.377 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-11T21:23:13.450Z,1749676993.450 [lineCaptureHoming:Lap] Stopped
2025-06-11T21:23:13.451Z,1749676993.451 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-06-11T21:23:13.451Z,1749676993.451 [lineCaptureHoming:Lap:Docked] Stopped
2025-06-11T21:23:13.451Z,1749676993.451 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-06-11T21:23:13.451Z,1749676993.451 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-06-11T21:23:13.455Z,1749676993.455 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-06-11T21:23:13.456Z,1749676993.456 [MissionManager](INFO): lineCaptureHoming is completed.
2025-06-11T21:23:13.456Z,1749676993.456 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-11T21:23:13.456Z,1749676993.456 [lineCaptureHoming] Stopped
2025-06-11T21:23:13.456Z,1749676993.456 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-11T21:23:13.456Z,1749676993.456 [lineCaptureHoming:Science] Stopped
2025-06-11T21:23:13.456Z,1749676993.456 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-11T21:23:13.456Z,1749676993.456 [lineCaptureHoming:Science:B] Stopped
2025-06-11T21:23:13.456Z,1749676993.456 [lineCaptureHoming:Science:C] Stopped
2025-06-11T21:23:13.456Z,1749676993.456 [lineCaptureHoming:Science:E] Stopped
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:Science:F] Stopped
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-11T21:23:13.457Z,1749676993.457 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-11T21:23:13.458Z,1749676993.458 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-11T21:23:13.458Z,1749676993.458 [lineCaptureHoming:J] Stopped
2025-06-11T21:23:13.458Z,1749676993.458 [lineCaptureHoming:TrackAC.] Stopped
2025-06-11T21:23:13.458Z,1749676993.458 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-11T21:23:13.538Z,1749676993.538 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/OnDock.tl
2025-06-11T21:23:13.584Z,1749676993.584 [WetLabsBB2FL](INFO): Powering down
2025-06-11T21:23:13.749Z,1749676993.749 [DAT](INFO): DAT read: user:884>
2025-06-11T21:23:13.750Z,1749676993.750 [DAT](INFO): DAT read: Tx time:21:23:15.5217
2025-06-11T21:23:13.750Z,1749676993.750 [DAT](INFO): Ping request sent.
2025-06-11T21:23:13.750Z,1749676993.750 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:23:13.750Z,1749676993.750 [DAT](INFO): publishing transmit ping time
2025-06-11T21:23:13.775Z,1749676993.775 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-06-11T21:23:13.775Z,1749676993.775 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-06-11T21:23:13.780Z,1749676993.780 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-06-11T21:23:14.099Z,1749676994.099 [DockingStepper](INFO): Pause
2025-06-11T21:23:16.021Z,1749676996.021 [DAT](INFO): DAT read: Rx Time:21:23:17.3944
2025-06-11T21:23:16.021Z,1749676996.021 [DAT](INFO): Rx dataTimestamp_ set to:1749676996.021117
2025-06-11T21:23:16.526Z,1749676996.526 [DAT](INFO): DAT read: OK
2025-06-11T21:23:16.527Z,1749676996.527 [DAT](INFO): unknown deviceResponse_: OK
2025-06-11T21:23:16.528Z,1749676996.528 [DAT](INFO): DAT read: user:885>
2025-06-11T21:23:16.530Z,1749676996.530 [DAT](INFO): DAT read: Tx time:21:23:18.4717
2025-06-11T21:23:16.530Z,1749676996.530 [DAT](INFO): Ping request sent.
2025-06-11T21:23:16.530Z,1749676996.530 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:23:16.530Z,1749676996.530 [DAT](INFO): publishing transmit ping time
2025-06-11T21:23:18.826Z,1749676998.826 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
8
2
1
5
2
2
5
5
Restarting logs
restart logs
! ifconfig
Mission ending, breaking off. Range:
.
2025-06-11T21:23:18.832Z,1749676998.832 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-06-11T21:23:18.835Z,1749676998.835 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-06-11T21:23:18.837Z,1749676998.837 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-06-11T21:23:18.840Z,1749676998.840 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-06-11T21:23:18.842Z,1749676998.842 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-06-11T21:23:18.845Z,1749676998.845 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-06-11T21:23:18.847Z,1749676998.847 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-06-11T21:23:18.850Z,1749676998.850 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-06-11T21:23:18.852Z,1749676998.852 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-06-11T21:23:18.854Z,1749676998.854 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-06-11T21:23:18.879Z,1749676998.879 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-06-11T21:23:18.913Z,1749676998.913 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-06-11T21:23:18.915Z,1749676998.915 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-06-11T21:23:18.915Z,1749676998.915 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-11T21:23:18.932Z,1749676998.932 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-11T21:23:18.944Z,1749676998.944 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-11T21:23:19.045Z,1749676999.045 [DAT](INFO): DAT read: Rx Time:21:23:20.3443
2025-06-11T21:23:19.046Z,1749676999.046 [DAT](INFO): Rx dataTimestamp_ set to:1749676999.045248
2025-06-11T21:23:19.143Z,1749676999.143 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-06-11T21:23:19.151Z,1749676999.151 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-11T21:23:19.153Z,1749676999.153 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-11T21:23:19.155Z,1749676999.155 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-11T21:23:19.158Z,1749676999.158 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-11T21:23:19.159Z,1749676999.159 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-11T21:23:19.165Z,1749676999.165 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-11T21:23:19.198Z,1749676999.198 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-11T21:23:19.209Z,1749676999.209 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-11T21:23:19.209Z,1749676999.209 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-11T21:23:19.210Z,1749676999.210 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-11T21:23:19.258Z,1749676999.258 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-06-11T21:23:19.313Z,1749676999.313 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-06-11T21:23:19.315Z,1749676999.315 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-11T21:23:19.322Z,1749676999.322 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-11T21:23:19.322Z,1749676999.322 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-11T21:23:19.323Z,1749676999.323 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-11T21:23:19.549Z,1749676999.549 [DAT](INFO): DAT read: OK
2025-06-11T21:23:19.549Z,1749676999.549 [DAT](INFO): unknown deviceResponse_: OK
2025-06-11T21:23:19.549Z,1749676999.549 [DAT](INFO): DAT read: user:886>
2025-06-11T21:23:19.550Z,1749676999.550 [DAT](INFO): DAT read: Tx time:21:23:21.4217
2025-06-11T21:23:19.550Z,1749676999.550 [DAT](INFO): Ping request sent.
2025-06-11T21:23:19.551Z,1749676999.551 [DAT](INFO): transmitted an acoustic signal
2025-06-11T21:23:19.551Z,1749676999.551 [DAT](INFO): publishing transmit ping time
2025-06-11T21:23:19.552Z,1749676999.552 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-06-11T21:23:19.556Z,1749676999.556 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-06-11T21:23:19.558Z,1749676999.558 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-06-11T21:23:19.560Z,1749676999.560 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-06-11T21:23:19.562Z,1749676999.562 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-06-11T21:23:19.565Z,1749676999.565 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-11T21:23:19.571Z,1749676999.571 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-11T21:23:19.575Z,1749676999.575 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-06-11T21:23:19.578Z,1749676999.578 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-11T21:23:19.578Z,1749676999.578 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-11T21:23:19.583Z,1749676999.583 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-11T21:23:22.069Z,1749677002.069 [DAT](INFO): DAT read: Rx Time:21:23:23.2945
2025-06-11T21:23:22.070Z,1749677002.070 [DAT](INFO): Rx dataTimestamp_ set to:1749677002.069392
2025-06-11T21:23:22.572Z,1749677002.572 [DAT](INFO): DAT read: OK
2025-06-11T21:23:22.573Z,1749677002.573 [DAT](INFO): unknown deviceResponse_: OK
2025-06-11T21:23:24.223Z,1749677004.223 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
2.0
NaN
NaN
0
NaN
NaN
5
0
0
0
0
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
PeakDetectVsDepth
EdgeDetectVsDepth
GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth =
,
,
,
,
,
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
_.planktivore_LM_AvgRois
EdgeDetectVsDepth
_.planktivore_LM_AvgRois
GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_HM_AvgRois
EdgeDetectVsDepth
_.planktivore_HM_AvgRois
GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_diatoms
EdgeDetectVsDepth
_.planktivore_diatoms
GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_dinoflagellates
EdgeDetectVsDepth
_.planktivore_dinoflagellates
GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth =
,
,
,
,
,
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-06-11T21:23:24.276Z,1749677004.276 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-06-11T21:23:24.278Z,1749677004.278 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-06-11T21:23:24.280Z,1749677004.280 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-06-11T21:23:24.283Z,1749677004.283 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-06-11T21:23:24.289Z,1749677004.289 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-06-11T21:23:24.291Z,1749677004.291 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-06-11T21:23:24.293Z,1749677004.293 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-06-11T21:23:24.295Z,1749677004.295 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-06-11T21:23:24.333Z,1749677004.333 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-11T21:23:24.358Z,1749677004.358 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-11T21:23:24.376Z,1749677004.376 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-06-11T21:23:24.378Z,1749677004.378 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-06-11T21:23:24.384Z,1749677004.384 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-06-11T21:23:24.386Z,1749677004.386 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-06-11T21:23:24.393Z,1749677004.393 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-11T21:23:24.399Z,1749677004.399 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-11T21:23:24.405Z,1749677004.405 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-11T21:23:24.407Z,1749677004.407 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-11T21:23:24.413Z,1749677004.413 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-11T21:23:24.415Z,1749677004.415 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-11T21:23:24.421Z,1749677004.421 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-11T21:23:24.423Z,1749677004.423 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-11T21:23:24.434Z,1749677004.434 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-11T21:23:24.440Z,1749677004.440 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-06-11T21:23:24.443Z,1749677004.443 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-06-11T21:23:24.465Z,1749677004.465 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-06-11T21:23:24.476Z,1749677004.476 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-06-11T21:23:24.479Z,1749677004.479 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-11T21:23:24.497Z,1749677004.497 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-11T21:23:24.499Z,1749677004.499 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-06-11T21:23:24.510Z,1749677004.510 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-06-11T21:23:24.551Z,1749677004.551 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-06-11T21:23:24.565Z,1749677004.565 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-06-11T21:23:24.592Z,1749677004.592 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-06-11T21:23:24.594Z,1749677004.594 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-11T21:23:24.617Z,1749677004.617 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-06-11T21:23:24.619Z,1749677004.619 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-06-11T21:23:24.629Z,1749677004.629 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-11T21:23:24.631Z,1749677004.631 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-06-11T21:23:24.642Z,1749677004.642 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-06-11T21:23:24.650Z,1749677004.650 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-06-11T21:23:24.661Z,1749677004.661 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-06-11T21:23:24.684Z,1749677004.684 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-11T21:23:24.686Z,1749677004.686 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-11T21:23:24.690Z,1749677004.690 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-11T21:23:24.710Z,1749677004.710 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-11T21:23:24.724Z,1749677004.724 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-06-11T21:23:24.729Z,1749677004.729 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-06-11T21:23:24.731Z,1749677004.731 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-06-11T21:23:24.734Z,1749677004.734 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-06-11T21:23:24.741Z,1749677004.741 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-06-11T21:23:24.743Z,1749677004.743 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-06-11T21:23:24.749Z,1749677004.749 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-06-11T21:23:24.756Z,1749677004.756 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-06-11T21:23:24.758Z,1749677004.758 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-06-11T21:23:24.765Z,1749677004.765 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-06-11T21:23:24.767Z,1749677004.767 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-06-11T21:23:24.777Z,1749677004.777 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-06-11T21:23:24.804Z,1749677004.804 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-06-11T21:23:24.806Z,1749677004.806 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-06-11T21:23:24.809Z,1749677004.809 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-06-11T21:23:24.811Z,1749677004.811 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-06-11T21:23:24.830Z,1749677004.830 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-06-11T21:23:24.839Z,1749677004.839 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-06-11T21:23:24.865Z,1749677004.865 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-06-11T21:23:24.884Z,1749677004.884 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-06-11T21:23:24.886Z,1749677004.886 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-06-11T21:23:24.908Z,1749677004.908 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-06-11T21:23:24.911Z,1749677004.911 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-06-11T21:23:24.941Z,1749677004.941 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-06-11T21:23:24.964Z,1749677004.964 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-06-11T21:23:24.966Z,1749677004.966 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-06-11T21:23:24.985Z,1749677004.985 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-06-11T21:23:24.987Z,1749677004.987 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-06-11T21:23:25.006Z,1749677005.006 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-06-11T21:23:25.019Z,1749677005.019 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-11T21:23:25.047Z,1749677005.047 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-11T21:23:25.066Z,1749677005.066 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-11T21:23:25.078Z,1749677005.078 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-11T21:23:25.081Z,1749677005.081 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-11T21:23:25.083Z,1749677005.083 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-11T21:23:25.098Z,1749677005.098 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-11T21:23:25.108Z,1749677005.108 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-11T21:23:25.111Z,1749677005.111 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-11T21:23:25.117Z,1749677005.117 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-11T21:23:25.132Z,1749677005.132 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-11T21:23:25.134Z,1749677005.134 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-11T21:23:25.139Z,1749677005.139 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-11T21:23:25.154Z,1749677005.154 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-11T21:23:25.161Z,1749677005.161 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-11T21:23:25.163Z,1749677005.163 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-11T21:23:25.170Z,1749677005.170 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-11T21:23:25.177Z,1749677005.177 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-11T21:23:25.179Z,1749677005.179 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-11T21:23:25.186Z,1749677005.186 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-11T21:23:25.194Z,1749677005.194 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-11T21:23:25.217Z,1749677005.217 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-11T21:23:25.219Z,1749677005.219 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-11T21:23:25.234Z,1749677005.234 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-11T21:23:25.240Z,1749677005.240 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-11T21:23:25.243Z,1749677005.243 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-11T21:23:25.257Z,1749677005.257 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-11T21:23:25.259Z,1749677005.259 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-11T21:23:25.266Z,1749677005.266 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-11T21:23:25.272Z,1749677005.272 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-11T21:23:25.274Z,1749677005.274 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-11T21:23:25.277Z,1749677005.277 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-11T21:23:25.288Z,1749677005.288 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-11T21:23:25.291Z,1749677005.291 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-11T21:23:25.297Z,1749677005.297 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-11T21:23:25.304Z,1749677005.304 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-11T21:23:25.306Z,1749677005.306 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-11T21:23:25.309Z,1749677005.309 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-11T21:23:25.311Z,1749677005.311 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-11T21:23:25.404Z,1749677005.404 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-11T21:23:25.407Z,1749677005.407 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-06-11T21:23:25.421Z,1749677005.421 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-06-11T21:23:25.436Z,1749677005.436 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-06-11T21:23:25.438Z,1749677005.438 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-06-11T21:23:25.453Z,1749677005.453 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-06-11T21:23:25.455Z,1749677005.455 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-06-11T21:23:25.463Z,1749677005.463 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-06-11T21:23:25.478Z,1749677005.478 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-06-11T21:23:25.483Z,1749677005.483 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-06-11T21:23:25.495Z,1749677005.495 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-06-11T21:23:25.502Z,1749677005.502 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-06-11T21:23:25.524Z,1749677005.524 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-06-11T21:23:25.526Z,1749677005.526 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-06-11T21:23:25.535Z,1749677005.535 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-06-11T21:23:25.550Z,1749677005.550 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-06-11T21:23:25.556Z,1749677005.556 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-06-11T21:23:25.559Z,1749677005.559 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-06-11T21:23:25.607Z,1749677005.607 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-11T21:23:25.640Z,1749677005.640 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-11T21:23:25.695Z,1749677005.695 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-11T21:23:25.765Z,1749677005.765 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-11T21:23:25.804Z,1749677005.804 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-11T21:23:25.831Z,1749677005.831 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-11T21:23:25.863Z,1749677005.863 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-11T21:23:25.901Z,1749677005.901 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-11T21:23:25.922Z,1749677005.922 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-11T21:23:25.943Z,1749677005.943 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-11T21:23:25.990Z,1749677005.990 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-11T21:23:26.048Z,1749677006.048 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-11T21:23:26.082Z,1749677006.082 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-11T21:23:26.123Z,1749677006.123 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-11T21:23:26.184Z,1749677006.184 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-11T21:23:26.235Z,1749677006.235 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-11T21:23:26.278Z,1749677006.278 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-11T21:23:26.325Z,1749677006.325 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-11T21:23:26.421Z,1749677006.421 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-06-11T21:23:26.424Z,1749677006.424 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-06-11T21:23:26.425Z,1749677006.425 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-06-11T21:23:26.427Z,1749677006.427 [OnDock:N.Docked](DEBUG): Construct.
2025-06-11T21:23:26.427Z,1749677006.427 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-11T21:23:26.453Z,1749677006.453 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-06-11T21:23:26.453Z,1749677006.453 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-11T21:23:26.513Z,1749677006.513 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission {
"""
Wait on dock, communicating when possible
"""
arguments {
DockedTime = 8 hour
"""
Time to stay on dock. Mission timeout will be five minutes longer.
"""
DetachedTimeout = Dock:Docked.detachTimeout
"""
Time duration limit for determining if the vehicle is detached from the
dock.
"""
RangeTimeout = Dock:Docked.rangeTimeout
"""
Maximum allowed time without acoustic range.
"""
TrackingUpdatePeriod = 2 minute
"""
How long to wait between acoustic queries.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
TransponderCode = Dock:Dock.transponderCode
"""
Transponder Address.
"""
MaxDepth = BIT:CBIT.stopDepth
"""
Maximum depth while docked.
"""
MinAltitude = 5 meter
"""
Minimum altitude
"""
MinOffshore = 2 km
"""
Minimum offshore
"""
StayOnDock = false
"""
If true, don't detach from dock at end of mission
"""
IfconfigInterval = 2 hour
"""
How long to wait between ifconfig runs
"""
RunScience = false
"""
If true, run Science while on the dock.
"""
# Mission variables (do not change)
MissionTimeout = DockedTime
"""
Mission timeout (local variable, do not change)
"""
}
timeout duration=MissionTimeout
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
# End docking 5 minutes before end of mission to allow clean undock
assign in sequence MissionTimeout = DockedTime + 5 minute
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
# Send data when connection exists
aggregate dataRead {
run while ( true )
readDatum {
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
}
aggregate science {
run in parallel
break if ( not RunScience )
insert Insert/Science.tl
}
behavior Estimation:TrackAcousticContact {
run in parallel
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
syslog important "Restarting logs"
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
aggregate PeriodicCheck {
run in parallel
aggregate CheckIP {
run in sequence
behavior Guidance:Execute {
run in sequence
set command = "! ifconfig"
}
behavior Guidance:Wait {
run in sequence
set duration = IfconfigInterval
}
}
}
behavior Dock:Docked {
run in sequence
timeout duration=DockedTime
set detachTimeout = DetachedTimeout
set rangeTimeout = RangeTimeout
}
# Undock cleanly, instead of relying on DefaultWithUndock to come next
aggregate Detach {
run in sequence
break if ( StayOnDock == true )
syslog important "Mission ending, breaking off. Range: "
+ Estimation:TrackAcousticContact.range_to_contact~meter + "."
behavior Dock:Undock {
run in sequence
}
}
}
2025-06-11T21:23:26.515Z,1749677006.515 [CommandExec](IMPORTANT): Running ./Missions/Engineering/OnDock.tl
2025-06-11T21:23:26.622Z,1749677006.622 [MissionManager](IMPORTANT): Started mission OnDock
2025-06-11T21:23:26.622Z,1749677006.622 [OnDock] Running Loop=1
2025-06-11T21:23:26.622Z,1749677006.622 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-06-11T21:23:26.622Z,1749677006.622 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-11T21:23:26.622Z,1749677006.622 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-06-11T21:23:26.623Z,1749677006.623 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-11T21:23:26.623Z,1749677006.623 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-11T21:23:26.623Z,1749677006.623 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-11T21:23:26.623Z,1749677006.623 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-11T21:23:26.623Z,1749677006.623 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-11T21:23:26.623Z,1749677006.623 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-11T21:23:26.623Z,1749677006.623 [OnDock:BackseatDriver] Running Loop=1
2025-06-11T21:23:26.623Z,1749677006.623 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-06-11T21:23:26.623Z,1749677006.623 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-11T21:23:26.623Z,1749677006.624 [OnDock:PowerOnly] Running Loop=1
2025-06-11T21:23:26.624Z,1749677006.624 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-06-11T21:23:26.624Z,1749677006.624 [OnDock:PowerOnly:A] Running Loop=1
2025-06-11T21:23:26.624Z,1749677006.624 [OnDock:PowerOnly:B] Running Loop=1
2025-06-11T21:23:26.624Z,1749677006.624 [OnDock:PowerOnly:C] Running Loop=1
2025-06-11T21:23:26.624Z,1749677006.624 [OnDock:PowerOnly:D] Running Loop=1
2025-06-11T21:23:26.624Z,1749677006.624 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-06-11T21:23:26.624Z,1749677006.624 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-11T21:23:26.624Z,1749677006.624 [OnDock:dataRead] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:dataRead:A] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science:Science] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science:Science:A] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science:Science:B] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science:Science:C] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science:Science:D] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science:Science:E] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science:Science:F] Running Loop=1
2025-06-11T21:23:26.625Z,1749677006.625 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-11T21:23:26.626Z,1749677006.626 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-11T21:23:26.627Z,1749677006.627 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-06-11T21:23:26.627Z,1749677006.627 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-06-11T21:23:26.627Z,1749677006.627 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-06-11T21:23:26.627Z,1749677006.627 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-06-11T21:23:26.627Z,1749677006.627 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-06-11T21:23:26.627Z,1749677006.627 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-06-11T21:23:26.627Z,1749677006.627 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-06-11T21:23:26.628Z,1749677006.628 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-06-11T21:23:26.628Z,1749677006.628 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-11T21:23:26.628Z,1749677006.628 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-11T21:23:26.628Z,1749677006.628 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-06-11T21:23:26.629Z,1749677006.629 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-06-11T21:23:26.629Z,1749677006.629 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-11T21:23:26.629Z,1749677006.629 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-06-11T21:23:26.629Z,1749677006.629 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-06-11T21:23:26.629Z,1749677006.629 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-11T21:23:26.629Z,1749677006.629 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-06-11T21:23:26.629Z,1749677006.629 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-06-11T21:23:26.629Z,1749677006.629 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-11T21:23:26.629Z,1749677006.629 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-11T21:23:26.630Z,1749677006.630 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-11T21:23:26.630Z,1749677006.630 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-11T21:23:26.630Z,1749677006.630 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-11T21:23:26.630Z,1749677006.630 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-11T21:23:26.630Z,1749677006.630 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-11T21:23:26.630Z,1749677006.630 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-11T21:23:26.630Z,1749677006.630 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-11T21:23:26.630Z,1749677006.630 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-11T21:23:26.631Z,1749677006.631 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-11T21:23:26.632Z,1749677006.632 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-11T21:23:26.632Z,1749677006.632 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-11T21:23:26.632Z,1749677006.632 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-11T21:23:26.632Z,1749677006.632 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-11T21:23:26.633Z,1749677006.633 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-11T21:23:26.633Z,1749677006.633 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-11T21:23:26.633Z,1749677006.633 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-06-11T21:23:26.633Z,1749677006.633 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-06-11T21:23:26.633Z,1749677006.633 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-11T21:23:26.633Z,1749677006.633 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-11T21:23:26.633Z,1749677006.633 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:J.] Running Loop=1
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:PeriodicCheck] Running Loop=1
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-06-11T21:23:26.634Z,1749677006.634 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-06-11T21:23:26.635Z,1749677006.635 [OnDock:B] Running Loop=1
2025-06-11T21:23:26.635Z,1749677006.635 [OnDock:PeriodicCheck] Running Loop=1
2025-06-11T21:23:26.635Z,1749677006.635 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-06-11T21:23:26.635Z,1749677006.635 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-06-11T21:23:26.636Z,1749677006.636 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-06-11T21:23:26.636Z,1749677006.636 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-06-11T21:23:26.636Z,1749677006.636 [OnDock:J.] Running Loop=1
2025-06-11T21:23:26.636Z,1749677006.636 [OnDock:J.](ERROR): Failed to read sound speed
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:A] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:B] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:C] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:D] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:E] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:F] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:Read_Oil] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:OceanCurrent] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-06-11T21:23:26.637Z,1749677006.637 [OnDock:science:Science:PeakDetectChl] Stopped
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-06-11T21:23:26.638Z,1749677006.638 [OnDock:science:Science:PeakDetectOil] Stopped
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-06-11T21:23:26.639Z,1749677006.639 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-11T21:23:26.656Z,1749677006.656 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-11T21:23:26.657Z,1749677006.657 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-11T21:23:26.658Z,1749677006.658 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-11T21:23:26.658Z,1749677006.658 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-11T21:23:26.658Z,1749677006.658 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-11T21:23:26.658Z,1749677006.658 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-11T21:23:26.658Z,1749677006.658 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-06-11T21:23:26.658Z,1749677006.658 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-06-11T21:23:26.658Z,1749677006.658 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-11T21:23:26.658Z,1749677006.658 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-11T21:23:26.658Z,1749677006.658 [OnDock:dataRead] Running Loop=1
2025-06-11T21:23:26.659Z,1749677006.659 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-11T21:23:26.659Z,1749677006.659 [OnDock:PowerOnly] Running Loop=1
2025-06-11T21:23:26.659Z,1749677006.659 [OnDock:PowerOnly:D] Stopped
2025-06-11T21:23:26.659Z,1749677006.659 [OnDock:PowerOnly:C] Stopped
2025-06-11T21:23:26.659Z,1749677006.659 [OnDock:PowerOnly:B] Stopped
2025-06-11T21:23:26.659Z,1749677006.659 [OnDock:PowerOnly:A] Stopped
2025-06-11T21:23:26.659Z,1749677006.659 [OnDock:BackseatDriver] Running Loop=1
2025-06-11T21:23:26.664Z,1749677006.664 [OnDock:B] Stopped
2025-06-11T21:23:26.664Z,1749677006.664 [OnDock:C] Running Loop=1
2025-06-11T21:23:26.664Z,1749677006.664 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-11T21:23:26.664Z,1749677006.664 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-11T21:23:26.665Z,1749677006.665 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-11T21:23:26.665Z,1749677006.665 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-11T21:23:26.722Z,1749677006.722 [CommandExec](IMPORTANT): got command ! ifconfig
2025-06-11T21:23:26.973Z,1749677006.973 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:4B
inet addr:134.89.93.61 Bcast:134.89.93.255 Mask:255.255.255.0
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:39487 errors:0 dropped:0 overruns:0 frame:0
TX packets:60962 errors:0 dropped:0 overruns:0 carrier:0
collisions:410 txqueuelen:1000
RX bytes:15079504 (14.3 Mb) TX bytes:9140719 (8.7 Mb)
Interrupt:29
lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
UP LOOPBACK RUNNING MULTICAST MTU:16436 Metric:1
RX packets:9230 errors:0 dropped:0 overruns:0 frame:0
TX packets:9230 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:0
RX bytes:840696 (820.9 Kb) TX bytes:840696 (820.9 Kb)
2025-06-11T21:23:27.297Z,1749677007.297 [OnDock:C] Stopped
2025-06-11T21:23:27.297Z,1749677007.297 [OnDock:D] Running Loop=1
2025-06-11T21:23:27.690Z,1749677007.690 [OnDock:D] Stopped
2025-06-11T21:23:27.690Z,1749677007.690 [OnDock:E] Running Loop=1
2025-06-11T21:23:28.202Z,1749677008.202 [OnDock:E] Stopped
2025-06-11T21:23:28.202Z,1749677008.202 [OnDock:K] Running Loop=1
2025-06-11T21:23:28.669Z,1749677008.669 [OnDock:K](IMPORTANT): Restarting logs
2025-06-11T21:23:28.669Z,1749677008.669 [OnDock:K] Stopped
2025-06-11T21:23:28.669Z,1749677008.669 [OnDock:L.Execute] Running Loop=1
2025-06-11T21:23:28.879Z,1749677008.879 [OnDock:L.Execute](INFO): Executing command restart logs
2025-06-11T21:23:28.880Z,1749677008.880 [OnDock:L.Execute] Stopped
2025-06-11T21:23:28.880Z,1749677008.880 [OnDock:N.Docked] Running Loop=1
2025-06-11T21:23:28.880Z,1749677008.880 [OnDock:N.Docked](DEBUG): Initialize.
2025-06-11T21:23:28.880Z,1749677008.880 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.